CN212135182U - Laser machine operating system - Google Patents
Laser machine operating system Download PDFInfo
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- CN212135182U CN212135182U CN202020875032.7U CN202020875032U CN212135182U CN 212135182 U CN212135182 U CN 212135182U CN 202020875032 U CN202020875032 U CN 202020875032U CN 212135182 U CN212135182 U CN 212135182U
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Abstract
The utility model relates to a laser machine operating system, which comprises a manual operator, a laser machine controller, a servo driving device and a laser machine body; the hand-operated manipulator is in communication connection with the laser machine controller, the laser machine controller is electrically connected with the servo driving device, and the servo driving device is electrically connected with the laser machine body. The manual operator is used for finishing parameter setting and motion trail planning of the laser machine body and sending the set parameters and the planned motion trail to the laser machine controller; the laser machine controller is used for controlling the servo driving device to operate according to the parameters set by the hand operator and the planned motion trail, and the servo driving device is used for driving the laser machine body to work according to the set parameters and the planned motion trail; the utility model discloses a laser machine operating system can provide abundant human-computer interaction means, accomplish complicated orbit planning fast, and need not to demonstrate the programming in advance, and application scope is more extensive, can generally promote.
Description
Technical Field
The utility model relates to a mechanical engineering technical field, in particular to laser machine operating system.
Background
With the development of laser technology, industrial lasers are more and more widely applied in the technical field of mechanical engineering. However, as the requirements of the production and manufacturing process in mechanical engineering are increased, the operation of the industrial laser during production and manufacturing becomes more and more complex, and higher requirements are also put on the performance of an operating system (referred to as a laser machine operating system) of the industrial laser.
The working process of the laser machine operating system means that aiming at a specific working scene, a laser machine operator plans a movement track for the laser machine and generates an operation program corresponding to the movement track, and the laser machine completes repeated track movement by executing the operation program.
However, the traditional laser machine operating system has a single man-machine interaction means, is difficult to complete complex trajectory planning, needs to teach programming in advance, and has great limitation.
SUMMERY OF THE UTILITY MODEL
The utility model provides a laser machine operating system has solved the single, the track planning that is difficult to accomplish complicacy of the laser machine operating system human-computer interaction means among the prior art and needs teach the technical problem of programming in advance.
The utility model provides an above-mentioned technical problem's technical scheme as follows:
a laser machine operation system comprises a hand operator, a laser machine controller, a servo driving device and a laser machine body;
the hand-operated manipulator is in communication connection with the laser machine controller, the laser machine controller is electrically connected with the servo driving device, and the servo driving device is electrically connected with the laser machine body.
The utility model has the advantages that: the manual operator is used for finishing parameter setting and motion trail planning of the laser machine body and sending the set parameters and the planned motion trail to the laser machine controller; the laser machine controller is used for controlling the servo driving device to operate according to the parameters set by the hand operator and the planned motion trail, and the servo driving device is used for driving the laser machine body to work according to the set parameters and the planned motion trail;
the utility model discloses a laser machine operating system can provide abundant human-computer interaction means, accomplish complicated orbit planning fast, and need not to demonstrate the programming in advance, and application scope is more extensive, can generally promote.
On the basis of the technical scheme, the utility model discloses there is following improvement in addition:
further: the manual operator comprises a central processing unit, a memory, a sensor, a man-machine interaction interface, a functional interface and a communication circuit;
the central processing unit is respectively and electrically connected with the memory, the sensor, the human-computer interaction interface, the functional interface and the communication circuit, and the communication circuit is in communication connection with the laser machine controller.
The beneficial effects of the further technical scheme are as follows: through the functional interface, necessary functions can be provided for the work of the hand operator; through the central processing unit, the human-computer interaction interface, the sensor and the functional interface, a rich human-computer interaction platform can be provided for operators, rich interaction means are provided to complete parameter setting and motion trajectory planning of the laser machine body, the interaction effect is improved, further the motion control and operation functions of the laser machine body are realized, advance teaching programming is not needed, and the operators are not required to have strong professional knowledge; meanwhile, the relevant data of the parameter setting and track planning process can be checked in real time through a human-computer interaction interface, and the state information of the laser machine body is monitored in real time in the actual work of the laser machine body; the storage can realize large-capacity storage, store related data in the parameter setting and motion trail planning process and state information of the laser machine body, and provide strong data support for analysis and operation of the laser machine body; through the communication circuit, the set parameters and the planned motion trail are conveniently transmitted to the laser machine controller, and the servo driving device and the laser machine body are conveniently controlled to operate.
Further: the human-computer interaction interface comprises an instruction input device and a display;
the central processing unit is electrically connected with the instruction input unit and the display respectively.
The beneficial effects of the further technical scheme are as follows: the method is characterized in that a command input device is used for conveniently setting parameters and planning a motion trail according to an input command of an operator, wherein in the process of planning the motion trail, a virtual laser model can be constructed by adopting a simulation mode of a laser machine body and a virtual three-dimensional working scene and kinematic modeling of the laser machine, and in the process, the operator is required to input parameters and kinematic parameters of a specific working scene, so that the operator can conveniently complete a virtual online motion process through a manual operator by inputting the parameters through the command input device, the operator can quickly and accurately complete complex parameter setting and motion trail planning without teaching programming in advance and having strong professional knowledge; through the display, an operator can conveniently check the complete human-computer interaction process and the position information of key points of the laser machine body in real time, such as the poses and angles of the key points, and the user experience is effectively improved; wherein, the adoption is to the laser machine body and the virtual three-dimensional working scene's simulation mode and the kinematics of laser machine are modeled and are constructed virtual laser machine model's concrete operation method and be prior art, the utility model discloses do not relate to the improvement of above-mentioned computer program, concrete detail here is no longer repeated.
Further: the instruction input device comprises a three-dimensional mouse, a microphone, a key and/or a touch screen;
the three-dimensional mouse and the microphone are respectively electrically connected with the central processing unit;
the key is electrically connected with the central processing unit, and/or the touch screen is electrically connected with the central processing unit.
The beneficial effects of the further technical scheme are as follows: by combining a three-dimensional mouse with keys and/or a touch screen, an operator can conveniently plan a motion track, for example, the simulation of a laser machine body and a virtual three-dimensional working scene is completed, the kinematic modeling of the laser machine is completed, and a virtual laser machine model is constructed; the voice command can be input through the microphone, the movement track planning can be further conveniently completed, the requirement on operators is lower, the operators do not need to have stronger professional knowledge, the interaction means is rich, and the user experience is further effectively improved.
Further: the functional interface comprises a power interface and a data transmission interface;
the power supply interface and the data transmission interface are respectively electrically connected with the central processing unit.
The beneficial effects of the further technical scheme are as follows: through the power interface, power is conveniently supplied to each part of the hand operator; through the data transmission interface, the bidirectional transmission of data is convenient to realize, for example, the data stored in the memory is downloaded and transmitted to the background server, and for example, data such as a laser machine virtual model established by other hand operators or basic parameters of a laser machine body can be stored in the memory.
Further: the sensor is specifically a six-dimensional force sensor.
The beneficial effects of the further technical scheme are as follows: through the six-dimensional force sensor, the state information of the laser machine body can be mastered in real time during virtual simulation, so that the virtual model of the virtual simulation laser machine can be corrected, the virtual model of the virtual simulation laser machine can be more consistent with the actual laser machine body, and the planning precision of the motion trail can be further improved.
Further: the communication circuit is specifically a serial port communication circuit or an Ethernet communication circuit.
The beneficial effects of the further technical scheme are as follows: the parameters set by the hand operator and the planned motion trail can be accurately, quickly and completely transmitted to the laser machine controller through the serial port communication circuit or the Ethernet communication circuit, and the laser machine controller is strong in real-time performance and high in stability.
Further: the hand operator further comprises an alarm;
the alarm is electrically connected with the central processing unit.
The beneficial effects of the further technical scheme are as follows: through the alarm, when a fault occurs in the parameter setting and motion track planning process, an alarm signal can be timely sent out to remind an operator to timely take corresponding solution measures, so that the smooth operation of the whole laser machine is ensured, and unnecessary loss is avoided.
Further: the laser controller comprises a motion control card and an encoder;
the motion control card is electrically connected with the encoder, the motion control card and the encoder are respectively and electrically connected with the servo driving device, and the motion control card is in communication connection with the manual operator.
The beneficial effects of the further technical scheme are as follows: the servo driving device can be conveniently controlled to operate according to the set parameters and the planned motion trail through the motion control card, and the laser machine body is further controlled to work according to the planned motion trail; through the encoder, the state information of the servo driving device driving the laser machine body during working can be fed back to the motion control card, so that the working states of the servo driving device and the laser machine body can be mastered in real time.
Further: the servo driving device comprises a servo driver and a servo motor;
the servo driver is respectively electrically connected with the motion control card, the encoder and the servo motor, and the servo motor is electrically connected with the laser machine body.
The beneficial effects of the further technical scheme are as follows: because each joint of the laser machine body is usually required to be driven when the laser machine body is driven to work, namely a plurality of motors are usually required to respectively drive each joint of the laser machine body, the driving control on the pose and the angle of each joint can be facilitated through the servo driver and the servo motor, the pose and the angle of each joint can be changed in real time according to the planned motion trail, the control precision is improved, and the stability is high.
Drawings
Fig. 1 is a schematic structural diagram of an operating system of a laser machine according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another laser machine operating system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a hand operator according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the system comprises a manual operator, 2, a laser machine controller, 3, a servo driving device, 4, a laser machine body, 11, a central processing unit, 12, a storage, 13, a sensor, 14, a man-machine interaction interface, 15, a function interface, 16, a communication circuit, 17, an alarm, 21, a motion control card, 22, an encoder, 31, a servo driver, 32, a servo motor, 141, an instruction input device, 142, a display, 151, a power interface, 152 and a data transmission interface.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
The present invention will be described with reference to the accompanying drawings.
Embodiment, as shown in fig. 1, a laser machine operation system includes a hand operator 1, a laser machine controller 2, a servo drive device 3 and a laser machine body 4;
the hand-operated device 1 is in communication connection with the laser machine controller 2, the laser machine controller 2 is electrically connected with the servo driving device 3, and the servo driving device 3 is electrically connected with the laser machine body 4.
The working principle of the internet of things receiver of the embodiment is as follows: parameter setting and motion trail planning of the laser machine body are completed through the manual operator, and the set parameters and the planned motion trail are sent to the laser machine controller; the laser controller controls the servo driving device to operate according to the parameters set by the hand operator and the planned motion trail, and the servo driving device drives the laser body to work according to the set parameters and the planned motion trail.
The utility model discloses a laser machine operating system can provide abundant human-computer interaction means, accomplish complicated orbit planning fast, and need not to demonstrate the programming in advance, and application scope is more extensive, can generally promote.
Preferably, as shown in fig. 2 and 3, the hand operator 1 comprises a central processor 11, a memory 12, a sensor 13, a human-machine interaction interface 14, a functional interface 15 and a communication circuit 16;
the central processing unit 11 is electrically connected with the memory 12, the sensor 13, the human-computer interaction interface 14, the functional interface 15 and the communication circuit 16 respectively, and the communication circuit 16 is in communication connection with the laser machine controller 2.
Through the functional interface, necessary functions can be provided for the work of the hand operator; through the central processing unit, the human-computer interaction interface, the sensor and the functional interface, a rich human-computer interaction platform can be provided for operators, rich interaction means are provided to complete parameter setting and motion trajectory planning of the laser machine body, the interaction effect is improved, further the motion control and operation functions of the laser machine body are realized, advance teaching programming is not needed, and the operators are not required to have strong professional knowledge; meanwhile, the relevant data of the parameter setting and track planning process can be checked in real time through a human-computer interaction interface, and the state information of the laser machine body is monitored in real time in the actual work of the laser machine body; the storage can realize large-capacity storage, store related data in the parameter setting and motion trail planning process and state information of the laser machine body, and provide strong data support for analysis and operation of the laser machine body; through the communication circuit, the set parameters and the planned motion trail are conveniently transmitted to the laser machine controller, and the servo driving device and the laser machine body are conveniently controlled to operate.
Preferably, as shown in fig. 3, the human-computer interaction interface 14 comprises an instruction input device 141 and a display 142;
the central processing unit 11 is electrically connected to the instruction input unit 141 and the display 142, respectively.
The method is characterized in that a command input device is used for conveniently setting parameters and planning a motion trail according to an input command of an operator, wherein in the process of planning the motion trail, a virtual laser model can be constructed by adopting a simulation mode of a laser machine body and a virtual three-dimensional working scene and kinematic modeling of the laser machine, and in the process, the operator is required to input parameters and kinematic parameters of a specific working scene, so that the operator can conveniently complete a virtual online motion process through a manual operator by inputting the parameters through the command input device, the operator can quickly and accurately complete complex parameter setting and motion trail planning without teaching programming in advance and having strong professional knowledge; through the display, an operator can conveniently check the complete human-computer interaction process and the position information of key points of the laser machine body in real time, such as the poses and angles of the key points, and the user experience is effectively improved; wherein, the adoption is to the laser machine body and the virtual three-dimensional working scene's simulation mode and the kinematics of laser machine are modeled and are constructed virtual laser machine model's concrete operation method and be prior art, the utility model discloses do not relate to the improvement of above-mentioned computer program, concrete detail here is no longer repeated.
Preferably, as shown in fig. 3, the instruction input unit 141 includes a three-dimensional mouse and a microphone, and further includes a button and/or a touch screen;
the three-dimensional mouse and the microphone are respectively electrically connected with the central processing unit 11;
the key is electrically connected with the central processing unit 11, and/or the touch screen is electrically connected with the central processing unit 11.
By combining a three-dimensional mouse with keys and/or a touch screen, an operator can conveniently plan a motion track, for example, the simulation of a laser machine body and a virtual three-dimensional working scene is completed, the kinematic modeling of the laser machine is completed, and a virtual laser machine model is constructed; the voice command can be input through the microphone, the movement track planning can be further conveniently completed, the requirement on operators is lower, the operators do not need to have stronger professional knowledge, the interaction means is rich, and the user experience is further effectively improved.
Preferably, as shown in fig. 3, the functional interface 15 includes a power interface 151 and a data transmission interface 152;
the power source interface 151 and the data transmission interface 152 are electrically connected to the central processing unit 11.
Through the power interface, power is conveniently supplied to each part of the hand operator; through the data transmission interface, the bidirectional transmission of data is convenient to realize, for example, the data stored in the memory is downloaded and transmitted to the background server, and for example, data such as a laser machine virtual model established by other hand operators or basic parameters of a laser machine body can be stored in the memory.
In particular, the sensor 13 is in particular a six-dimensional force sensor.
Specifically, the communication circuit 16 is a serial communication circuit or an ethernet communication circuit.
Preferably, as shown in fig. 2 and 3, the hand operator 1 further includes an alarm 17;
the alarm 17 is electrically connected with the central processing unit 11.
Through the alarm, when a fault occurs in the parameter setting and motion track planning process, an alarm signal can be timely sent out to remind an operator to timely take corresponding solution measures, so that the smooth operation of the whole laser machine is ensured, and unnecessary loss is avoided.
Specifically, the hand operator in this embodiment can realize several functions as follows:
(1) the three-dimensional simulation function of the laser machine is as follows: the method comprises three parts of working scene three-dimensional modeling, laser machine kinematic modeling and laser machine trajectory planning. The simulation function is completed by a human-computer interaction interface, and simultaneously, a simulated laser machine virtual model can be input through a functional interface.
The working scene three-dimensional modeling is to establish a three-dimensional model similar to a real scene in a virtual environment and geometrically model a laser machine body and the working scene on the basis of laser machine graphics, and the specific method is the prior art, for example, the three-dimensional modeling of the working scene is completed by adopting a mode of combining SolidWorks and Open GLES;
the laser machine kinematic modeling refers to establishing a model between a motion track and motion control of a laser machine body, and the modeling content comprises two aspects of forward solving and backward solving of kinematics, the method is the prior art, and specific details are not described herein again;
the laser machine trajectory planning means controlling the motion of the laser machine to realize that the path is consistent with the planned motion trajectory, namely calculating the planned motion trajectory, so that the laser machine joint and the tail end run between the starting point and the ending point of the path according to a certain rule, and the content comprises two parts of cartesian trajectory space planning and joint trajectory space planning.
The simulation function can lead the operator of the hand operator to guide the hand operator by using the human-computer interaction interface so as to complete the virtual online running process of the hand operator.
(2) The human-computer interaction function: the hand operator displays various functions to an operator in a visual mode through a human-computer interaction interface, completes control instruction input on a virtual model of the laser machine, controls parameter setting and motion trajectory planning of the laser machine by utilizing a touch screen (and/or keys), a keyboard, a mouse, voice recognition and the like, and simultaneously displays related data in the planning process and key point position information of a laser machine body, such as terminal pose information, joint angle information and the like in real time; zooming, clicking, sliding and the like can be realized by utilizing various instruction input devices, and corresponding responses can be made.
More specifically, in order to make the human-computer interaction interface of the hand operator easy to operate, the human-computer interaction interface is divided into a plurality of sub-interfaces according to the function requirements, and each sub-interface corresponds to different functions of the operator system; meanwhile, in order to ensure the operability and the attractiveness of the interface, the styles and the layouts of different sub-interfaces need to be reasonably designed, the design method is the prior art, for example, the interface development and the function design of the manual operator software can be realized by using a self-contained program framework of an Android Studio IDE, and the interface development and the function design of the control software can be realized by using an MFC framework of a Visual Studio.
(3) Hand operator reproduction function: the operation process of the hand operator is to display the position information of the key points on a specific path, then to design a track according to the position information of the key points, and to generate an operation program, so the essence of the operation of the hand operator is the reproduction process of the hand operator, namely, the position information of the key points needs to be recorded and stored in sequence, and an executable program is generated and delivered to the controller of the laser machine for execution.
More specifically, the present embodiment generates a task file based on a PRG format file, and implements a hand operator playback function.
(4) The communication transmission function: although the virtual process of the hand operator is to control the motion track of the virtual laser machine, the final running program needs to be reproduced on the laser machine body, which involves the problem of data transmission between the hand operator and the laser machine controller, so the hand operator needs to have good communication transmission function; the communication transmission function must satisfy the following requirements: firstly, the problem of disconnection between different levels of a manual operator is avoided, the stability of communication connection is ensured, and stable communication network connection is established; secondly, data transmission between each level of the manual operator is guaranteed to be accurate, and data transmission accuracy is guaranteed; thirdly, the data transmission efficiency among all the layers is ensured, and the efficient operation of the system is ensured.
More specifically, the present embodiment completes the design of a communication circuit based on the TCP/IP protocol, and realizes stable and good communication between the respective layers.
(5) Program editing function: in order to ensure the functional integrity of the hand operator, the hand operator can also realize a program editing function, and a PRG format file edited by laser machine language programming can be delivered to a laser machine controller to carry out machine language analysis and control the movement of the laser machine body.
It should be noted that the computer programs involved in the three-dimensional simulation function, the human-computer interaction function, the hand-operated device reproduction function and the program editing function of the laser machine realized by the hand-operated device are all the prior art, and can be preset in the memory of the hand-operated device and executed by the central processing unit, and the utility model does not relate to the improvement of the computer programs.
Preferably, as shown in fig. 2, the laser machine controller 2 includes a motion control card 21 and an encoder 22;
the motion control card 21 is electrically connected with the encoder 22, the motion control card 21 and the encoder 22 are both electrically connected with the servo drive device 3, and the motion control card 21 is in communication connection with the manual operator 1.
The servo driving device can be conveniently controlled to operate according to the set parameters and the planned motion trail through the motion control card, and the laser machine body is further controlled to work according to the planned motion trail; through the encoder, the state information of the servo driving device driving the laser machine body during working can be fed back to the motion control card, so that the working states of the servo driving device and the laser machine body can be mastered in real time.
Preferably, as shown in fig. 2, the servo motor 32 is electrically connected, and the servo motor 32 is electrically connected to the laser machine body 4.
Because each joint of the laser machine body is usually required to be driven when the laser machine body is driven to work, namely a plurality of motors are usually required to respectively drive each joint of the laser machine body, the driving control on the pose and the angle of each joint can be facilitated through the servo driver and the servo motor, the pose and the angle of each joint can be changed in real time according to the planned motion trail, the control precision is improved, and the stability is high.
It should be noted that each circuit component in this embodiment may be selected from the types commonly used in the market at present, or a circuit design in the prior art may be adopted, for example, a CPU of AMD Ryzen 93900X type, a six-dimensional force sensor of HPS-FT060 type, a three-dimensional mouse of 3Dconnexion SpacePilot model, a four-axis motion control card of ADT-8940a1 type, a coaxial rotary encoder of E6B2-CWZ6C type, a servo driver of ASD-B2-0221-B type, a servo motor of ECMA-C206 20602ES type, and specific types or circuit design diagrams of other circuit components are not repeated herein.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (10)
1. The laser machine operation system is characterized by comprising a hand operator (1), a laser machine controller (2), a servo driving device (3) and a laser machine body (4);
the hand-operated laser controller is characterized in that the hand-operated manipulator (1) is in communication connection with the laser controller (2), the laser controller (2) is electrically connected with the servo driving device (3), and the servo driving device (3) is electrically connected with the laser body (4).
2. Laser machine operating system according to claim 1, characterized in that the hand operator (1) comprises a central processor (11), a memory (12), a sensor (13), a human-machine interaction interface (14), a functional interface (15) and a communication circuit (16);
the central processing unit (11) is electrically connected with the memory (12), the sensor (13), the human-computer interaction interface (14), the functional interface (15) and the communication circuit (16) respectively, and the communication circuit (16) is in communication connection with the laser controller (2).
3. A laser machine operating system according to claim 2, characterized in that the human-machine interface (14) comprises an instruction input (141) and a display (142);
the central processing unit (11) is electrically connected with the instruction input unit (141) and the display (142) respectively.
4. A laser machine operating system according to claim 3, characterized in that the instruction input device (141) comprises a three-dimensional mouse and a microphone, and further comprises keys and/or a touch screen;
the three-dimensional mouse and the microphone are respectively and electrically connected with the central processing unit (11);
the key is electrically connected with the central processing unit (11), and/or the touch screen is electrically connected with the central processing unit (11).
5. A laser machine operating system as claimed in claim 2, characterized in that the functional interface (15) comprises a power supply interface (151) and a data transmission interface (152);
the power supply interface (151) and the data transmission interface (152) are respectively electrically connected with the central processing unit (11).
6. Laser machine operating system according to claim 2, characterized in that the sensor (13) is in particular a six-dimensional force sensor.
7. Laser machine operating system according to claim 2, characterized in that the communication circuit (16) is embodied as a serial communication circuit or an ethernet communication circuit.
8. A laser machine operation system according to claim 2, characterized in that the hand operator (1) further comprises an alarm (17);
the alarm (17) is electrically connected with the central processing unit (11).
9. Laser machine operating system according to any of claims 1 to 8, characterized in that the laser machine controller (2) comprises a motion control card (21) and an encoder (22);
the motion control card (21) is electrically connected with the encoder (22), the motion control card (21) and the encoder (22) are respectively and electrically connected with the servo driving device (3), and the motion control card (21) is in communication connection with the manual operator (1).
10. Laser machine operating system according to claim 9, characterized in that the servo drive means (3) comprise a servo driver (31) and a servo motor (32);
the servo driver (31) is respectively electrically connected with the motion control card (21), the encoder (22) and the servo motor (32), and the servo motor (32) is electrically connected with the laser body (4).
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| CN112255972A (en) * | 2020-09-07 | 2021-01-22 | 广州铁路职业技术学院（广州铁路机械学校） | Laser machine control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112255972A (en) * | 2020-09-07 | 2021-01-22 | 广州铁路职业技术学院（广州铁路机械学校） | Laser machine control method and system |
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