CN117091546A - Control method and device of robot flexibility detection equipment - Google Patents
Control method and device of robot flexibility detection equipment Download PDFInfo
- Publication number
- CN117091546A CN117091546A CN202310969769.3A CN202310969769A CN117091546A CN 117091546 A CN117091546 A CN 117091546A CN 202310969769 A CN202310969769 A CN 202310969769A CN 117091546 A CN117091546 A CN 117091546A
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- clamp
- robot
- servo
- sensor
- measuring
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- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012937 correction Methods 0.000 claims abstract description 36
- 238000005259 measurement Methods 0.000 claims abstract description 34
- 238000006073 displacement reaction Methods 0.000 claims abstract description 19
- 238000012360 testing method Methods 0.000 claims description 22
- 230000002159 abnormal effect Effects 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 4
- 230000009545 invasion Effects 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 claims 1
- 238000011990 functional testing Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008092 positive effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a control method of robot flexible detection equipment, which comprises the steps that during working, a manual key selects a clamp of a detected part, and the clamp is sent to a target position through a servo; measuring whether the position of the clamp deviates or not through a displacement sensor, if so, uploading the measured deviation data to an upper computer, calculating a correction angle through the upper computer, transmitting the correction angle to a servo, and finishing the correction deviation of the position of the clamp through the servo; if not, shielding the safety grating of the operation position, manually or automatically loading the part to be tested, starting measurement, releasing the shielding of the safety grating, judging whether the part to be tested is correctly mounted on the clamp through the sensor, and if not, alarming to prompt an operator to reload; if yes, the clamp is driven to enter a measuring position through the servo, the robot is started to drive the measuring sensor to execute measurement, after the measurement is completed, the measuring data are uploaded to the upper computer, and the clamp is reset. The problem of the compensation of accumulated error and mechanical error after anchor clamps pass through the measuring end from the charging end is solved.
Description
Technical Field
The invention belongs to the technical field of detection equipment, and particularly relates to a control method and device of robot flexible detection equipment.
Background
After the automobile parts are produced, functional tests are required. The common function test method is to put each tested part on the test frame by the test frame, and each tested part is provided with a fixed-point sensor, so that the fixed-point test is required to be performed manually. The method is time-consuming and labor-consuming, and the test cannot keep pace with the production requirement, so that the production efficiency is reduced.
Disclosure of Invention
The invention aims to provide a control method and a control device for flexible detection equipment of a robot, which realize faster and more convenient detection by automatically completing functional test by the robot.
In order to solve the problems, the technical scheme of the invention is as follows:
the control method of the robot flexible detection equipment comprises a turntable, a displacement sensor, a servo, a robot, a measurement sensor, a clamp and a sensor, wherein the displacement sensor is arranged on the turntable and is used for measuring whether the position of the clamp is deviated or not; the robot is arranged at the center of the turntable, the measuring sensor is arranged on the robot, the clamp is electrically connected with the servo, and the sensor is arranged on the clamp and used for judging whether the part to be measured is correctly arranged on the clamp;
the control method of the robot flexibility detection device comprises the following steps:
during working, a manual key selects a clamp of the measured part, and the clamp is sent to a target position through a servo; measuring whether the position of the clamp deviates or not through a displacement sensor, if so, uploading the measured deviation data to an upper computer, calculating a correction angle through the upper computer, transmitting the correction angle to a servo, and finishing the correction deviation of the position of the clamp through the servo; if not, shielding the safety grating of the operation position, manually or automatically loading the part to be tested, starting measurement, releasing the shielding of the safety grating, judging whether the part to be tested is correctly mounted on the clamp through the sensor, and if not, alarming to prompt an operator to reload; if yes, the clamp is driven to enter a measuring position through the servo, the robot is started to drive the measuring sensor to execute measurement, after the measurement is completed, the measuring data are uploaded to the upper computer, and the clamp is reset.
According to an embodiment of the present invention, the algorithm for calculating the correction angle by the upper computer includes:
obtaining an offset value A measured by a displacement sensor, wherein the distance from the center point of the turntable to the clamp is L1, the radius of the turntable is R, the number of bits of a servo encoder is M, and when A is greater than 0.01mm, calculating a correction angle according to the following formula:
correction angle = a/2 pi L1
Correction pulse = 180A/pi L1M.
According to the embodiment of the invention, the robot flexible detection equipment needs to perform self-detection before working; the self-test includes:
after power-on, starting a safety system to perform self-checking, judging whether the servo position is normal or not, if not, performing servo reset, and sending out failure alarm after the reset failure; if yes, starting the robot to return to zero; meanwhile, judging whether the state of the robot is normal, if not, alarming abnormally, and if so, starting the robot to return to zero; whether the sensor is reset normally or not is also judged, if not, an abnormal alarm is given, and if so, the robot is started to return to zero; and after the robot returns to zero, carrying out self-checking completion prompt.
According to the embodiment of the invention, when the safety system is started to perform self-inspection, if foreign matter invasion is found, abnormal alarm is performed and the system is suddenly stopped.
The control device for the robot flexibility detection equipment realizes the control method for the robot flexibility detection equipment in one embodiment of the invention, and comprises the following steps:
the first judging module is used for acquiring data measured by the displacement sensor, judging whether the position of the clamp deviates, if so, calculating a correction angle and transmitting the correction angle to the servo, and finishing the correction deviation of the position of the clamp by the servo; if not, shielding the safety grating of the operation position, and automatically loading the part to be tested;
the second judging module is used for removing the safety grating shielding, acquiring sensor data, judging whether the tested part is correctly installed on the clamp, and if not, alarming to prompt an operator to reinstall; if yes, the servo is controlled to drive the clamp to enter a measuring position;
and the execution measurement module is used for starting the robot to drive the measurement sensor to execute measurement, uploading measurement data to the upper computer after the measurement is completed, and resetting the clamp.
According to an embodiment of the invention, the device further comprises a self-checking module, wherein the self-checking module is used for judging whether the servo position is normal or not, if not, servo reset is carried out, and a failure alarm is sent out after the reset failure; if yes, starting the robot to return to zero; meanwhile, judging whether the state of the robot is normal, if not, alarming abnormally, and if so, starting the robot to return to zero; and judging whether the reset of the sensor is normal or not, if not, alarming abnormally, and if so, starting the robot to return to zero.
According to an embodiment of the present invention, the self-checking module is further configured to detect whether a foreign object invades, if yes, perform an abnormal alarm and make a system scram.
By adopting the technical scheme, the invention has the following advantages and positive effects compared with the prior art:
according to the control method of the robot flexibility detection equipment, when the control method is in operation, a manual key selects a clamp of a detected part, and the clamp is sent to a target position through a servo; measuring whether the position of the clamp deviates or not through a displacement sensor, if so, uploading the measured deviation data to an upper computer, calculating a correction angle through the upper computer, transmitting the correction angle to a servo, and finishing the correction deviation of the position of the clamp through the servo; if not, shielding the safety grating of the operation position, manually or automatically loading the part to be tested, starting measurement, releasing the shielding of the safety grating, judging whether the part to be tested is correctly mounted on the clamp through the sensor, and if not, alarming to prompt an operator to reload; if yes, the clamp is driven to enter a measuring position through the servo, the robot is started to drive the measuring sensor to execute measurement, after the measurement is completed, the measuring data are uploaded to the upper computer, and the clamp is reset. The problem of the compensation of accumulated error and mechanical error behind anchor clamps by the loading end to the measuring end is solved to promote this flexible check out test set degree of accuracy, and then improve the detection efficiency of car spare part.
Drawings
FIG. 1 is a front view of a flexible test device in accordance with one embodiment of the present invention;
FIG. 2 is a top view of a flexible test device structure in accordance with one embodiment of the present invention;
FIG. 3 is an enlarged view of a turntable in a flexible test apparatus in accordance with one embodiment of the present invention;
FIG. 4 is a flow chart of a control method of the robot flexibility test device according to an embodiment of the present invention;
FIG. 5 is a self-test flow chart of a robotic compliance testing device in accordance with an embodiment of the present invention;
FIG. 6 is a flow chart of a foreign object intrusion processing according to an embodiment of the invention.
Reference numerals illustrate:
1: a displacement sensor; 2: a clamp; 3: a signal lamp; 4: a servo; 5: a measuring sensor; 6: a robot; 7: a sensor; 8: a turntable; 9: a security grating.
Detailed Description
The following describes a control method of the robot flexibility detecting device according to the present invention in further detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the invention will become more apparent from the following description and from the claims.
Aiming at the problems of time and labor waste and low working efficiency of the traditional automobile part testing method, the embodiment provides the robot flexibility detection equipment. Referring to fig. 1 to 3, the robot flexibility test apparatus includes a turntable 8, a displacement sensor 1, a servo 4, a robot 6, a measurement sensor 5, a jig 2, and a sensor 7, wherein the displacement sensor 1 is mounted on the turntable 8 for measuring whether the jig position is deviated. From fig. 3, it can be seen that the position of the displacement sensor 1 is located within an oval frame which is not far from the center of the turntable 8. The robot 6 is installed in the center of the turntable 8, and the measuring sensor 5 is disposed on the robot 6 for measuring the measured part. The clamp 2 is electrically connected to the servo 4, and the position of the clamp is changed by the servo 4, for example, from the loading end of the clamp to the measuring end of the part. The sensor 7 is arranged on the clamp 2 and is used for judging whether the measured part is correctly installed on the clamp.
In the test, the flexible detection equipment of the robot can change the clamp according to the type of the part to be tested, and the change of the clamp needs corresponding control, if the control is improper, the test is unfavorable. In order to solve the problem of multi-clamp replacement of the flexible detection equipment in the measurement process, the embodiment provides a control method of the robot flexible detection equipment. Referring to fig. 4, the control method of the robot flexibility detecting device includes the following steps:
during working, a manual key selects a clamp of the part to be tested, and the clamp is sent to a target position through a servo; measuring whether the position of the clamp deviates or not through a displacement sensor, if so, uploading the measured deviation data to an upper computer, calculating a correction angle through the upper computer, transmitting the correction angle to a servo, and finishing the correction deviation of the position of the clamp through the servo; if not, the safety grating 9 of the shielding operation position is manually or automatically loaded with the measured part, the measurement is started, the safety grating shielding is released, whether the measured part is correctly mounted on the clamp is judged through the sensor, if not, the alarm prompts the operator to reload, and the signal lamp 3 is yellow; if yes, the clamp is driven to enter a measuring position through the servo, the robot is started to drive the measuring sensor to execute measurement, after the measurement is completed, the measuring data are uploaded to the upper computer, and the clamp is reset.
The algorithm for calculating the correction angle by the upper computer comprises the following steps:
obtaining an offset value A measured by a displacement sensor, wherein the distance from the center point of the turntable to the clamp is L1, the radius of the turntable is R, the number of bits of a servo encoder is M, and when A is greater than 0.01mm, calculating a correction angle according to the following formula:
correction angle = a/2 pi L1
Correction pulse = 180A/pi L1M.
The robot flexible detection device needs to perform self-inspection before working. The self-checking flow is shown in FIG. 5. After power-on, starting a safety system to perform self-checking, judging whether the servo position is normal or not, if not, performing servo reset, and sending out failure alarm after the reset failure; if yes, starting the robot to return to zero; meanwhile, judging whether the state of the robot is normal, if not, alarming abnormally, and if so, starting the robot to return to zero; whether the sensor is reset normally or not is also judged, if not, an abnormal alarm is given, and if so, the robot is started to return to zero; after the robot returns to zero, self-checking completion prompt is carried out, and the signal lamp 3 is green.
In the process of starting the safety system to perform self-checking or running, if foreign matter invasion is found, abnormal alarm is performed and the system is suddenly stopped, and the signal lamp 3 is lightened in red. Please refer to fig. 6 in detail.
Based on the same conception, the embodiment also provides a control device of the robot flexibility detection equipment, and the control method of the robot flexibility detection equipment in the embodiment is realized. The device comprises:
the first judging module is used for acquiring data measured by the displacement sensor, judging whether the position of the clamp deviates, if so, calculating a correction angle and transmitting the correction angle to the servo, and finishing the correction deviation of the position of the clamp by the servo; if not, shielding the safety grating of the operation position, and automatically loading the part to be tested;
the second judging module is used for removing the safety grating shielding, acquiring sensor data, judging whether the tested part is correctly installed on the clamp, and if not, alarming to prompt an operator to reinstall; if yes, the servo is controlled to drive the clamp to enter a measuring position;
and the execution measurement module is used for starting the robot to drive the measurement sensor to execute measurement, uploading measurement data to the upper computer after the measurement is completed, and resetting the clamp.
Further, the device also comprises a self-checking module for judging whether the servo position is normal, if not, performing servo reset, and sending out failure alarm after the reset failure; if yes, starting the robot to return to zero; meanwhile, judging whether the state of the robot is normal, if not, alarming abnormally, and if so, starting the robot to return to zero; and judging whether the reset of the sensor is normal or not, if not, alarming abnormally, and if so, starting the robot to return to zero.
The self-checking module is also used for detecting whether foreign matter invades, if yes, abnormal alarming is carried out, and system emergency stop is carried out.
The device defines the control logic of the equipment, associates the matching relation of hardware and software, defines the self-checking logic of the equipment power-on restarting after the power-off restarting, and solves the problem of accumulated error and mechanical error compensation after the clamp is transferred from the charging end to the measuring end.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is within the scope of the appended claims and their equivalents to fall within the scope of the invention.
Claims (7)
1. The control method of the robot flexible detection equipment is characterized in that the robot flexible detection equipment comprises a turntable, a displacement sensor, a servo, a robot, a measurement sensor, a clamp and a sensor, wherein the displacement sensor is arranged on the turntable and is used for measuring whether the position of the clamp is deviated or not; the robot is arranged at the center of the turntable, the measuring sensor is arranged on the robot, the clamp is electrically connected with the servo, and the sensor is arranged on the clamp and used for judging whether the part to be measured is correctly arranged on the clamp;
the control method of the robot flexibility detection device comprises the following steps:
during working, a manual key selects a clamp of the measured part, and the clamp is sent to a target position through a servo; measuring whether the position of the clamp deviates or not through a displacement sensor, if so, uploading the measured deviation data to an upper computer, calculating a correction angle through the upper computer, transmitting the correction angle to a servo, and finishing the correction deviation of the position of the clamp through the servo; if not, shielding the safety grating of the operation position, manually or automatically loading the part to be tested, starting measurement, releasing the shielding of the safety grating, judging whether the part to be tested is correctly mounted on the clamp through the sensor, and if not, alarming to prompt an operator to reload; if yes, the clamp is driven to enter a measuring position through the servo, the robot is started to drive the measuring sensor to execute measurement, after the measurement is completed, the measuring data are uploaded to the upper computer, and the clamp is reset.
2. The control method of the robot flexibility test apparatus of claim 1, wherein the algorithm for calculating the correction angle by the upper computer comprises:
obtaining an offset value A measured by a displacement sensor, wherein the distance from the center point of the turntable to the clamp is L1, the radius of the turntable is R, the number of bits of a servo encoder is M, and when A is greater than 0.01mm, calculating a correction angle according to the following formula:
correction angle = a/2 pi L1
Correction pulse = 180A/pi L1M.
3. The control method of the robot flexible detecting device according to claim 1, wherein the robot flexible detecting device needs to perform self-inspection before working; the self-test includes:
after power-on, starting a safety system to perform self-checking, judging whether the servo position is normal or not, if not, performing servo reset, and sending out failure alarm after the reset failure; if yes, starting the robot to return to zero; meanwhile, judging whether the state of the robot is normal, if not, alarming abnormally, and if so, starting the robot to return to zero; whether the sensor is reset normally or not is also judged, if not, an abnormal alarm is given, and if so, the robot is started to return to zero; and after the robot returns to zero, carrying out self-checking completion prompt.
4. A control method of a robot flexibility test apparatus according to claim 3, wherein when the safety system is started for self-test, if foreign matter invasion is found, an abnormality alarm is given and the system is suddenly stopped.
5. A control apparatus of a robot flexibility test apparatus, implementing the control method of a robot flexibility test apparatus according to any one of claims 1 to 4, comprising:
the first judging module is used for acquiring data measured by the displacement sensor, judging whether the position of the clamp deviates, if so, calculating a correction angle and transmitting the correction angle to the servo, and finishing the correction deviation of the position of the clamp by the servo; if not, shielding the safety grating of the operation position, and automatically loading the part to be tested;
the second judging module is used for removing the safety grating shielding, acquiring sensor data, judging whether the tested part is correctly installed on the clamp, and if not, alarming to prompt an operator to reinstall; if yes, the servo is controlled to drive the clamp to enter a measuring position;
and the execution measurement module is used for starting the robot to drive the measurement sensor to execute measurement, uploading measurement data to the upper computer after the measurement is completed, and resetting the clamp.
6. The control device of the robot flexible detection device according to claim 5, further comprising a self-checking module, wherein the self-checking module is used for judging whether the servo position is normal, if not, performing servo reset, and sending out failure alarm after the reset failure; if yes, starting the robot to return to zero; meanwhile, judging whether the state of the robot is normal, if not, alarming abnormally, and if so, starting the robot to return to zero; and judging whether the reset of the sensor is normal or not, if not, alarming abnormally, and if so, starting the robot to return to zero.
7. The control device of the robot flexible inspection apparatus according to claim 6, wherein the self-checking module is further configured to detect whether there is a foreign object intrusion, and if so, perform an abnormal alarm and make a system scram.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310969769.3A CN117091546A (en) | 2023-08-03 | 2023-08-03 | Control method and device of robot flexibility detection equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310969769.3A CN117091546A (en) | 2023-08-03 | 2023-08-03 | Control method and device of robot flexibility detection equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117091546A true CN117091546A (en) | 2023-11-21 |
Family
ID=88782783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310969769.3A Pending CN117091546A (en) | 2023-08-03 | 2023-08-03 | Control method and device of robot flexibility detection equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117091546A (en) |
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2023
- 2023-08-03 CN CN202310969769.3A patent/CN117091546A/en active Pending
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