CN114536327A - Intelligent industrial mechanical arm driving system based on ROS system - Google Patents
Intelligent industrial mechanical arm driving system based on ROS system Download PDFInfo
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- CN114536327A CN114536327A CN202210080633.2A CN202210080633A CN114536327A CN 114536327 A CN114536327 A CN 114536327A CN 202210080633 A CN202210080633 A CN 202210080633A CN 114536327 A CN114536327 A CN 114536327A
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- 230000033001 locomotion Effects 0.000 claims abstract description 44
- 238000005457 optimization Methods 0.000 claims abstract description 11
- 238000004458 analytical method Methods 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000007405 data analysis Methods 0.000 claims description 5
- 201000010099 disease Diseases 0.000 claims description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims description 4
- 210000002310 elbow joint Anatomy 0.000 abstract description 3
- 210000001503 joint Anatomy 0.000 abstract description 3
- 210000000323 shoulder joint Anatomy 0.000 abstract description 3
- 210000003857 wrist joint Anatomy 0.000 abstract description 3
- 230000009471 action Effects 0.000 abstract description 2
- 230000010354 integration Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012351 Integrated analysis Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
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- 238000000926 separation method Methods 0.000 description 1
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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
- B25J9/1656—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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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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
- B25J9/20—Programme controls fluidic
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
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- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
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Abstract
The invention discloses an intelligent industrial mechanical arm driving system based on a ROS system, and relates to the technical field of mechanical arm driving systems. The utility model provides an intelligent industry arm actuating system based on ROS system, includes ROS actuating system, ROS actuating system signal connection has pneumatic drive module, PLC control module and DSP processing module respectively, and the terminal signal connection of pneumatic drive module, PLC control module and DSP processing module has the image acquisition module. This intelligent industry arm actuating system based on ROS system, the arm can carry out noiseless rotation, remove and the centre gripping, and then guarantee the flexibility of arm motion, and then guarantee this arm motion form, the degree of freedom of action, snatch optimization and execution that can be timely made of quality and atress condition, the accurate nature of arm motion has been guaranteed, and the arm waist joint of guarantee arm, the shoulder joint, four joints of elbow joint and wrist joint and the flexibility of opening and shutting of terminal paw freely, the stability of robot centre gripping work has been improved.
Description
Technical Field
The invention relates to the technical field of mechanical arm driving systems, in particular to an intelligent industrial mechanical arm driving system based on an ROS system.
Background
The ROS (hereinafter referred to as "ROS") is an open source meta-Operating System for robots, which provides services that the Operating System should have, including hardware abstraction, underlying device control, implementation of common functions, inter-process message passing, and package management, and also provides tools and library functions needed for acquiring, compiling, writing, and running code across computers.
The intelligent industrial mechanical arm driving system based on the ROS system is obtained through reference documents, the most of the existing intelligent industrial mechanical arm driving systems can move well according to instructions, but the most of the existing ROS system intelligent industrial mechanical arm driving systems cannot move according to the instructions transmitted in data in real time, and then analysis and simulation detection are carried out after integration, and then the mechanical arm of the robot is poor in sensitivity of mechanical arm movement when the ROS system terminal instructions are executed, so that the robot cannot timely optimize the reaction delay caused by data instructions, and the problems of low mechanical arm movement efficiency and the like are caused.
Disclosure of Invention
The invention aims to solve at least one of the technical problems in the prior art, provides an intelligent industrial mechanical arm driving system based on an ROS system, and can solve the problem that the intelligent industrial mechanical arm driving system based on the ROS system is based on an intelligent industrial mechanical arm driving system X based on the ROS system.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an intelligent industry arm actuating system based on ROS system, including ROS actuating system, ROS actuating system signal connection has pneumatic drive module, PLC control module and DSP processing module respectively, pneumatic drive module, PLC control module and DSP processing module's terminal signal connection has image acquisition module, image acquisition module signal connection has PLD control module, PLD control module signal connection has manual control module, manual control module signal connection has instruction sending module, instruction sending module signal connection has arm motion module, arm motion module signal connection has the arm.
Preferably, the pneumatic driving module is respectively connected with the driving regulation and control module and the pneumatic component movement module through signals, and the air cylinder, the air valve, the air tank and the air compressor in the pneumatic driving module can be reasonably adjusted and moved under the mutual matching adjustment of the driving regulation and control module and the pneumatic component movement module.
Preferably, the PLC control module is respectively in signal connection with a real-time data processing module and a non-real-time data feedback module, and the real-time data processing module carries out timely treatment on difficult and complicated diseases in data through self data analysis.
Preferably, the DSP processing module is in signal connection with an instruction analysis module, and the instruction analysis module integrates and then comprehensively analyzes each instruction.
Preferably, the DSP processing module is in signal connection with a data sorting module, and the data sorting module performs permutation and analysis according to a data source in the instruction, so as to ensure that transmission of terminal data can be performed in order.
Preferably, the DSP processing module is in signal connection with a DSP optimization module, and the DSP optimization module separates data from a program, so that the DSP processing module executes an instruction faster.
Preferably, the PLD control module is in signal connection with a trajectory control module, and the PLD control module is used to send data commands to X, Y and the Z axis of the robot.
Preferably, the PLD control module is in signal connection with a denoising control module, and by means of mutual cooperation of the denoising control module, X, Y of the trajectory control module and the Z-axis motion are guaranteed to flexibly move, so that noise generated by motion of the robot is reduced.
Preferably, the manual control module is respectively connected with the rotating module, the moving module and the clamping module through signals. .
Compared with the prior art, the invention has the beneficial effects that:
(1) this intelligent industry arm actuating system based on ROS system, obtain the analysis and the integration back of data through the robot, ROS actuating system's instruction obtains under accurate and nimble range is sent, the arm can carry out noiseless rotation, remove and the centre gripping, and then guarantee the flexibility of arm motion, and then guarantee this arm motion form, the action degree of freedom, snatch quality and atress condition can be timely make optimization and execution, the accurate nature of arm motion has been ensured, and the arm waist joint of guarantee arm, the shoulder joint, the flexibility of opening and shutting of four joints of elbow joint and wrist joint and terminal paw freely, the stability of robot centre gripping work has been improved.
(2) This intelligent industry arm actuating system based on ROS system when through PLD control module control track control module, utilizes under the control module's of making an uproar that cooperatees each other, possesses the nimble motion during X, Y and the Z axle motion of guarantee track control module under, reduces the noise that the robot motion sent, ensures the motion noise reduction effect of robot.
(3) According to the intelligent industrial mechanical arm driving system based on the ROS system, X, Y and Z axes of the robot, which move, are subjected to data instruction sending through the PLD control module, and as long as three parameters are properly matched through the PLD control module, quick, stable and accurate control can be achieved.
(4) This intelligent industry arm actuating system based on ROS system through setting up image acquisition module, can make this mechanism can be accurate audio-visual carry out analysis and processing to the material, and then obtains accurate analysis with the real-time data of material, then feeds back the form of material to drive terminal.
(5) This intelligent industry arm actuating system based on ROS system, after DSP optimization module through among the DSP processing module received ROS actuating system transmission's instruction, DSP optimization module with data and procedure separation, and then make DSP processing module execution instruction speed faster, realize DSP processing module's advantage to the throughput is strong, built-in great memory, chip low power dissipation and the nimble high efficiency that reaches ROS actuating system of configuration resource.
(6) This intelligent industry arm actuating system based on ROS system, after the instruction of ROS actuating system transmission is received to data arrangement module through among the DSP processing module, data arrangement module can carry out the permutation and analysis according to the data source in the instruction, and then the transmission of guarantee terminal data can be orderly carry out, ensures the flexibility of the device motion.
(7) This intelligent industry arm actuating system based on ROS system, after instruction analysis module through among the DSP processing module received the instruction of ROS actuating system transmission, instruction analysis module can integrate each instruction, then the integrated analysis, and then whether have the instruction of mutual offset in obtaining a plurality of instructions, and then the reliability that the guarantee instruction sent and executed.
(8) This intelligent industry arm actuating system based on ROS system through the data analysis of self, handles in time the difficult miscellaneous disease in the data, and then can carry out the accumulative total study through the data that carry out the storage analysis to ROS actuating system through non-real-time data feedback module, and then guarantee PLC control module can expand the convenience of new skill and maintenance to this equipment.
(9) This intelligent industry arm actuating system based on ROS system, the pressure value that can effectual control cylinder and the displacement of gas valve through driving regulation and control module, and then the high efficiency of each subassembly motion of guarantee atmospheric pressure subassembly motion module control.
Drawings
The invention is further illustrated with reference to the following figures and examples:
FIG. 1 is a block diagram of an intelligent industrial robot arm driving system based on an ROS system according to the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, greater than, less than, exceeding, etc. are understood as excluding the present numbers, and the above, below, inside, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise specifically limited, terms such as set, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention by combining the specific contents of the technical solutions.
The first embodiment is as follows:
referring to fig. 1, the present invention provides a technical solution: the utility model provides an intelligent industry arm actuating system based on ROS system, including ROS actuating system, ROS actuating system signal connection has atmospheric pressure drive module respectively, PLC control module and DSP processing module, atmospheric pressure drive module signal connection has drive regulation and control module and pneumatic pressure subassembly motion module respectively, adjust down through mutually supporting of drive regulation and control module and pneumatic pressure subassembly motion module, can be with the cylinder in the atmospheric pressure drive module, the pneumatic valve, gas pitcher and air compressor machine carry out reasonable regulation motion, the pressure value that can effectual control cylinder through drive regulation and control module and the displacement of gas valve, and then the high efficiency of each subassembly motion of guarantee pneumatic pressure subassembly motion module control.
Furthermore, the PLC control module is respectively in signal connection with a real-time data processing module and a non-real-time data feedback module, good performance of the PLC control module is achieved through carrying of the PLC control module, the programmable PLC is high in anti-interference capacity and low in failure rate, the PLC control module is guaranteed to detect real-time transmission data of the ROS driving system, difficult and miscellaneous diseases in the data are timely processed through data analysis of the PLC control module, accumulated learning can be conducted on the data which are stored and analyzed by the ROS driving system through the non-real-time data feedback module, and convenience of expanding new skills and maintaining of the equipment is guaranteed.
Furthermore, the DSP processing module is respectively in signal connection with an instruction analysis module, a data sorting module and a DSP optimization module, after the instruction analysis module in the DSP processing module receives the instruction transmitted by the ROS driving system, the instruction analysis module can integrate the instructions, then the instructions are comprehensively analyzed, and then whether the instructions which are mutually collided exist in a plurality of instructions is obtained, so that the reliability of instruction sending and execution is guaranteed.
Furthermore, after the data sorting module in the DSP processing module receives the instruction transmitted by the ROS driving system, the data sorting module can perform arrangement analysis according to the data source in the instruction, so that the transmission of terminal data can be orderly executed, and the flexibility of the device in motion is guaranteed.
Furthermore, after the DSP optimization module in the DSP processing module receives the instruction transmitted by the ROS driving system, the DSP optimization module separates data from a program, so that the DSP processing module executes the instruction faster, the advantage of the DSP processing module is realized, and the high efficiency of the ROS driving system is achieved by the strong processing capability, the built-in large memory, the low power consumption of a chip and the flexibility of configuration resources.
Furthermore, the terminal signal connection of the air pressure driving module, the PLC control module and the DSP processing module is provided with an image acquisition module, and the mechanism can accurately and visually analyze and process the materials by arranging the image acquisition module, so that the real-time data of the materials can be accurately analyzed, and then the form of the materials is fed back to the driving terminal.
Furthermore, the image acquisition module is in signal connection with the PLD control module, the PLD control module is in signal connection with the track control module and the denoising control module respectively, data instructions are sent to X, Y and Z axes of the robot for movement through the PLD control module, and rapid, stable and accurate control can be achieved through the PLD control module as long as three parameters are properly matched.
Furthermore, when the trajectory control module is controlled by the PLD control module, the X, Y and Z-axis of the trajectory control module are ensured to flexibly move under the mutual cooperation of the denoising control modules, so that the noise generated by the motion of the robot is reduced, and the motion denoising effect of the robot is ensured.
Furthermore, the PLD control module is in signal connection with a manual control module, the manual control module is in signal connection with a rotation module, a moving module and a clamping module respectively, the manual control module is in signal connection with an instruction sending module, the instruction sending module is in signal connection with a mechanical arm motion module, the mechanical arm motion module is in signal connection with a mechanical arm, after data are analyzed and integrated through a robot, instructions of an ROS driving system are accurately and flexibly arranged and sent, the mechanical arm can rotate, move and clamp without noise, the flexibility of mechanical arm motion is further ensured, the motion form, the motion freedom degree, the grabbing quality and the stress condition of the mechanical arm can be timely optimized and executed, the precision of the mechanical arm motion is ensured, and the flexible opening and closing of four joints of an arm waist joint, a shoulder joint, an elbow joint and a wrist joint and a tail-end paw of the mechanical arm are ensured, the stability of robot centre gripping work has been improved.
The working principle is as follows: the utility model provides an intelligent industry arm actuating system based on ROS system, adjust through mutually supporting of drive regulation and control module and pneumatic component motion module, can be with the cylinder in the pneumatic drive module, the pneumatic valve, gas pitcher and air compressor machine carry out reasonable regulation motion, real-time data processing module and non-real-time data feedback module on the PLC control module, when carrying out data analysis to ROS actuating system, DSP processing module then passes through instruction analysis module, data arrangement module and DSP optimize the module and carry out the integration range of data, the robot carries out analysis execution to the data instruction of integration through image acquisition module and PLD control module this moment, and then the rotation of regulation and control arm, remove and the centre gripping work.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (9)
1. The utility model provides an intelligent industry arm actuating system based on ROS system, includes ROS actuating system, its characterized in that: the ROS driving system is respectively in signal connection with an air pressure driving module, a PLC control module and a DSP processing module, the air pressure driving module, the PLC control module and the DSP processing module are in signal connection with an image acquisition module, the image acquisition module is in signal connection with a PLD control module, the PLD control module is in signal connection with a manual control module, the manual control module is in signal connection with an instruction sending module, the instruction sending module is in signal connection with a mechanical arm movement module, and the mechanical arm movement module is in signal connection with a mechanical arm.
2. The intelligent industrial robot drive system based on the ROS system of claim 1, wherein: the pneumatic driving module is respectively in signal connection with a driving regulation and control module and a pneumatic component movement module, and can reasonably regulate and move an air cylinder, an air valve, an air tank and an air compressor in the pneumatic driving module under the mutual matching regulation of the driving regulation and control module and the pneumatic component movement module.
3. The intelligent industrial robot drive system based on the ROS system of claim 1, wherein: the PLC control module is respectively in signal connection with a real-time data processing module and a non-real-time data feedback module, and the real-time data processing module can timely treat difficult and complicated diseases in data through self data analysis.
4. The intelligent industrial robot drive system based on the ROS system of claim 1, wherein: the DSP processing module is in signal connection with an instruction analysis module, and the instruction analysis module can integrate and comprehensively analyze each instruction.
5. The intelligent industrial robot drive system based on the ROS system of claim 1, wherein: the DSP processing module is in signal connection with a data sorting module, and the data sorting module can perform permutation and analysis according to data sources in the instruction, so that the transmission of terminal data can be orderly executed.
6. The intelligent industrial robot drive system based on the ROS system of claim 1, wherein: the DSP processing module is in signal connection with a DSP optimization module, and the DSP optimization module separates data from programs, so that the DSP processing module can execute instructions faster.
7. The intelligent industrial robot drive system based on the ROS system of claim 1, wherein: the PLD control module is in signal connection with a track control module, and sends data instructions to X, Y and a Z axis of the robot to move through the PLD control module.
8. The intelligent industrial robot drive system based on the ROS system of claim 7, wherein: the PLD control module is in signal connection with a denoising control module, and by means of mutual matching of the denoising control module, X, Y of the trajectory control module and the Z-axis motion are guaranteed to flexibly move, and noise generated by motion of the robot is reduced.
9. The intelligent industrial robot drive system based on the ROS system of claim 1, wherein: the manual control module is respectively in signal connection with a rotating module, a moving module and a clamping module.
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