CN212735267U - Robot control device of numerical control machine tool - Google Patents
Robot control device of numerical control machine tool Download PDFInfo
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- CN212735267U CN212735267U CN202021370180.XU CN202021370180U CN212735267U CN 212735267 U CN212735267 U CN 212735267U CN 202021370180 U CN202021370180 U CN 202021370180U CN 212735267 U CN212735267 U CN 212735267U
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Abstract
The utility model provides a robot control device of digit control machine tool, it mainly includes the arm, two mesh cameras, attitude sensor, infrared detector and host computer, it can carry out the operation in-process to the target object at the robot, carry out feedback control to the arm of robot in real time, thereby make this arm can snatch and remove the target object fast and accurately, can also avoid this arm to bump with the barrier in the motion process effectively simultaneously, with this security and the reliability of guaranteeing the arm motion.
Description
Technical Field
The utility model relates to a technical field of digit control machine tool control, in particular to robot control device of digit control machine tool.
Background
At present, numerical control machine tools are widely used for machining and producing machine parts, and the numerical control machine tools can machine metal parts in different forms such as cutting and stamping according to preset machining drawings, so that the metal parts are machined and converted into parts with corresponding shapes and sizes. Because the numerical control machine needs to process the metal piece in the three-dimensional direction, a series of operations such as grabbing, translating and overturning are required to be carried out on the metal piece in the processing process, in order to improve the accuracy and the safety of the operations carried out on the metal piece, the data machine tool usually depends on a robot to carry out direct contact operation on the metal piece, and the accuracy of the robot motion control directly influences the accuracy of the numerical control machine tool on the metal piece processing. It is thus seen that there is a need in the art for a device that can efficiently and accurately control the movement of a robot for numerically controlled machine tools.
SUMMERY OF THE UTILITY MODEL
To the defect that prior art exists, the utility model provides a robot control device of digit control machine tool, it mainly includes the arm, two mesh cameras, attitude sensor, infrared detector and host computer, this arm is used for snatching and/or moving the target on the data lathe, this two mesh cameras set up on this arm, it is used for shooing the two mesh images of this target, this attitude sensor sets up on this arm, it is used for detecting the space attitude information of this arm, this infrared detector sets up on this arm, it is used for detecting the barrier existence information of the environment that this arm is located, this host computer is used for according to two mesh images, space attitude information and barrier existence information, the motion state of adjustment arm; therefore, the robot control device of the data machine tool can perform feedback adjustment on the mechanical arm of the robot in real time in the process that the robot operates the target object, so that the mechanical arm can rapidly and accurately grab and move the target object, and meanwhile, the mechanical arm can be effectively prevented from colliding with an obstacle in the motion process, and the safety and the reliability of the motion of the mechanical arm are guaranteed.
The utility model provides a robot control device of a numerical control machine, which is characterized by comprising a mechanical arm, a binocular camera, an attitude sensor, an infrared detector, an upper computer, a first communicator and a second communicator; wherein the content of the first and second substances,
the mechanical arm is used for grabbing and/or moving an object on the data machine tool;
the binocular camera is arranged on the mechanical arm and used for shooting binocular images of the target object;
the attitude sensor is arranged on the mechanical arm and used for detecting the spatial attitude information of the mechanical arm;
the infrared detector is arranged on the mechanical arm and used for detecting the obstacle existence information of the environment where the mechanical arm is located;
the first communicator is used for connecting the binocular camera, the attitude sensor and the infrared detector with the upper computer respectively through signals;
the second communicator is used for connecting the upper computer with the mechanical arm in a signal mode;
the upper computer is used for adjusting the motion state of the mechanical arm according to the binocular image, the space attitude information and the obstacle existence information;
further, the robotic arm comprises a base member and a movable arm member; wherein the content of the first and second substances,
the base component is fixedly arranged on one side of the numerical control machine tool;
the movable arm component is connected with the base component through a movable mechanical joint;
further, the movable arm part includes a support arm and a manipulator; wherein the content of the first and second substances,
the support arm is connected with the base part through the movable mechanical joint, and the support arm can move in four degrees of freedom in space relative to the base part;
the manipulator is connected with the supporting arm through a ball joint, can perform spatial six-degree-of-freedom motion relative to the supporting arm, and can grab and/or move the target object;
further, the binocular camera comprises two different cameras which are respectively arranged on two opposite sides of the base component;
the two different cameras are used for synchronously shooting images of different azimuth angles of the target object so as to obtain the binocular images;
each camera comprises a camera lens and a camera adjusting platform, and the camera lens is arranged on the camera adjusting platform;
further, the camera lens is a zoom wide-angle lens;
the camera shooting adjusting platform comprises a rotatable base and a lifting platform;
the lifting table is arranged on the rotatable base, and the camera lens is arranged on the lifting table;
the rotatable base can rotate at any angle in the horizontal direction, and the lifting platform can lift in the vertical direction, so that the shooting azimuth angle of the camera lens can be adjusted together;
further, the attitude sensor is a three-axis acceleration sensor or a six-axis gyroscope;
the attitude sensor is arranged on the movable arm part of the mechanical arm;
further, the infrared detector comprises an infrared scanning emission element, an infrared receiving element and an infrared signal analysis element; wherein the content of the first and second substances,
the infrared scanning element is used for periodically scanning and emitting infrared rays to the environment where the mechanical arm is located;
the infrared ray receiving element is used for receiving the infrared ray reflected by the obstacle and emitted from the infrared ray scanning element;
the infrared signal analysis element is used for obtaining the obstacle existence information according to the intensity of the infrared rays received by the infrared ray receiving element;
further, the first communicator and the second communicator are respectively a wired communicator or a wireless communicator;
further, the wireless communicator is a 4G standard communicator or a 5G standard communicator;
further, the upper computer comprises a data memory, a data processor and a motion adjuster; wherein the content of the first and second substances,
the data memory is used for storing the binocular image, the spatial attitude information and the obstacle existence information;
the data processor is used for calculating the binocular image, the space attitude information and the obstacle existence information so as to determine an expected movement path of the mechanical arm;
the motion adjuster is used for adjusting the motion state of the mechanical arm according to the expected motion path.
Compared with the prior art, the robot control device of the numerical control machine mainly comprises a mechanical arm, a binocular camera, an attitude sensor, an infrared detector and an upper computer, wherein the mechanical arm is used for grabbing and/or moving a target object on a data machine tool; therefore, the robot control device of the data machine tool can perform feedback adjustment on the mechanical arm of the robot in real time in the process that the robot operates the target object, so that the mechanical arm can rapidly and accurately grab and move the target object, and meanwhile, the mechanical arm can be effectively prevented from colliding with an obstacle in the motion process, and the safety and the reliability of the motion of the mechanical arm are guaranteed.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a robot control device of a numerically-controlled machine tool according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1, a schematic structural diagram of a robot control device of a numerical control machine tool according to an embodiment of the present invention is shown. The robot control device of the numerical control machine comprises a mechanical arm, a binocular camera, an attitude sensor, an infrared detector, an upper computer, a first communicator and a second communicator; wherein the content of the first and second substances,
the mechanical arm is used for grabbing and/or moving an object on the data machine tool;
the binocular camera is arranged on the mechanical arm and used for shooting binocular images of the target object;
the attitude sensor is arranged on the mechanical arm and used for detecting the spatial attitude information of the mechanical arm;
the infrared detector is arranged on the mechanical arm and used for detecting the barrier existence information of the environment where the mechanical arm is located;
the first communicator is used for connecting the binocular camera, the attitude sensor and the infrared detector with the upper computer respectively through signals;
the second communicator is used for connecting the upper computer with the mechanical arm in a signal mode;
the upper computer is used for adjusting the motion state of the mechanical arm according to the binocular image, the space attitude information and the obstacle existence information.
Preferably, the robotic arm comprises a base member and a movable arm member; wherein the content of the first and second substances,
the base component is fixedly arranged on one side of the numerical control machine tool;
the movable arm part is connected with the base part through a movable mechanical joint.
Preferably, the movable arm part includes a support arm and a robot arm; wherein the content of the first and second substances,
the supporting arm is connected with the base part through the movable mechanical joint, and the supporting arm can move in four degrees of freedom in space relative to the base part;
the manipulator is connected with the supporting arm through a ball joint, can move in six degrees of freedom in space relative to the supporting arm, and grabs and/or moves the target object.
Preferably, the binocular camera comprises two different cameras respectively arranged on opposite sides of the base member;
the two different cameras are used for synchronously shooting images of different azimuth angles of the target object so as to obtain the binocular image;
each camera comprises a camera lens and a camera adjusting platform, and the camera lens is arranged on the camera adjusting platform.
Preferably, the camera lens is a zoom wide-angle lens;
the camera shooting adjusting platform comprises a rotatable base and a lifting platform;
the lifting platform is arranged on the rotatable base, and the camera lens is arranged on the lifting platform;
the rotatable base can rotate at any angle in the horizontal direction, and the lifting platform can lift in the vertical direction, so that the shooting azimuth angle of the camera lens can be adjusted together.
Preferably, the attitude sensor is a three-axis acceleration sensor or a six-axis gyroscope;
the attitude sensor is disposed on the movable arm part of the robot arm.
Preferably, the infrared detector comprises an infrared scanning emission element, an infrared receiving element and an infrared signal analysis element; wherein the content of the first and second substances,
the infrared scanning element is used for periodically scanning and emitting infrared rays to the environment where the mechanical arm is located;
the infrared ray receiving element is used for receiving the infrared ray reflected by the obstacle and emitted from the infrared ray scanning element;
the infrared signal analysis element is used for obtaining the obstacle existence information according to the intensity of the infrared rays received by the infrared ray receiving element.
Preferably, the first communicator and the second communicator are respectively a wired communicator or a wireless communicator.
Preferably, the wireless communicator is a 4G standard communicator or a 5G standard communicator.
Preferably, the upper computer comprises a data memory, a data processor and a motion adjuster; wherein the content of the first and second substances,
the data memory is used for storing the binocular image, the spatial attitude information and the obstacle existence information;
the data processor is used for calculating the binocular image, the space attitude information and the obstacle existence information so as to determine an expected movement path of the mechanical arm;
the motion adjuster is used for adjusting the motion state of the mechanical arm according to the expected motion path.
As can be seen from the content of the above embodiment, the robot control device of the numerical control machine mainly includes a mechanical arm, a binocular camera, an attitude sensor, an infrared detector and an upper computer, the mechanical arm is used for grabbing and/or moving a target object on the data machine tool, the binocular camera is arranged on the mechanical arm and is used for shooting a binocular image of the target object, the attitude sensor is arranged on the mechanical arm and is used for detecting spatial attitude information of the mechanical arm, the infrared detector is arranged on the mechanical arm and is used for detecting obstacle existence information of an environment where the mechanical arm is located, and the upper computer is used for adjusting a motion state of the mechanical arm according to the binocular image, the spatial attitude information and the obstacle existence information; therefore, the robot control device of the data machine tool can perform feedback adjustment on the mechanical arm of the robot in real time in the process that the robot operates the target object, so that the mechanical arm can rapidly and accurately grab and move the target object, and meanwhile, the mechanical arm can be effectively prevented from colliding with an obstacle in the motion process, and the safety and the reliability of the motion of the mechanical arm are guaranteed.
It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The robot control device of the numerical control machine tool is characterized by comprising a mechanical arm, a binocular camera, an attitude sensor, an infrared detector, an upper computer, a first communicator and a second communicator; the mechanical arm is used for grabbing and/or moving an object on the data machine tool;
the binocular camera is arranged on the mechanical arm and used for shooting binocular images of the target object;
the attitude sensor is arranged on the mechanical arm and used for detecting the spatial attitude information of the mechanical arm;
the infrared detector is arranged on the mechanical arm and used for detecting the obstacle existence information of the environment where the mechanical arm is located;
the first communicator is used for connecting the binocular camera, the attitude sensor and the infrared detector with the upper computer respectively through signals;
the second communicator is used for connecting the upper computer with the mechanical arm in a signal mode;
the upper computer is used for adjusting the motion state of the mechanical arm according to the binocular image, the space attitude information and the obstacle existence information.
2. The robot control device of the numerical control machine tool according to claim 1, wherein:
the mechanical arm comprises a base part and a movable arm part; wherein the content of the first and second substances,
the base component is fixedly arranged on one side of the numerical control machine tool;
the movable arm component is coupled to the base component by a movable mechanical joint.
3. The robot control device of the numerical control machine tool according to claim 2, wherein:
the movable arm part comprises a supporting arm and a mechanical arm; wherein the content of the first and second substances,
the support arm is connected with the base part through the movable mechanical joint, and the support arm can move in four degrees of freedom in space relative to the base part;
the manipulator is connected with the supporting arm through a ball joint, and can perform spatial six-degree-of-freedom motion relative to the supporting arm and grab and/or move the target object.
4. The robot control device of the numerical control machine tool according to claim 2, wherein:
the binocular camera comprises two different cameras which are respectively arranged on two opposite sides of the base component;
the two different cameras are used for synchronously shooting images of different azimuth angles of the target object so as to obtain the binocular images;
each camera all includes camera lens and the adjustment table of making a video recording, camera lens set up in make a video recording on the adjustment table.
5. Robot control device of numerically controlled machine tool according to claim 4, characterized in that
The camera lens is a zoom wide-angle lens;
the camera shooting adjusting platform comprises a rotatable base and a lifting platform;
the lifting table is arranged on the rotatable base, and the camera lens is arranged on the lifting table;
the rotatable base can rotate at any angle in the horizontal direction, and the lifting platform can lift in the vertical direction, so that the shooting azimuth angle of the camera lens can be adjusted together.
6. The robot control device of the numerical control machine tool according to claim 2, wherein:
the attitude sensor is a three-axis acceleration sensor or a six-axis gyroscope;
the attitude sensor is disposed on the movable arm member of the robot arm.
7. The robot control device of the numerical control machine tool according to claim 1, wherein:
the infrared detector comprises an infrared scanning emission element, an infrared receiving element and an infrared signal analysis element; wherein the content of the first and second substances,
the infrared scanning element is used for periodically scanning and emitting infrared rays to the environment where the mechanical arm is located;
the infrared ray receiving element is used for receiving the infrared ray reflected by the obstacle and emitted from the infrared ray scanning element;
the infrared signal analysis element is used for obtaining the obstacle existence information according to the intensity of the infrared rays received by the infrared ray receiving element.
8. The robot control device of the numerical control machine tool according to claim 1, wherein:
the first communicator and the second communicator are respectively a wired communicator or a wireless communicator.
9. The robot control device of the numerical control machine tool according to claim 8, wherein:
the wireless communicator is a 4G standard communicator or a 5G standard communicator.
10. The robot control device of the numerical control machine tool according to claim 1, wherein:
the upper computer comprises a data memory, a data processor and a motion adjuster; wherein the content of the first and second substances,
the data memory is used for storing the binocular image, the spatial attitude information and the obstacle existence information;
the data processor is used for calculating the binocular image, the space attitude information and the obstacle existence information so as to determine an expected movement path of the mechanical arm;
the motion adjuster is used for adjusting the motion state of the mechanical arm according to the expected motion path.
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| CN202021370180.XU CN212735267U (en) | 2020-07-10 | 2020-07-10 | Robot control device of numerical control machine tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113560942A (en) * | 2021-07-30 | 2021-10-29 | 新代科技(苏州)有限公司 | Workpiece pick-and-place control device of machine tool and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113560942A (en) * | 2021-07-30 | 2021-10-29 | 新代科技(苏州)有限公司 | Workpiece pick-and-place control device of machine tool and control method thereof |
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