CN208437861U - A kind of dynamic electroplating equipment wielding machine arm system of view-based access control model measurement - Google Patents
A kind of dynamic electroplating equipment wielding machine arm system of view-based access control model measurement Download PDFInfo
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- CN208437861U CN208437861U CN201820456671.2U CN201820456671U CN208437861U CN 208437861 U CN208437861 U CN 208437861U CN 201820456671 U CN201820456671 U CN 201820456671U CN 208437861 U CN208437861 U CN 208437861U
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Abstract
The utility model discloses a kind of dynamic electroplating equipment wielding machine arm systems of view-based access control model measurement.It includes control system (industrial personal computer), dynamic monitoring module, accurate prediction module, mechanical arm, welding gun and production line, control system is connect with dynamic monitoring module, accurate prediction module, mechanical arm and production line with data line respectively, production line is mobile production line, conveyer belt is set on production line, welded workpiece is set on conveyer belt, the end of mechanical arm sets welding gun；Dynamic monitoring module and accurate prediction module combination settings, dynamic monitoring module include global camera, the fixed top for being located at production line of global camera；Accurate prediction module includes trick camera, and the fixation of trick camera is located on the axis of mechanical arm.It can quickly calculate the spatial pose relationship between the components such as components, production line, mechanical arm, welding gun, form the vision closed-loop control system based on three-dimensional pose；Dynamic welding task can be rapidly and accurately completed, so that production efficiency be significantly increased.
Description
Technical field
The utility model relates to a kind of dynamic electroplating equipment wielding machine arm systems of view-based access control model measurement.
Background technique
Mechanical arm is the Chinese translation of " ROBOT " word.According to national standard, industrial machinery arm is defined as " its operation machine
It is to automatically control, repeats programming, multipurpose, and can be programmed to 3 or more axis.It can be fixed or moves
Dynamic formula.It is used in industrial automation application ".Operation machine is defined as " being a kind of machine, mechanism is usually by a series of mutual again
The component of hinged or opposite sliding is formed.It usually has several freedom degrees, to grab or mobile object (tool or work
Part) ".So may understand industrial machinery arm are as follows: the Mechatronic device of anthropomorphic arm, wrist and hand function；It can appoint
Spatially the time-varying of pose (position and posture) requires to be moved for one object or tool, to complete a certain industrial work
Industry requirement.Soldering turret or welding gun are such as clamped, spot welding or arc-welding have been carried out to automobile or body of motor cycle；Carry die casting or punch forming
Part or component；Be cut by laser, spray make-up machinery components etc..Electroplating equipment wielding machine arm, it can be divided into again spot welding and
Two class of arc-welding.Industrial machinery people (Industrial Robots) is referred to as IR, they are mostly shirtsleeve operation equipment, sometimes
Mechanical arm can be referred to as, such as: simply lifted or put down movement, workpiece etc. is put into or taken out in machine.But, also
There are many industrial machinery people that can use process control completely, and different type work can be carried out, such as: it finds, transport, taking,
Alignment, assembly, the movement such as inspection.In order to be explicitly described industrial machinery people, robot association of the U.S. is in 1979 by robot
It is defined as an available formula control, multi-functional operator, it is moved through process control and diverse movements design
Material, workpiece, tool or special equipment, to complete a series of work.So although many industrial machinery people are not someone's
Form can be known as robot but as long as they meet the definition of robot.Although industrial machinery people has been widely used in
In a variety of manufacturings, but estimation also has tens of thousands industrial machinery people in the near future and puts into service.Now, much
Researcher is just being how robot research is added vision and feeling, enables robot that can complete more complicated work.And it studies
The knowledge of robot is known as robotics.It is disclosed in Chinese invention patent specification CN104476549B a kind of using vision
Measure the method to manipulator motion path compensation, the movement for vision guide mechanical arm.This method is known by vision measurement
Other mechanical arm, spacecraft have differences to theoretical position in holding position three position and theoretical model, compensation robotic arm path rule
Deviation is drawn, reaches the control effect of safety disengaging small space, meets the assembly demand of spacecraft high-precision high-reliability.Using
This method can transport mechanical arm to there are errors to identify between spacecraft physical location and ideal model theoretical position
Dynamic path compensates, and keeps position and path clustering more accurate, reaches the control effect of safety disengaging small space.Currently,
There are many mechanical arm of view-based access control model guidance, in the industry using also very extensive.But its existing main problem is: (1) target must
It must static, manipulator motion to target position；(2) lack global consciousness, do not have to the real-time status during manipulator motion
Monitoring；(3) according to single measurement as a result, directly guidance mechanical arm is operated to specific position, do not consider mistake from the distant to the near
Cheng Zhong, the variation of measurement accuracy.
Utility model content
For the above-mentioned prior art, the technical problem to be solved by the present invention is to provide a kind of measurements of view-based access control model
Dynamic electroplating equipment wielding machine arm system.It can quickly calculate the sky between the components such as components, production line, mechanical arm, welding gun
Between pose (three-dimensional position and posture) relationship, and by the data be used as mechanical arm control input quantity, formed be based on three-dimensional pose
Vision closed-loop control system；Can according to target move be operated, avoid production lines send band it is frequent stopping with
Starting, can rapidly and accurately complete dynamic welding task, so that production efficiency be significantly increased.
In order to solve the above technical problems, the utility model provides a kind of dynamic electroplating equipment wielding machine arm system of view-based access control model measurement
System.It includes control system (industrial personal computer), dynamic monitoring module, accurate prediction module, mechanical arm, welding gun and production line, control
System is connect with dynamic monitoring module, accurate prediction module, mechanical arm and production line with data line respectively, and control system is for controlling
Mechanical arm and production line movement processed；Production line is mobile production line, for moving welded workpiece, sets conveyer belt on production line,
Welded workpiece is set on conveyer belt, the end of mechanical arm sets welding gun；Dynamic monitoring module and accurate prediction module combination settings are moved
Identification and coarse positioning and dynamic monitoring of the state monitoring modular for workpiece to be welded, including global camera, global camera fixation are located at
The top of production line；Corresponding operating, including hand are predicted, guide and done to solder joint accurate of the accurate prediction module for workpiece to be welded
Eye camera, the fixation of trick camera are located on the axis of mechanical arm.
The dynamic monitoring module carries out to be welded preferably by the fixed top for being located at production line of global camera support
The identification of workpiece and coarse positioning determine the bond pad locations on workpiece to be welded, and to be welded according to the workpiece type to be welded recognized
Workpiece size, the location of workpiece and direction, the movement velocity of production line, acceleration etc. carry out primary Calculation, guidance mechanical arm to conjunction
Suitable welding position；Meanwhile in the welding process, the relativeness between welding gun end and workpiece to be welded, butt welding are calculated in real time
Termination process and welding quality carry out dynamic monitoring；By the monitoring of welding process, the abnormal interference being likely to occur is avoided, to mention
High efficiency and safety.
The accurate prediction module is located on the axis of mechanical arm preferably by the fixation of trick camera support, is responsible for being welded
The accurate positioning of point, and the motion state of bond pad locations and production line on workpiece is accurately predicted, it guides on mechanical arm
Welding gun end movement is to optimal welding position, so that the solder joint for treating welder's part carries out dynamic welding operation.
By the combination settings of the dynamic monitoring module and accurate prediction module, that is, pass through global camera and trick camera
Cooperation, the motion state for treating welder's part accurately predicted, so that the movement of Butt welding gun end carries out Dynamic Programming, is guaranteed
Welding gun end is in optimal welding position always, so that the dynamic welding for rapidly and accurately completing to treat welder's part operates.
The mechanical arm is industrial machinery arm, sets mechanical arm controller on the mechanical arm, the pedestal of mechanical arm is fixed, had
6 kinematic axis, kinematic axis pass through data line and are connected to mechanical arm controller.Mechanical arm controller is by sending 6 axis respectively
Rotational angle, control 6 axis of mechanical arm rotation, can make mechanical arm tail end with it is specific be directed toward reach space in certain bits
It sets.The position of mechanical arm tail end and direction determine by 6 respective rotational angles of axis of mechanical arm, during the motion constantly into
Mobile state adjustment.Practice have shown that mechanical arm can complete dynamic workpiece (mesh to be welded when target speed is less than 200mm/s
Mark) tracking, to guarantee accurate, the efficient execution of various operations.
The machinery arm controller is connected with control system (industrial personal computer) preferably by data line by data switching exchane
It connects, mechanical arm controller is connected preferably by data line with data switching exchane.
Compared with prior art, the beneficial effect that the utility model generates is: due to using above system, in use,
The dynamic electroplating equipment wielding machine arm system of view-based access control model measurement can quickly calculate components, production line, mechanical arm, welding gun etc.
Spatial pose (three-dimensional position and posture) relationship between component, and the data are used as the input quantity that mechanical arm controls, it is formed
Vision closed-loop control system based on three-dimensional pose；It can be moved and be operated according to target, avoided production lines and send band
It is frequent stopping and starting, dynamic welding task can be rapidly and accurately completed, so that production efficiency be significantly increased.
Detailed description of the invention
Fig. 1 is utility model works theory structure schematic diagram；
Fig. 2 is the utility model partial structural diagram；
In figure: 1 dynamic monitoring module, 10 global cameras, 11 global camera supports, 2 accurate prediction modules, 20 trick phases
Machine, 21 trick camera supports, 3 control systems (industrial personal computer), 4 data switching exchanes, 5 mechanical arms, 6 welding guns, 7 workpiece to be welded and 8 are raw
Producing line.
Specific embodiment
Specific embodiment of the present utility model is described in further detail with reference to the accompanying drawing.
Figures 1 and 2 show that utility model works schematic diagram and partial structural diagram.As shown in Figure 1, this is practical new
Type provides a kind of dynamic electroplating equipment wielding machine arm system of view-based access control model measurement.It includes control system 3 (industrial personal computer), dynamic monitoring
Module 1, accurate prediction module 2, mechanical arm 5, welding gun 6 and production line 8, control system 3 respectively with dynamic monitoring module 1, accurate
Prediction module 2, mechanical arm 5 are connected with production line 8 with data line, and control system 3 is acted for controlling mechanical arm 5 and production line 8；
Production line 8 is that mobile production line 8 sets conveyer belt, work to be welded is set on conveyer belt for moving welded workpiece on production line 8
Part, the end of mechanical arm 5 set welding gun 6；Dynamic monitoring module 1 and accurate 2 combination settings of prediction module, dynamic monitoring module 1 are used
In the identification of workpiece 7 to be welded and coarse positioning and dynamic monitoring, including global camera 10, the global fixation of camera 10 is located at production line 8
Top；Corresponding operating, including trick phase are predicted, guide and done to solder joint accurate of the accurate prediction module 2 for workpiece 7 to be welded
Machine 20, the fixation of trick camera 20 are located on the axis (the 4th axis) of mechanical arm 5.The dynamic monitoring module 1 is preferably by the overall situation
The fixed top for being located at production line 8 of camera support 11, and carry out identification and the coarse positioning of workpiece 7 to be welded, according to recognize to
7 type of welder's part determines the bond pad locations on workpiece 7 to be welded, and treats 7 size of welder's part, the location of workpiece and direction, production line
8 movement velocity, acceleration etc. carry out primary Calculation, and guidance mechanical arm 5 arrives suitable welding position；Meanwhile in welding process
In, the relativeness between 6 end of welding gun and workpiece to be welded 7 is calculated in real time, and dynamic prison is carried out to welding process and welding quality
It surveys；By the monitoring of welding process, the abnormal interference being likely to occur is avoided, to improve production efficiency and safety.The essence
True prediction module 2 is located on the axis (the 4th axis) of mechanical arm 5 preferably by the fixation of trick camera support 21, is responsible for carrying out solder joint
Accurate positioning, and the motion state of bond pad locations and production line 8 on workpiece is accurately predicted, is guided on mechanical arm 5
6 end movement of welding gun is to optimal welding position, so that the solder joint for treating welder's part 7 carries out dynamic welding operation.By described
The combination settings of dynamic monitoring module 1 and accurate prediction module 2 are right that is, by the cooperation of global camera 10 and trick camera 20
The motion state of workpiece 7 to be welded is accurately predicted, so that the movement of 6 end of Butt welding gun carries out Dynamic Programming, guarantees 6 end of welding gun
End is in optimal welding position always, so that the dynamic welding for rapidly and accurately completing to treat welder's part 7 operates.The machinery
Arm 5 is industrial machinery arm 5, sets 5 controller of mechanical arm on the mechanical arm 5, and the pedestal of mechanical arm 5 is fixed, and has 6 kinematic axis,
Kinematic axis passes through data line and is connected to 5 controller of mechanical arm.5 controller of mechanical arm is by sending 6 respective angles of rotation of axis
Degree controls the rotation of 56 axis of mechanical arm, and 5 end of mechanical arm can be made to be directed toward the specific position reached in space with specific.It is mechanical
The position of 5 end of arm and direction are determined by 6 respective rotational angles of axis of mechanical arm 5, are constantly moved during the motion
State adjustment.Practice have shown that 5 end maximum movement speed of mechanical arm is 200mm/s.When target speed is less than 200mm/s,
Mechanical arm 5 can complete dynamic workpiece 7 (target) tracking to be welded, to guarantee accurate, the efficient execution of various operations.The machine
5 controller of tool arm is connected with control system 3 (industrial personal computer) preferably by data line by data switching exchane 4, and mechanical arm 5 is controlled
Device processed is connected preferably by data line with data switching exchane 4.
The dynamic electroplating equipment wielding machine arm system three-dimensional position and posture relationship of view-based access control model measurement pass through vision measurement algorithm
It is calculated, first 3 are three-dimensional position Τ=(T in 6DOFx,Ty,Tz)Τ, latter 3 are 3 d pose R=[R1 R2 R3]Τ。
Calculation formula are as follows:
Wherein, (x, y) is image coordinate, is obtained by image procossing,For three-dimensional coordinate, pass through workpiece
Model obtains, and f is camera focus, is determined by camera lens.
Introduce scale factor s=f/Tz, it can obtain:
Above-mentioned equation group is solved, sR can be obtained1、sR2、sTx、sTy, to finally acquire 6DOF result:
R1=(sR1)/s, R2=(sR2)/s, R3=R1×R2
Tx=(sTx)/s, Ty=(sTy)/s, Tz=(sTz)/s
The dynamic electroplating equipment wielding machine arm system of view-based access control model measurement, in use, components, production can be calculated quickly
Spatial pose (three-dimensional position and posture) relationship between the components such as line 8, mechanical arm 5, welding gun 6, and the data are used as machinery
The input quantity that arm 5 controls forms the vision closed-loop control system 3 based on three-dimensional pose；It can be moved and be operated according to target,
The frequent stopping and starting for avoiding 8 upper conveyor belt of production line, can rapidly and accurately complete dynamic welding task, thus
Production efficiency is significantly increased.The operation mode of traditional industry production line 8 require target or workpiece must it is totally stationary or
Uniform motion, then mechanical arm 5 just can be carried out corresponding operation according to preset motion profile.And the view-based access control model measures
5 system of dynamic electroplating equipment wielding machine arm can then pass through real-time monitoring target three-dimensional position and posture, in real time planning 5 welding gun of mechanical arm
The relative position of 6 end movement modes, in real time analysis 5 welding gun of mechanical arm 6 end and workpiece to be welded 7 (target), can be according to mesh
Mark movement is operated, and is avoided the frequent stopping and starting of 8 upper conveyor belt of production line, is increased substantially production efficiency；Meanwhile
Due to the addition of the dynamic measurement function of view-based access control model, allow workpiece arbitrary motion on a moving belt, and no longer needs specific
Tooling or fixture carry out accurate positioning fixation, make it possible no fixture production line 8, while reducing production cost, show
Write the intelligent level and flexible production ability for improving production line 8.5 system of dynamic electroplating equipment wielding machine arm of view-based access control model measurement
The layout pattern of global camera 10 and trick camera 20, complements each other, common to complete 6 task of welding gun.
The specific embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the utility model is not
It is limited to above embodiment, within the knowledge of a person skilled in the art, various changes can also be made to it
Change.
Claims (5)
1. a kind of dynamic electroplating equipment wielding machine arm system of view-based access control model measurement, it includes control system, dynamic monitoring module, accurate pre-
Survey module, mechanical arm, welding gun and production line, control system respectively with dynamic monitoring module, accurate prediction module, mechanical arm and life
Producing line is connected with data line, and control system is for controlling mechanical arm and production line movement；Production line is mobile production line, for moving
Welded workpiece is moved, conveyer belt is set on production line, welded workpiece is set on conveyer belt, the end of mechanical arm sets welding gun；Its feature
Be: the dynamic monitoring module and accurate prediction module combination settings, dynamic monitoring module for workpiece to be welded identification and
Coarse positioning and dynamic monitoring, including global camera, the fixed top for being located at production line of global camera；Accurate prediction module be used for
Corresponding operating, including trick camera are accurately predicted, guide and done to the solder joint of welder's part, and the fixation of trick camera is located at mechanical arm
On axis.
2. the dynamic electroplating equipment wielding machine arm system of view-based access control model measurement as described in claim 1, it is characterised in that: the dynamic prison
It surveys module and passes through the fixed top for being located at production line of global camera support, and carry out identification and the coarse positioning of workpiece to be welded, according to
The workpiece type to be welded recognized, determines the bond pad locations on workpiece to be welded, and treats weldering workpiece size, the location of workpiece and court
To, the movement velocity of production line, acceleration carry out primary Calculation, guide mechanical arm on weldering boil in water for a while, then dress with soy, vinegar, etc. suitable welding position.
3. the dynamic electroplating equipment wielding machine arm system of view-based access control model measurement as described in claim 1, it is characterised in that: described accurate pre-
It surveys module to be located on the axis of mechanical arm by the fixation of trick camera support, is responsible for carrying out the accurate positioning of solder joint, and on workpiece
Bond pad locations and the motion state of production line accurately predicted, guide on mechanical arm welding gun end movement to optimal welding
Position.
4. the dynamic electroplating equipment wielding machine arm system of view-based access control model measurement as described in claim 1, it is characterised in that: the mechanical arm
For industrial machinery arm, mechanical arm controller is set on the mechanical arm, the pedestal of mechanical arm is fixed, and there are 6 kinematic axis, and kinematic axis is equal
Mechanical arm controller is connected to by data line.
5. the dynamic electroplating equipment wielding machine arm system of view-based access control model measurement as described in claim 1, it is characterised in that: the mechanical arm
Controller is connected with control system by data line by data switching exchane, and mechanical arm controller is handed over by data line and data
It changes planes and is connected.
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| CN108311835A (en) * | 2018-04-03 | 2018-07-24 | 深圳了然视觉科技有限公司 | A kind of dynamic electroplating equipment wielding machine arm system that view-based access control model measures |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108311835A (en) * | 2018-04-03 | 2018-07-24 | 深圳了然视觉科技有限公司 | A kind of dynamic electroplating equipment wielding machine arm system that view-based access control model measures |
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