CN113977558B - Device and method for visually and dynamically displaying tail end track of parallel robot - Google Patents

Device and method for visually and dynamically displaying tail end track of parallel robot Download PDF

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Publication number
CN113977558B
CN113977558B CN202111428472.3A CN202111428472A CN113977558B CN 113977558 B CN113977558 B CN 113977558B CN 202111428472 A CN202111428472 A CN 202111428472A CN 113977558 B CN113977558 B CN 113977558B
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robot
tail end
emitting device
laser beam
coordinate system
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CN113977558A (en
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袁佳健
周玉甲
杨剑
邓平
郭利伟
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Hunan Communication Polytechnic
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Hunan Communication Polytechnic
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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
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Abstract

The invention relates to a device and a method for visually and dynamically displaying tail end tracks of parallel robots. The method comprises the steps of providing a motion position requirement of the tail end of the robot, solving a motion position, rotating a robot body driving motor by a corresponding angle, simultaneously rotating a visible light beam emitting device by a corresponding angle, moving the tail end of the robot to a specified position, simultaneously intersecting two visible light beams at a preset position, and judging when a photosensitive sensor receives predicted illumination intensity. The invention can judge whether the pre-walking track is consistent with the actual track in real time, and is used for solving the problem that the display effect is influenced due to the non-intuitive track of the Delta type parallel robot in the process of demonstration or teaching or the working abnormity is caused by the deviation of the path in the working process.

Description

Device and method for visually and dynamically displaying tail end track of parallel robot
Technical Field
The application relates to the technical field of parallel robot tail end track research, in particular to a device and a method for visually and dynamically displaying tail end tracks of a parallel robot.
Background
The mass use of industrial robots is an important breakthrough point for transformation and upgrading of manufacturing enterprises in recent years, and due to the advantages of high speed, high precision, good rigidity and the like, a plurality of assembly line processes such as sorting, carrying, boxing and the like are born in the fields of food, chemical industry and packaging by the parallel mechanisms of various industrial robots. The Delta type parallel robot is the most classical robot with few degrees of freedom and also the most widely applied parallel robot in the actual industry, and researches show that the dynamic precision of a mechanism can be influenced by the motion track and the motion rule of an end effector of the Delta type parallel robot in the motion process.
At present, the research on the tail end motion track of the Delta type parallel robot at home and abroad is not a few, for example, the invention patent with the publication number of CN112476411A discloses a method and a system for controlling the track of the Delta type parallel robot, the invention patent with the publication number of CN112847351A discloses a method for tracking and controlling the track of the parallel robot based on an exponential approach rate, and the invention patent with the publication number of CN110308699A discloses a track planning method.
Therefore, the visual dynamic display and the track verification of the tail end track of the Delta type parallel robot have important industrial value.
Disclosure of Invention
Based on the technical problems in the prior art, the device and the method for visually and dynamically displaying the track of the tail end of the parallel robot provided by the invention can judge whether the pre-walking track is consistent with the actual track in real time, and are used for solving the problem that the display effect is influenced by the non-intuitive track of the Delta type parallel robot in the process of demonstration or teaching or the working abnormity is caused by the deviation of the path in the process of working.
In order to solve the technical problems, the invention is realized by the following technical scheme: a device for visually and dynamically displaying the track of the tail end of a parallel robot comprises a rack, a robot body, a first transmitting device, a second transmitting device and a robot tail end, wherein the robot body, the first transmitting device and the second transmitting device are installed on the rack; wherein the content of the first and second substances,
the robot body is arranged on a top cross beam of the rack and used for carrying the tail end of the robot to run according to a preset track;
the first emitting device is arranged at the edge of one side of the rack and around the working space at the tail end of the robot and is used for emitting visible light beams;
the second emitting device is arranged on the edge of the other side of the edge of the rack, is positioned around the working space at the tail end of the robot and is used for emitting visible light beams;
a robot tip mounted at a tip position of the robot body and carrying a photosensor for detecting an illumination intensity;
the first emitting device and the second emitting device respectively emit visible light beams with different colors and intersect at an intersection point in space, and the intersection point is used for marking the space position of the tail end of the robot.
Furthermore, the robot body comprises a robot support fixedly installed on a cross beam at the top of the rack, a plurality of driving motors are uniformly distributed on the periphery of the robot support, a power output shaft of each driving motor is connected to one end of a driving arm, the other end of the driving arm is hinged to a driven arm, the other end of the driven arm is rotatably connected to a horizontal installation plate, and the middle of the horizontal installation plate is provided with a robot tail end.
Furthermore, the first transmitting device and the second transmitting device are of the same structure and respectively comprise a first rotating platform fixed on the rack and a second rotating platform installed on the first rotating platform in a matching manner, and a light beam transmitter is arranged on the second rotating platform;
the first rotating platform is used for realizing the rotary motion of the light beam emitter along a second shaft; the second rotating platform is used for realizing pitching motion of the light beam transmitter along the shaft; the beam emitter is used for emitting a visible light beam.
Further, the driving motor is a stepping motor or a servo motor;
and the first rotating platform and the second rotating platform control the rotating angle through a stepping motor or a servo motor.
The invention also provides a method for visually and dynamically displaying the tail end track of the parallel robot, which is characterized in that the device for visually and dynamically displaying the tail end track of the parallel robot is applied to carry out the following steps:
s1, providing a motion position requirement of the tail end of a robot;
s2, solving theoretical rotation angles of the three driving arms relative to a static plane of the robot body, rotation angles of the three driving motors, and rotation angles of shafts of the first transmitting device and the second transmitting device;
s3, driving the motor to rotate by corresponding angles, and simultaneously enabling the first transmitting device and the second transmitting device to rotate by corresponding angles respectively;
s4, when the tail end of the robot moves to a specified position, the first emitting device and the second emitting device respectively emit visible light beams with different colors to intersect at a preset position;
s5, detecting the intensity of the received illumination by the photosensitive sensor;
s6, judging whether the illumination intensity detected in the S5 is within a preset intensity interval, if so, moving the next position, and returning to the S1; if not, the preset position is not reached, and the abnormity is judged.
Further, step S1 further includes:
establishing a space coordinate system O-XYZ at the central O point of the static plane of the robot body, and using the coordinates (x) of the P point at the tail end of the robot in the coordinate system O-XYZ P ，y P ，z P ) Representing the spatial position of the robot tip;
setting an intensity interval for detecting the illumination intensity of the photosensitive sensor at an accurate position;
providing a motion position requirement coordinate (x) of a P point at the tail end of the robot 0 ，y 0 ，z 0 )。
Further, step S2 further includes:
the motion position demand coordinate (x) is calculated by a geometrical algorithm of space 0 ，y 0 ，z 0 ) Performing inverse kinematics solution, and solving to obtain theoretical rotation angles theta of three driving arms of the robot body relative to the static plane 1 、θ 2 、θ 3 And the theoretical rotation angle theta 1 、θ 2 、θ 3 Coordinate (x) with robot end point P P ，y P ，z P ) The corresponding relation between the two;
turning the theoretical angle theta 1 、θ 2 、θ 3 Respectively converting the pulse number into the pulse number of the three driving motors, and determining the required rotation angles of the three driving motors;
the motion position of the point P is required to be coordinated (x) 0 ，y 0 ，z 0 ) And setting the intersection points of the visible light beams respectively emitted by the first emitting device and the second emitting device, and respectively calculating the required rotation angles of the shafts of the first emitting device and the second emitting device.
Further, step S3 further includes:
setting a visible light beam emitted by a first emitting device as a first laser beam, setting a visible light beam emitted by a second emitting device as a second laser beam, wherein the first laser beam and the second laser beam are intersected to form an intersection point, and the intersection points are aggregated to form a motion trajectory line of the tail end of the robot;
the emitting position of the laser beam I is measured to be the coordinate (x) of a space coordinate system O-XYZ when the device is installed A ，y A ，z A ) The emission position of the second laser beam is in a coordinate (x) of a space coordinate system O-XYZ B ，y B ，z B )；
If the first laser beam and the second laser beam are required to intersect at the point P, the first laser beam and the vector in the space coordinate system O-XYZ need to be satisfied
Figure GDA0003969014370000041
Direction coincidence, laser beam two and vector in space coordinate system O-XYZ
Figure GDA0003969014370000042
Direction coincidence, and controlling the first emitting device and the second emitting device to ensure the first and the vector of the laser beam in real time
Figure GDA0003969014370000043
Direction coincidence, laser beam two and vector
Figure GDA0003969014370000044
The directions coincide.
Further, a spatial coordinate system A-X is established at the emission of the first laser beam A Y A Z A Wherein Z is A The second axis coincides with the second axis (the second axis A and the second axis B), X A Axle and axle one (axle A I, axle B I)) Overlapping;
due to the space coordinate system A-X A Y A Z A The space position relative to the space coordinate system O-XYZ is determined when the device is installed, and the space coordinate system A-X can be obtained by converting the position of the P point in the space coordinate system O-XYZ into the space coordinate system A Y A Z A Position of P point in (x) PA ，y PA ，z PA )；
(Vector)
Figure GDA0003969014370000045
In plane X A AY A Projection and Y in A Angle theta of the axes A Comprises the following steps:
θ A ＝arctan(x PA /y PA )
then vector
Figure GDA0003969014370000046
And plane X A AY A Middle included angle beta A Comprises the following steps:
Figure GDA0003969014370000047
wherein if the laser beam is 17 and the space vector
Figure GDA0003969014370000048
Coincident with axis A, the second axis having to be rotated to Y A Axis being theta A Angle, axis A-needs to be rotated to and Y A The axis being beta A An angle;
similarly, the rotation angles of the first shaft B and the second shaft B of the second transmitting device 4 can be solved respectively.
Further, the designated position in step S4 refers to an actual position (x) reached by the robot end under the influence of the error factor 1 ，y 1 ，z 1 ) (ii) a The preset position is a motion position demand coordinate (x) of a P point at the tail end of the robot 0 ，y 0 ，z 0 )。
Compared with the prior art, the invention has the advantages that:
1. the device and the method for visually and dynamically displaying the tail end track of the parallel robot have the advantages that the parallel robot, the two visible light beam emitting devices, the photosensitive sensor and other components are effectively integrated, two visible light beams with different colors and human eye vision persistence are utilized, the irradiation angle of the visible light beams is controlled to intersect at one point in the space, the color superposition and change at the intersection of the visible light beams are utilized, the tail end space position of the Delta type parallel robot is marked, the real-time visual display of the tail end track of the Delta type parallel robot in a three-dimensional space is further realized, and the demonstration or teaching of the robot motion is facilitated.
2. The invention provides a device and a method for visually and dynamically displaying the tail end track of a parallel robot, which have the following requirements on the installation positions of two visible light beam emitting devices: the visible light beam does not coincide and not sheltered from by the machine, and the mounted position requires lowly to can install visible light beam emitter additional under the condition that does not change existing equipment, can be comparatively convenient be used for reequiping on existing equipment.
3. According to the device and the method for visually and dynamically displaying the tail end track of the parallel robot, provided by the invention, through the research on visually and dynamically displaying and verifying the tail end track of the Delta type parallel robot, whether the pre-walking track is consistent with the actual track can be judged in real time, so that the problem that the display effect is influenced due to the fact that the track is not intuitive in the process of demonstration or teaching of the Delta type parallel robot is solved, or the device and the method are used for giving an alarm in real time when the tail end path of the robot deviates in work, and the condition that the pre-walking track is inconsistent with the actual track is effectively avoided.
Drawings
FIG. 1 is a schematic structural diagram of a device for dynamically displaying a trajectory of an end of a parallel robot in a visualization manner according to the present invention;
FIG. 2 is a schematic structural diagram of a robot body according to the present invention;
fig. 3 is a schematic structural diagram of the first transmitting device or the second transmitting device according to the present invention;
FIG. 4 is a schematic flow chart illustrating a method for dynamically displaying the trajectory of the end of the parallel robot in a visualized manner according to the present invention;
FIG. 5 is a schematic view of the superposition of two visible light beams;
FIG. 6 is a schematic diagram of the formation of a trajectory line for the robot tip movement;
FIG. 7 is a schematic diagram of a robot body structure and a spatial position;
FIG. 8 shows the rotation angle θ of one of the driving arms i Solution schematic of (a);
FIG. 9 is a diagram illustrating a judgment result of whether the illumination intensity detected by the photosensor is within a predetermined intensity range;
FIG. 10 is a schematic diagram of a transformation of a spatial coordinate system;
FIG. 11 shows point P in coordinate system A-X A Y A Z A The position relation graph in (1);
FIG. 12 is a schematic diagram of the transformation of the spatial coordinate system in one embodiment;
in the figure: 1. a frame; 2. a robot body; 3. a first transmitting device; 4. a second transmitting device; 5. an electric control cabinet; 6. an alarm lamp; 7. a first rotating platform; 8. a second rotating platform; 9. a light beam emitter; 10. a visible light beam; 11. a robot support; 12. a drive motor; 13. a master arm; 14. a driven arm; 15. a horizontal mounting plate; 16. a robot tip; 17. a first laser beam; 18. a second laser beam; 19. and (4) a junction point.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
Example one
As shown in fig. 1, the invention provides a device for visually and dynamically displaying the track of the tail end of a parallel robot, which mainly comprises a rack 1, a robot body 2, a first transmitting device 3, a second transmitting device 4, an electric control cabinet 5 and an alarm lamp 6, wherein the robot body 2, the first transmitting device 3, the second transmitting device 4, the electric control cabinet 5 and the alarm lamp 6 are installed on the rack 1, and a tail end 16 of the robot is installed at the tail end of the robot body 2.
More specifically, the robot body 2 is mounted on a top cross beam of the rack 1, and is used for carrying the tail end 16 of the robot to run according to a preset track; the first emitting device 3 is arranged at one side edge of the rack 1 and around the working space of the robot tail end 16 and is used for emitting a visible light beam 10; the second emitting device 4 is arranged at the edge of the other side of the rack 1 and around the working space of the robot tail end 16, and is used for emitting a visible light beam 10; the robot tail end 16 is arranged at the tail end position of the robot body 2 and is provided with a photosensitive sensor for detecting the illumination intensity; the first emitting device 3 and the second emitting device 4 respectively emit visible light beams 10 with different colors and intersect at an intersection point 19 in space, and the intersection point 19 is used for marking the space position of the robot tail end 16; the visual persistence of two bundles of visible light beams with different colors and human eyes is utilized, the irradiation angle of the visible light beams is controlled to intersect at one point in the space, and the superposition and the change of the colors of the intersection of the visible light beams are utilized, so that the tail end space position of the Delta type parallel robot is marked, the real-time visual display of the tail end track of the Delta type parallel robot in a three-dimensional space is realized, and the demonstration or the teaching of the robot motion is convenient to perform.
In one embodiment, as shown in fig. 2, the robot body 2 includes a robot support 11 fixedly mounted on a top cross beam of the machine frame 1, a plurality of driving motors 12 are uniformly distributed on the periphery of the robot support 11, a power output shaft of each driving motor 12 is connected to one end of a driving arm 13, the other end of the driving arm 13 is hinged to a driven arm 14, the other end of the driven arm 14 is rotatably connected to a horizontal mounting plate 15, and a robot tip 16 is mounted in the middle of the horizontal mounting plate 15.
In one embodiment, the first transmitting device 3 and the second transmitting device 4 have the same structure and have two-axis independent rotation functions. More specifically, as shown in fig. 3, the device includes a first rotating platform 7 fixed on the rack 1 and a second rotating platform 8 installed on the first rotating platform 7 in a matching manner, and a light beam emitter 9 is disposed on the second rotating platform 8; the first rotating platform 7 is used for realizing the rotary motion of the light beam emitter 9 along a second axis; the second rotating platform 8 is used for realizing pitching motion of the light beam emitter 9 along the axis; the beam emitter 9 is for emitting a visible light beam 10. The first rotating platform 7 and the second rotating platform 8 are matched with each other to realize the omnibearing irradiation of the light beam emitter 9, and the application is flexible.
In one embodiment, the driving motor 12 is a stepping motor or a servo motor, and more preferably a servo motor, and has high rotation precision, so that errors in the robot motion process are reduced.
In one embodiment, the first rotating platform 7 and the second rotating platform 8 are both rotated by a stepping motor or a servo motor to control the rotation angle, so that the irradiation direction of the visible light beam in the space can be accurately controlled.
The specific use process of the device for dynamically displaying the trajectory of the tail end of the parallel robot in the visualization mode in this embodiment may refer to the method steps in the second embodiment below.
Example two
The invention further provides a method for visually and dynamically displaying the tail end track of the parallel robot on the basis of the first embodiment, as shown in fig. 4, the method for visually and dynamically displaying the tail end track of the parallel robot performs the following steps by using the device for visually and dynamically displaying the tail end track of the parallel robot according to the first embodiment:
s1, proposing a motion position requirement of a robot tail end 16;
s2, solving theoretical rotation angles of the three driving arms 13 relative to a static plane of the robot body 2, rotation angles of the three driving motors 12 and rotation angles of shafts of the first transmitting device 3 and the second transmitting device 4;
s3, the driving motor 12 rotates by a corresponding angle, and the first transmitting device 3 and the second transmitting device 4 rotate by corresponding angles respectively;
s4, the first emitting device 3 and the second emitting device 4 respectively emit visible light beams 10 with different colors to intersect at a preset position while the tail end 16 of the robot moves to a specified position;
s5, detecting the intensity of the received illumination by the photosensitive sensor;
s6, judging whether the illumination intensity detected in the S5 is within a preset intensity interval, if so, moving the next position, and returning to the S1; if not, the preset position is not reached, and the abnormity is judged.
When the track detection is carried out, if the photosensitive sensor does not detect illumination or the illumination intensity is insufficient, the fact that the tail end 16 of the robot does not move according to the preset track is indicated, and closed-loop detection of the motion of the Delta type parallel robot can be formed by applying the method.
In one embodiment, as shown in fig. 5, assuming that the color of the visible light beam 10 (i.e., the first laser beam 17) emitted by the first emitting device 3 is red, and the color of the visible light beam 10 (i.e., the second laser beam 18) emitted by the second emitting device 4 is green, the light spots at the junction 19 are displayed as yellow according to the superposition of the three primary colors of light. As shown in fig. 6, two visible light beams 10 are controlled to rapidly and circularly irradiate according to the track position of the tail end point of the robot, and due to the persistence of vision of human eyes, a motion track line consisting of yellow light spots at the laser intersection can be seen in a real space. Of course, in other embodiments, the visible light beam 10 may be in another color to form a motion trace line with the corresponding color.
In one embodiment, step S1 further comprises:
as shown in FIG. 7, in the kinematic solution process of the end positions of the Delta type parallel robot, a space coordinate system O-XYZ is generally established at the center O point of the static plane of the robot body 2, and the coordinates (x) of the P point of the robot end in the coordinate system O-XYZ are calculated P ，y P ，z P ) Represents the spatial position of the robot tip 16;
setting an intensity interval for detecting the illumination intensity of the photosensitive sensor at an accurate position;
presenting robot end PMotion position requirement coordinate (x) of point 0 ，y 0 ，z 0 )。
Specific applications are exemplified as follows:
1. when the Delta type parallel robot is required to move the tail end P point to the space (x) 0 ，y 0 ，z 0 ) Then, the motion position is required to be coordinated (x) through a geometrical algorithm of space 0 ，y 0 ，z 0 ) Performing inverse kinematics solution to obtain theoretical rotation angles theta of the three driving arms 13 of the robot body 2 relative to the static plane 1 、θ 2 、θ 3 And the theoretical rotation angle theta 1 、θ 2 、θ 3 Coordinate (x) with robot end point P P ，y P ，z P ) The correspondence between them.
Fig. 8 shows the angle of rotation theta of the single active arm i Wherein, R is an example from the center of a static plane of the robot body 2 to a rotating shaft of the driving arm, L is the length of the driving arm, L is the length of the driven arm, and R is the distance from a tail end point P of the robot to the rotating shaft of the driven arm; the specific solving process is the prior art, which is not described in detail herein, and the theoretical rotation angles theta of the three driving arms 13 relative to the static plane can be obtained through the inverse kinematics solution of the robot 1 、θ 2 、θ 3 。
2. Calculating the theoretical rotation angles theta of the three driving arms 1 、θ 2 、θ 3 Converting the pulse number into the pulse number of three driving motors 12 of the Delta type parallel robot, determining the required rotating angles of the three driving motors 12, and driving the robot.
3. The actual position to which the robot tip 16 moves is (x) due to the influence of mechanical errors, drive errors, clearances, and the like 1 ，y 1 ，z 1 )。
4. The motion position of the point P is required to be coordinated (x) 0 ，y 0 ，z 0 ) The point 19 of intersection 19 of the visible light beams 10 emitted by the first emitting device 3 and the second emitting device 4 is set to calculate the angle of rotation required for each axis of the first emitting device 3 and the second emitting device 4, respectively, and the specific calculation method is given in the control section belowBecause the first emitting device 3 and the second emitting device are directly driven by the stepping motor or the servo motor, no complex mechanical transmission part is provided, the rotation precision is high, the obtained visible light beam junction 19 can be regarded as a theoretical point, and the preset position is the motion position required coordinate (x) of the P point at the tail end of the robot 0 ，y 0 ，z 0 )。
5. As shown in fig. 9, an analog quantity photosensor may be installed at the P point at the tail end of the Delta type parallel robot, and when two beams of light intensity are detected, it indicates that the motion position of the tail end point actually driven is accurate, and when the light intensity is weaker than the preset light intensity, it indicates that the motion position of the tail end point actually driven is inaccurate.
6. When the position motion of the tail end point of the robot needs to be detected in real time, a real-time closed-loop detection system can be established to carry out the operations from S1 to S6.
Control section
This section mainly describes the control of the rotation angle of the visible light beam emitting device, which is not related to the prior art.
Setting the visible light beam emitted by the first emitting device 3 as a first laser beam 17, the visible light beam emitted by the second emitting device 4 as a second laser beam 18, wherein the first laser beam 17 and the second laser beam 18 are intersected to form an intersection point 19, and the plurality of intersection points 19 are aggregated to form a movement trajectory of the robot tail end 16; the emission of the laser beam I17 is measured at the time of installation of the device to have the coordinates (x) of the space coordinate system O-XYZ A ，y A ，z A ) The emission of the laser beam II 18 is at the coordinate of the space coordinate system O-XYZ as (x) B ，y B ，z B )。
If it is desired that the first laser beam 17 and the second laser beam 18 intersect at the point P, then it is desired to satisfy the relationship between the first laser beam 17 and the vector in the spatial coordinate system O-XYZ
Figure GDA0003969014370000091
Direction coincidence and the vector of the laser beam II 18 in the space coordinate system O-XYZ
Figure GDA0003969014370000101
The directions are overlapped, and the control part needs to control the first direction through controlThe two rotating shafts of the transmitting device 3 and the second transmitting device 4 ensure the first laser beam 17 and the vector in real time
Figure GDA0003969014370000102
Direction coincidence, laser beam two 18 and vector
Figure GDA0003969014370000103
The directions are overlapped.
Taking laser beam one 17 as an example, how the control part realizes:
as shown in FIGS. 10-11, a spatial coordinate system A-X is established at the emission of the laser beam one 17 A Y A Z A Wherein Z is A The axis coincides with axis A2, X A The shaft is coincident with the first shaft A; due to the space coordinate system A-X A Y A Z A The space position relative to the space coordinate system O-XYZ is determined when the device is installed, and the space coordinate system A-X can be obtained by performing space coordinate system conversion on the position of P point in the space coordinate system O-XYZ A Y A Z A Position of P point in (x) PA ，y PA ，z PA )；
(Vector)
Figure GDA0003969014370000104
In plane X A AY A Projection and Y in A Angle theta of the axes A Comprises the following steps:
θ A ＝arctan(x PA /y PA )
then vector
Figure GDA0003969014370000105
And plane X A AY A Middle included angle beta A Comprises the following steps:
Figure GDA0003969014370000106
wherein if the laser beam is 17 and the space vector
Figure GDA0003969014370000107
Coincident, axis A two shown in FIG. 10 needs to be rotated to Y A Axis being theta A Angle, axis A shown in FIG. 10, to rotate with Y A With axis being beta A An angle;
similarly, the rotation angles of the first axis B and the second axis B shown in fig. 10 of the second transmitting device 4 can be solved respectively.
The first emitting device 3 and the second emitting device 4 control the rotation angle through a stepping motor or a servo motor, and real-time display of the tail end track point P of the robot can be realized according to the calculated angle value.
The specific calculation process is as follows:
as shown in fig. 12, when the coordinates of the theoretical robot end point P in the coordinate system O-XYZ of the robot main body 2 are (0, -400), the units not noted herein are all mm; when the first emitting device 3 is installed, the first axis A is parallel to the X axis, the second axis A is parallel to the Y axis, and the coordinates of the intersection point A of the two axes in the coordinate system O-XYZ of the robot body 2 are (300, 0, -500); when the second transmitting device 4 is installed, the first axis B is parallel to the X axis, the second axis B is parallel to the Y axis, and the intersection point B of the two axes has coordinates (-400, 0, -500) in the robot body coordinate system O-XYZ.
According to a spatial coordinate transformation, when the point P is in a coordinate system A-X A Y A Z A Has a coordinate of (-300, 0, 100) in a coordinate system of B-X B Y B Z B The coordinates in (1) are (400, 0, 100).
(Vector)
Figure GDA0003969014370000111
In plane X A AY A Projection and Y in A Angle theta of the axes A Comprises the following steps:
θ A ＝arctan(x PA /y PA )＝arctan(-300/0)＝arctan(-∞)＝-90°
then vector
Figure GDA0003969014370000112
And plane X A AY A Middle included angle beta A Comprises the following steps:
Figure GDA0003969014370000113
at this time, the axis A needs to rotate to Y A The axis is 18.43 degrees, and the second axis A needs to rotate to the Y A The axis is at-90 deg.
The following steps are obtained in the same way:
(Vector)
Figure GDA0003969014370000114
in plane X B BY B Projection and Y in B Angle theta of axis B Comprises the following steps:
θ B ＝arctan(x PB /y PB )＝arctan(400/0)＝arctan(∞)＝90°
then vector
Figure GDA0003969014370000115
And plane X B BY B Middle included angle beta B Comprises the following steps:
Figure GDA0003969014370000116
at this time, the shaft B needs to rotate to Y B The axis is 14.04 degrees, and the second axis B needs to rotate to the Y B The axis is 90 deg..
After the angle of each shaft of the first emitting device 3 and the second emitting device 4 is adjusted, the visible light beams and the space vectors emitted by the light beam emitter can be ensured in real time
Figure GDA0003969014370000117
The directions coincide.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (9)

1. A device for visually and dynamically displaying the track of the tail end of a parallel robot comprises a rack (1), and is characterized by further comprising a robot body (2), a first transmitting device (3), a second transmitting device (4) and a robot tail end (16), wherein the robot body (2) is installed on the rack (1); wherein the content of the first and second substances,
the robot body (2) is arranged on a top cross beam of the rack (1) and is used for carrying the tail end (16) of the robot to run according to a preset track;
the first emitting device (3) is arranged at one side edge of the rack (1) and is positioned around the working space of the robot tail end (16) and used for emitting a visible light beam (10);
the second emitting device (4) is arranged on the edge of the other side of the rack (1) and is positioned around the working space of the robot tail end (16) and used for emitting the visible light beam (10);
a robot tip (16) mounted at the tip of the robot body (2) and provided with a photosensor for detecting the intensity of light;
the first emitting device (3) and the second emitting device (4) respectively emit visible light beams (10) with different colors and intersect at an intersection point (19) in space, and the intersection point (19) is used for marking the space position of the robot tail end (16);
the first emitting device (3) and the second emitting device (4) are of the same structure and respectively comprise a first rotating platform (7) fixed on the rack (1) and a second rotating platform (8) installed on the first rotating platform (7) in a matching manner, and a light beam emitter (9) is arranged on the second rotating platform (8);
the first rotating platform (7) is used for realizing the rotary motion of the light beam emitter (9) along a second shaft; the second rotating platform (8) is used for realizing pitching motion of the light beam emitter (9) along an axis; the light beam emitter (9) is used for emitting a visible light beam (10).
2. The device for visually and dynamically displaying the trajectory of the tail end of the parallel robot according to claim 1, wherein the robot body (2) comprises a robot support (11) fixedly mounted on a top cross beam of the rack (1), a plurality of driving motors (12) are uniformly distributed on the periphery of the robot support (11), a power output shaft of each driving motor (12) is connected to one end of a driving arm (13), the other end of the driving arm (13) is hinged to a driven arm (14), the other end of the driven arm (14) is rotatably connected to a horizontal mounting plate (15), and a robot tail end (16) is mounted in the middle of the horizontal mounting plate (15).
3. The device for dynamically displaying the trajectory of the tail end of the parallel robot in the visual manner according to claim 2, wherein the driving motor (12) is a stepping motor or a servo motor;
the first rotating platform (7) and the second rotating platform (8) both control the rotating angle through a stepping motor or a servo motor.
4. A method for visually and dynamically displaying the trajectories of the tail ends of the parallel robots, which is characterized by applying the device for visually and dynamically displaying the trajectories of the tail ends of the parallel robots, as claimed in any one of claims 1 to 3, to carry out the following steps:
s1, proposing a motion position requirement of a robot tail end (16);
s2, solving theoretical rotation angles of the three driving arms (13) relative to a static plane of the robot body (2), rotation angles of the three driving motors (12) and rotation angles of shafts of the first transmitting device (3) and the second transmitting device (4);
s3, the first transmitting device (3) and the second transmitting device (4) rotate by corresponding angles respectively while the driving motor (12) rotates by corresponding angles;
s4, when the tail end (16) of the robot moves to a designated position, the first emitting device (3) and the second emitting device (4) respectively emit visible light beams (10) with different colors to intersect at a preset position;
s5, detecting the intensity of the received illumination by the photosensitive sensor;
s6, judging whether the illumination intensity detected in the S5 is within a preset intensity interval, if so, carrying out the motion of the next position, and returning to the S1; if not, the preset position is not reached, and the abnormity is judged.
5. The method for visually and dynamically displaying the trajectories of the ends of the parallel robots according to claim 4, wherein the step S1 further comprises:
a space coordinate system O-XYZ is established at the central point O of the static plane of the robot body (2), and the coordinate (x) of the P point of the tail end (16) of the robot in the coordinate system O-XYZ P ，y P ，z P ) Representing the spatial position of the robot tip (16);
setting an intensity interval for detecting the illumination intensity of the photosensitive sensor at an accurate position;
the motion position demand coordinate (x) of the P point of the robot tail end (16) is provided 0 ，y 0 ，z 0 )。
6. The method for visually and dynamically displaying the trajectories of the ends of the parallel robots according to claim 5, wherein the step S2 further comprises:
the motion position demand coordinate (x) is calculated by a geometrical algorithm of space 0 ，y 0 ，z 0 ) Performing inverse kinematics solution, and solving to obtain theoretical rotation angles theta of three driving arms (13) of the robot body (2) relative to the static plane 1 、θ 2 、θ 3 And the theoretical rotation angle theta 1 、θ 2 、θ 3 Coordinates (x) of point P with the robot end (16) P ，y P ，z P ) The corresponding relation between the two;
turning the theoretical angle theta 1 、θ 2 、θ 3 Respectively converted into three stationsThe pulse number of the driving motors (12) and the required rotating angles of the three driving motors (12) are determined;
the motion position of the point P is required to be coordinated (x) 0 ，y 0 ，z 0 ) The intersection point (19) of the visible light beams (10) respectively emitted by the first emitting device (3) and the second emitting device (4) is set, and the required rotation angle of each shaft of the first emitting device (3) and the second emitting device (4) is respectively calculated.
7. The method for visually and dynamically displaying the trajectories of the ends of the parallel robots according to claim 6, wherein the step S3 further comprises:
setting a first visible light beam emitted by a first emitting device (3) as a first laser beam (17), setting a second visible light beam emitted by a second emitting device (4) as a second laser beam (18), intersecting the first laser beam (17) and the second laser beam (18) to form an intersection point (19), and collecting a plurality of intersection points (19) to form a movement trajectory of a robot tail end (16);
the emission of the laser beam I (17) is measured to be in the space coordinate system O-XYZ with the coordinate (x) when the device is installed A ，y A ，z A ) The emission of the laser beam two (18) is in the space coordinate system O-XYZ with the coordinate (x) B ，y B ，z B )；
If it is desired that laser beam one (17) and laser beam two (18) intersect at point P, then it is desired to satisfy the relationship between laser beam one (17) and the vector in spatial coordinate system O-XYZ
Figure FDA0003969014360000031
Direction coincidence, laser beam two (18) and vector in space coordinate system O-XYZ
Figure FDA0003969014360000032
Direction coincidence, and controlling the first emitting device (3) and the second emitting device (4) to ensure the first laser beam (17) and the vector in real time
Figure FDA0003969014360000033
Direction coincidence, laser beam two (18) and vector
Figure FDA0003969014360000034
The directions coincide.
8. The method for visually and dynamically displaying the trajectories of the ends of the parallel robots according to claim 7, characterized in that a space coordinate system A-X is established at the emission of the first laser beam (17) A Y A Z A Wherein Z is A Axis to axis coincidence, X A The shaft is superposed with the first shaft;
due to the space coordinate system A-X A Y A Z A The space position relative to the space coordinate system O-XYZ is determined when the device is installed, and the space coordinate system A-X can be obtained by converting the position of the P point in the space coordinate system O-XYZ into the space coordinate system A Y A Z A Position of P point in (x) PA ，y PA ，z PA )；
(Vector)
Figure FDA0003969014360000035
In plane X A AY A Projection and Y in A Angle theta of axis A Comprises the following steps:
θ A ＝arctan(x PA /y PA )
then vector
Figure FDA0003969014360000041
And plane X A AY A Middle included angle beta A Comprises the following steps:
Figure FDA0003969014360000042
wherein if a laser beam one (17) is required to be associated with the space vector
Figure FDA0003969014360000043
Coincident with axis A, the second axis having to be rotated to Y A The axis being theta A Angle, axis A-needs to be rotated to angle Y A The axis being beta A An angle;
in the same way, the rotation angles of the first shaft B and the second shaft B of the second transmitting device (4) can be solved respectively.
9. The method for visually and dynamically displaying the trajectories of the tail ends of the parallel robots according to claim 4, wherein the designated position in step S4 is an actual position (x) reached by the tail ends (16) of the robots under the influence of error factors 1 ，y 1 ，z 1 ) (ii) a The preset position is a motion position demand coordinate (x) of a P point at the tail end (16) of the robot 0 ，y 0 ，z 0 )。
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