Utility model content
In order to overcome above-mentioned technical problem, the utility model purpose aims to provide a kind of precision machinery people control system, its
Existing precision machinery people control system is solved when realizing strength tracking, the problem of cost of implementation is higher.
The utility model embodiment provides a kind of precision machinery people control system, applied to by robot base and multiaxis machine
In the precision machinery people of device arm composition.The precision machinery people control system includes：
Photoelectric encoder, the photoelectric encoder are set on adjacent robotic arm, for detecting between the robotic arm
Relatively rotate angle；
Thermal camera, the thermal camera are arranged in the robot base, follow the multi-axis machine arm to turn
It is dynamic；
Infrared markers point, the infrared markers point are arranged on the outer surface of the robotic arm；
Current sampling circuit, the current sampling circuit and the motor connection for driving multi-axis machine arm, obtain the electricity of motor
Flow variable signal；
Piezoelectric transducer, the piezoelectric transducer are fixed on one end of the robotic arm by cardo ring, for obtaining just
To the pressure change in sensor orientation；
Controller, the controller respectively with the photoelectric encoder, thermal camera, current sampling circuit and piezoelectricity
Sensor connects, and exports corresponding control signal to the motor.
Alternatively, the controller includes：Position control unit, Torque Control unit and main control unit；
The thermal camera and optical encoder are connected with position from control unit, the current sampling circuit and pressure
Electric transducer is connected with Torque Control unit；
The position control unit and the Torque Control unit are connected in a manner of parallel transmission with the main control unit
Alternatively, the photoelectric encoder is absolute type photoelectric encoder；The code-disc of the photoelectric encoder is arranged on machine
The one side that device arm connects, it is binary form code-disc.
Alternatively, the thermal camera is arranged on the outer surface of the robot base, has predetermined filming frequency.
Alternatively, the infrared markers point has separate label information, along predetermined interval around the robotic arm
Outer surface set.
Alternatively, it is additionally provided with servomotor on the cardo ring；The controller is connected with the servomotor, control
The rotation direction of the cardo ring.
Alternatively, the control system also includes at least one network interface；The network interface connects with the controller
Connect, for establishing data transmission channel.
Alternatively, the network interface is EBI or radio network interface.
Alternatively, the control system also includes electric power management circuit；The electric power management circuit and the precision machinery
The power supply connection of people, has at least two voltage output ports.
Alternatively, the control system also includes being used for the display for showing current machine arm running orbit；The display
Device is arranged on the pedestal, is connected with the controller.
In the utility model embodiment, what control system can be additionally provided by infrared markers point and thermal camera
Data message auxiliary determines the positional information and posture of current machine arm in space.Therefore it may only be necessary to use simple piezoelectricity
Sensor can complete above-mentioned moment follow-up function, it is not necessary to using six expensive axle torque sensors, so as to effectively contract
The manufacturing cost and difficulty of the industrial robot subtracted.
For the ease of understanding the utility model, with reference to the accompanying drawings and detailed description, the utility model is carried out more
Detailed description.It should be noted that when element is expressed " being fixed on " another element, it can be directly in another element
Above or therebetween there may be one or more elements placed in the middle.When an element is expressed " connection " another element, it can
To be directly to another element or there may be one or more elements placed in the middle therebetween.This specification is used
Term " vertical ", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, technology all used in this specification and scientific terminology are with belonging to skill of the present utility model
The implication that the technical staff in art field is generally understood that is identical.In art used in the description of the present utility model in this specification
Language is intended merely to describe the purpose of specific embodiment, is not intended to limit the utility model.Art used in this specification
Language "and/or" includes the arbitrary and all combination of one or more related Listed Items.
For convenience of explanation and understand the technical solution of the utility model, the noun of locality used in explanation is with attached below
The shown orientation of figure is defined.
The precision machinery people provided in the utility model embodiment refers to the robotic arm with multiple axles, such as 3 axles, 4 axles
Or 5 axle robotic arm.These robotic arms are connected by gear-box between each other, and each robotic arm is used as an axle, is connected thereto
Robotic arm can be rotated around axial direction, so as to realize full range of motion of the whole robotic arm in whole solid space.
It can be relatively rotated between adjacent robotic arm, the robotic arm of least significant end can generally be fixedly installed various differences
The frock or fixture of type, for completing corresponding processing or assembly process.These robotic arms are in factory, generally
The both sides of production line are fixed on by pedestal, to complete the process of production operation.
Common, these precision machineries people is to realize closed-loop control using negative feedback mode.Therefore, it is above-mentioned in order to realize
Torque tracking process, the robotic arm of each axle needs to know current torque and positional information, so as to accurately to the external world
The strength of application is reacted.
Fig. 1 is precision machinery people's control system that the present embodiment provides.As shown in figure 1, the precision machinery person joint mould
Tool includes：Photoelectric encoder 10, thermal camera 20, infrared markers point 30, current sampling circuit 40, piezoelectric transducer 50 and
Wherein, the photoelectric encoder 10 is set on adjacent robotic arm, relative between the robotic arm for detecting
Specifically, the photoelectric encoder 10 can select absolute type photoelectric encoder.The code-disc of the photoelectric encoder
The one side that robotic arm connects is arranged on, is binary form code-disc.That is, the code-disc can be arranged on the end of robotic arm,
When connected another robotic arm is then provided with corresponding Optical Transmit Unit., can be with logical when rotating between the two
The coding crossed on code-disc reads the anglec of rotation of current machine arm.
The thermal camera 20 is arranged in the robot base, follows the multi-axis machine arm to rotate, so as to begin
The shooting to multi-axis machine arm is kept eventually.The infrared markers point 30 is arranged on the outer surface of the robotic arm.
Due to the infrared markers point 30 additionally set.Therefore, it is each in the infrared image that the shooting of thermal camera 20 obtains
Corresponding variation is occurred for the posture for following multi-axis machine arm and position by the position of infrared markers point 30, and controller can be according to this
A little change comes the determination substantially now specific posture of multi-axis machine arm and position.
The motor connection of the current sampling circuit 40 and driving multi-axis machine arm, obtain the current changing signal of motor.
The current sampling circuit 40 can specifically use any suitable type, meet the current sampling circuit of requirement.Its is specific
For technology commonly used in the art, easy for statement, therefore not to repeat here.The controller can be by reading the operating current of motor
Come the resistance situation assisted the working condition for judging motor and be subject to.
The piezoelectric transducer 50 is fixed on one end of the robotic arm by cardo ring, for obtaining face sensor side
Upward pressure change.The piezoelectric transducer 50 is a simple sensor unit, and it can only be perceived in direction (i.e.
Face sensor orientation) on pressure change, and be converted into corresponding current signal.
The controller 60 respectively with the photoelectric encoder, thermal camera, current sampling circuit and piezoelectric sensing
Device connects, and exports corresponding control signal to the motor, control machine arm and acted accordingly.The controller 60 has
Body can use the core controller of any suitable type, perform corresponding logical operation and realize corresponding closed-loop control later
Function, its specific algorithm etc. can use existing conventional closed loop control algorithm to complete, and therefore not to repeat here.
In actual use, controller 60 can shoot the infrared image obtained according to thermal camera, quickly just
The posture of prompt really settled preceding robotic arm, so that it is determined that the direction for the torque that piezoelectric transducer 50 is currently born.That is, separate
Identify direction (being obtained by infrared image) and the numerical value (being obtained by piezoelectric transducer) of torque.By such mode, only need
To use and perceive the piezoelectric transducer in a direction be alternative existing six axles torque sensor, the cost of overall system control
It can be controlled effectively.
In certain embodiments, the thermal camera is arranged on the outer surface of the robot base, has predetermined
Filming frequency, the rotating shaft of pedestal is followed to be rotated, so that it is guaranteed that the action of robotic arm can completely be shot.
Specifically, the infrared markers point could be arranged to multiple, each different infrared markers point can be provided with phase
Mutually independent label information, set along predetermined interval around the outer surface of the robotic arm.When the shooting angle of thermal camera
When determining, current robotic arm appearance can be determined with the quantity according to the infrared markers point photographed and relative position relation
In the present embodiment, the piezoelectric transducer is located in cardo ring, can be rotated in any angular range
In order to it is only possible press close to robotic arm brandish or swaying direction, be easy to controller to carry out computing.In order to further real
Now to the accurate control of piezoelectric transducer, it is ensured that the accuracy of the torque data detected, it is preferable that on the cardo ring also
Servomotor can be provided with.The controller is connected with the servomotor, controls the rotation direction of the cardo ring, so as to
Change the direction of piezoelectric transducer, preferably realize moment inspecting.
In further embodiments, in order to realize the modularized design of robot, mitigate and suitably share for processor
Operation effect.As shown in Fig. 2 the controller can include：Position control unit 61, Torque Control unit 62 and master control
Unit 63 processed.
Wherein, the thermal camera and optical encoder are connected with position from control unit, for realizing robotic arm
Posture and position calculate.The current sampling circuit and piezoelectric transducer are connected with Torque Control unit, are realized for machine
The torque sensing of arm.
The position control unit 61 and the Torque Control unit 62 are in a manner of parallel transmission, with the main control unit
63 connections.The main control unit 63 realizes corresponding feature operation according to the result of calculation of above-mentioned two control unit.Example
Such as, remember some and the operation completed is guided by human hand.
In the present embodiment, two sub-control units 61 and 62 are by way of parallel transmission, it can be ensured that between data
Correct corresponding relation, be not in erroneous matching and cause calculate mistake situation occur.
In actual use, the control system can also be further according to the use demand of reality, addition one
Either a variety of extra interfaces or ancillary equipment are planted, to realize more control functions, improve robot in use
Convenient degree.For example, as shown in figure 1, the control system can also include at least one network interface 70.The network connects
Mouth 70 is connected with the controller, for establishing data transmission channel.In certain embodiments, the network interface can be total
Line interface or radio network interface, to set up the control network being made up of multiple precision machinery people.
In further embodiments, the control system can also include electric power management circuit.The electric power management circuit
It is connected with the power supply of the precision machinery people, there are at least two voltage output ports, is corresponding sensor or control
Device power supply processed.
In order to strengthen interacting between user, as shown in figure 1, the control system can also include being used to show currently
The display 80 of robotic arm running orbit.The display 80 can be arranged on the pedestal, be connected with the controller 60.
The display 80 can specifically use any suitable type display device, including but not limited to light-emitting diode display, LCD display
And electromagnetic touch screen etc..
In summary, the control system that the utility model embodiment provides, employs thermal camera and infrared markers point
The mode of cooperation realizes the attitude detection for precision machinery people, has the low advantage of cost of implementation.With reference to precision machinery
Attitude information, moment information and the positional information of people, you can realize the closed-loop control of precision machinery people, realize a variety of different
Control function, corresponding processing or assembly manipulation are completed, is had a good application prospect.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.