CN207841337U - A kind of robot workpiece positioning control system - Google Patents
A kind of robot workpiece positioning control system Download PDFInfo
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- CN207841337U CN207841337U CN201721337886.4U CN201721337886U CN207841337U CN 207841337 U CN207841337 U CN 207841337U CN 201721337886 U CN201721337886 U CN 201721337886U CN 207841337 U CN207841337 U CN 207841337U
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Abstract
The utility model is related to industrial robot control field, especially a kind of robot workpiece positioning control system.The control system includes for calculating workpiece offsets and adjusting the robot controller, the sighting device for obtaining workpiece image, motion, master controller and station proximity sensor for carrying out Switch of working position with mobile robot of robot work piece operations parameter.Main controller controls motion drives robot motion, and when station proximity sensor judges robot close to station, feedback master controller stops carrier robot；Workpiece image is obtained by robot controller control sighting device, and workpiece offsets are calculated, running parameter is adjusted further according to offset, the positioning for realizing workpiece after the switching of a machine multistation of robot solves the problems, such as that the work pieces process after Switch of working position caused by location of workpiece variation is inaccurate.
Description
Technical field
The utility model is related to industrial robot control field, especially a kind of robot workpiece positioning control system.
Background technology
With the development of industry 4.0, Robot industry flourishes, and undergoing an unusual development especially on processing manufacturing industry is fast
Suddenly, how to realize the use of robot rapidly and efficiently, have become the hot spot of pertinent art's concern.In order to adapt to use ring
Flexibility, accuracy, informationization, automation, the requirement rapidly and efficiently in border, robot carried from former simple material,
What stacking developed to today integrates Machine Design, computer science, mechanics of communication, automatic technology and management science
Complex art.Wherein, robot vision device comes into being, and receives the extensive concern of people, and is readily applied to
Many places such as robot workpiece positioning, scope control.In general, robot mode of workpiece in processing fixed station is
It needs robot fixing corresponding station installation, i.e., after fixing robot, is carried out according to fixed mode and posture
Operation.This working method needs a robot specially to match the fixed station of unification.
There is the patent document of publication number CN206321223U to disclose an a kind of machine multistation automobile component detecting system, packet
Controller, robot measurement, wheel measuring platform are included, the robot measurement is arranged on the wheel measuring platform, wheel measuring
Platform drives robot measurement to switch in different measuring stations and rotates, and robot measurement surveys the measured piece from different station
Amount, realizes the detection of a machine multistation, effectively raises working efficiency.
Robot is relatively broad in commercial Application, also mostly more complex work piece operations, it is therefore desirable to according to workpiece
Position adjusts certain posture, while meeting efficiency operation, completes high-precision requirement.Therefore, it is necessary in the machine of releasing
Device people on the basis of station limitation, is solved the problems, such as location of workpiece variation caused by station variation, reaches high efficiency, high-precision
Degree.
Utility model content
The purpose of this utility model is to provide a kind of robot workpiece positioning control system, to solve work after Switch of working position
The inaccurate problem of work pieces process caused by part change in location.
To achieve the above object, the utility model provides a kind of robot workpiece positioning control system, including robot, also
Motion and station proximity sensor including master controller, for carrying out Switch of working position with mobile robot；The robot
Include for calculating workpiece offsets and adjusting the robot controller of robot work piece operations parameter and for obtaining workpiece
The sighting device of image；The main controller controls connect the motion, described in the master controller input sample connection
Station proximity sensor, the master controller connect the robot controller；The robot controller input sample
Connect the sighting device.
It is to realize a machine as a kind of advantageous effect of robot workpiece positioning control system provided by the utility model
The switching of multistation, the positioning by realizing of Robot Vision robot to workpiece realize the robot energy after Switch of working position
Enough accurately automation mechanized operations.
In order to mitigate computational space and the time of robot controller, make system it is more quick, efficiently, it is accurate, as
The improvement of a kind of robot workpiece positioning control system provided by the utility model, it is preferred that the master controller is controlled for PLC
Device processed.
Preferably, the motion is linear transmission mechanism, and the linear transmission mechanism is slided for synchronous banding pattern straight line
Platform.
Preferably, the station proximity sensor is photo-electric proximity sensor.
Preferably, the sighting device includes video camera, and the video camera passes through Profinet communications and the machine
People's control device signal connects.
Preferably, the video camera is 2D industry specialized cameras.
The utility model provides a kind of robot workpiece position control method, and steps are as follows：
Judge whether close to station；
Obtain workpiece image；
Calculate workpiece offsets；
Adjust the running parameter of robot manipulation's workpiece.
It is to complete workpiece as a kind of advantageous effect of robot workpiece position control method provided by the utility model
Offset identification, and can be controlled according to offset and adjust corresponding running parameter, the positioning of workpiece is realized, solves Switch of working position
The inaccurate problem of the caused work pieces process of location of workpiece variation, method are simple afterwards, it is easy to accomplish.
Preferably, the offset include the x-axis of workpiece in the horizontal plane to shifting deviation Δ x, workpiece y-axis to
Shifting deviation Δ y and workpiece horizontal rotation deviation φ.
Description of the drawings
Fig. 1 is a kind of connection diagram of robot workpiece positioning control system；
Fig. 2 is a kind of flow chart of robot workpiece position control method；
Fig. 3 is a kind of schematic diagram calculation of robot workpiece position control method；
Fig. 4 is a kind of schematic diagram of robot workpiece position control method.
Specific implementation mode
The utility model is described in more detail below in conjunction with the accompanying drawings.
The utility model provides a kind of robot workpiece positioning control system, as shown in Figure 1, including robot, main control
Device, motion and station proximity sensor.Wherein robot includes robot controller and sighting device.
Main controller controls connect motion, and master controller input signal connects station proximity sensor, master controller
Output signal connects robot controller；Robot controller signal connects the sighting device.
Motion is used for band mobile robot and carries out Switch of working position, such as provides the transport mechanism of robot linear motion,
This linear transport mechanism type is more, such as synchronous banding pattern straight line slide unit or ball wire rod-type straight line slide unit.
Station proximity sensor is without contacting a kind of sensor for the purpose of detection object is detected, such as photo-electric
Proximity sensor, the beam axis of light emitting diode therein and the axis of phototriode in one plane, and at certain
Angle, two axial lines are met at a bit in front of sensor, when object to be detected surface is close to intersection point, the reflection of light emitting diode
Light is received by phototriode, generates signal.Therefore, station proximity sensor can be effectively detected whether robot reaches work
Position.
Sighting device includes video camera, and preferably video camera is 2D industry specialized cameras；The camera is communicated by Profinet
It is connect with robot controller signal, collected workpiece information is transferred to robot controller.
It is preferred that controller is PLC controller, PLC controller input acquisition connects station proximity sensor, and PLC controller is defeated
Go out control connection robot straight line transfer device, PLC controller signal connects robot controller, wherein PLC controller is logical
It crosses and motion is accurately controlled, in conjunction with the signal that station sensor acquires, control robot linear transport mechanism transveyer
Device people completes the switching and matching of station, and PLC controller will complete the signal transmission of Switch of working position to robot controller.
PLC controller can not be used in above-mentioned robot workpiece positioning control system, controlled by robot controller
Robot carries out the switching of station, but the intervention of PLC controller effectively reduces the computational space of robot controller
And the time, keep operation more quick, efficient.
The utility model provides a kind of robot workpiece position control method, as shown in Fig. 2, detailed process is as follows：
1, judge whether close to station.
PLC controller controlled motion mechanism band mobile robot carries out Switch of working position, and is acquired by station proximity sensor
Information on corresponding station, if collecting robot close to station, PLC controls no longer transferring robot is determined as robot
Have arrived at station.
2, workpiece image is obtained.
If robot transmits a signal to robot controller close to station, robot controller controls 2D works
Industry specialized camera acquires the workpiece image on corresponding station, and image information is exported to robot controller.
3, workpiece offsets are calculated.
The workpiece image of acquisition is calculated to the offset of workpiece, wherein Computing Principle by robot controller,
As shown in Figure 3.
Wherein O-XYZ is world coordinate system, Oc-XcYcZcFor the coordinate system of 2D industry specialized cameras；OcFor the optical center of camera,
X-axis, Y-axis respectively with XcAxis, YcThe x of axis and image, y-axis is parallel, ZcFor the optical axis of video camera, intersection point vertical with the plane of delineation
O1For the origin of workpiece image coordinate system；OcO1For the focal length f of camera.
Do not consider that camera lens distort, is then by perspective projection imaging model：
In formula, p (u, v) is two-dimensional coordinate values of the target feature point P in image coordinate system, and (X, Y, Z) is that P points are sat in the world
Mark the coordinate of system, (Xc0, Yc0, Zc0) be video camera optical center world coordinate system coordinate, dx, dy be video camera each
Pixel is respectively in the quantizing factor of x-axis and the sampling of y-axis direction, u0、v0The respectively picture centre O of video camera1In x-axis and y-axis side
To position offset when sampling.
Therefore, transformation of the P points position between image coordinate system and world coordinate system can be realized by formula (1).
In use, two feature fixed point locations are carried out to the workpiece on corresponding station, to obtain in robot
World coordinate system under workpiece coordinate.In the case where O-XYZ is world coordinate system, coordinate is carried out to workpiece vertex and is converted
Afterwards, specific locations (X, Y, Z) of the one vertex P of workpiece under robot world's coordinate system is obtained, another vertex P ＇ are
(Xb, Yb, Zb), each vertex position of workpiece is calculated successively, and complete the specific positioning function to workpiece, specific coordinate calculates
It is as follows：
Therefore, the calculation formula of the angular deviation φ of workpiece is as follows：
Offset Δ X, Δ Y, φ of workpiece are finally obtained.
4, the running parameter of robot manipulation's workpiece is adjusted, work pieces process is completed.
According to the offset that above-mentioned steps 3 obtain, robot controller adjusts running parameter when work piece operations, completes
The processing of workpiece.
According to offset establish model as shown in figure 4, in robot controller the P points of work piece operations initial parameter
{(Xa, Ya, Za), φa, in the case where distance does not convert in Z axis plane, it is added in the initial parameter of work piece operations respectively
Δ X, Δ Y and φ.
Finally, no matter the location of workpiece on corresponding station occur which kind of variation, as long as sighting device acquisition range it
Interior, robot controller control changes the parameter of break operation, completes work pieces process.
Be presented above the utility model is related to specific implementation mode, but the utility model is not limited to described reality
Apply mode.It is to identify by sensor in the basic ideas of the utility model, the station that robot is completed in controller control is cut
It changes and work piece operations, definitive requirement is not done for specific control strategy, is not departing from the principles of the present invention and essence
The change, modification, replacement and modification carried out to embodiment in the case of god are still fallen in the scope of protection of the utility model.
Claims (6)
1. a kind of robot workpiece positioning control system, including robot, which is characterized in that further include master controller, be used for band
Mobile robot carries out the motion and station proximity sensor of Switch of working position；The robot includes for calculating workpiece variation
Measure and adjust the robot controller of robot work piece operations parameter and the sighting device for obtaining workpiece image；The master
Controller control connects the motion, and the master controller input sample connects the station proximity sensor, the master
Controller connects the robot controller；The robot controller input sample connects the sighting device.
2. robot workpiece positioning control system according to claim 1, which is characterized in that the master controller is PLC
Controller.
3. robot workpiece positioning control system according to claim 1 or 2, which is characterized in that the motion is
Linear transmission mechanism, the linear transmission mechanism are synchronous banding pattern straight line slide unit.
4. robot workpiece positioning control system according to claim 3, which is characterized in that the station proximity sensor
For photo-electric proximity sensor.
5. robot workpiece positioning control system according to claim 1, which is characterized in that the sighting device includes taking the photograph
Camera, the video camera are communicated by Profinet and are connect with the robot controller.
6. robot workpiece positioning control system according to claim 5, which is characterized in that the video camera is 2D industry
Specialized camera.
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| CN201721337886.4U CN207841337U (en) | 2017-10-16 | 2017-10-16 | A kind of robot workpiece positioning control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685329A (en) * | 2017-10-16 | 2018-02-13 | 河南森源电气股份有限公司 | A kind of robot workpiece positioning control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685329A (en) * | 2017-10-16 | 2018-02-13 | 河南森源电气股份有限公司 | A kind of robot workpiece positioning control system and method |
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