CN114029960B - Manipulator control system for acoustic detection - Google Patents
Manipulator control system for acoustic detection Download PDFInfo
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- CN114029960B CN114029960B CN202111539402.5A CN202111539402A CN114029960B CN 114029960 B CN114029960 B CN 114029960B CN 202111539402 A CN202111539402 A CN 202111539402A CN 114029960 B CN114029960 B CN 114029960B
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- 238000012360 testing method Methods 0.000 claims abstract description 26
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- 229910001220 stainless steel Inorganic materials 0.000 claims description 4
- 239000010935 stainless steel Substances 0.000 claims description 4
- 238000013507 mapping Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 5
- 238000000605 extraction Methods 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 6
- 206010063385 Intellectualisation Diseases 0.000 description 2
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- 238000005259 measurement Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of acoustic testing, in particular to a manipulator control system for acoustic detection, which comprises a testing room, a manipulator and a computer system; the manipulator comprises a rotating shaft, a connecting rod, a single-shaft steering joint, a clamp and a motor; the angle sensor is arranged on an output shaft of the motor; two laser distance measuring devices are arranged on the clamp; the computer system includes a processor, a servo controller, and a display screen. The invention has the beneficial effects that: the use of a robot to control the positioning of the microphone is unexpected in the art and the microphone can be more easily controlled to detect acoustic data at various angles around the object to be measured without moving the entire robot. When acoustic detection is carried out for many times, the angle of the laser range finder is not required to be perpendicular to the ground or the surface of an object to be detected every time, and the servo controller is manually operated according to data on the display screen subsequently so as to control the position of the clamp, and the adjusting efficiency and accuracy are also greatly improved.
Description
Technical Field
The invention relates to the field of acoustic testing, in particular to a manipulator control system for acoustic detection.
Background
The acoustic test is used for measuring noise and acoustic characteristics of the product; in the sound field environment specified by the test, the relevant standards (ISO 3745, ISO3746, ISO3744, GB3767 and the like) set the measurement distance according to the size of the object to be measured, the coordinates of the microphone point positions, and the relevant acoustic performance of the product is evaluated by measuring the acoustic parameters.
The traditional acoustic test requires manual measurement of the distance between a microphone and an object to be tested and manual adjustment of the spatial point positions of a microphone bracket and the microphone, and has long adjustment time and complex operation. In order to solve the above problems, in the prior art, a microphone mounting table for mechanical ranging and automatic accurate positioning is provided. However, in the use of the microphone mounting table, when acoustic detection is required to be performed on multiple sides of the object to be detected, the microphone cannot be made to surround the object to be detected to measure the object to be detected; the microphone mounting table must be manually moved to a predetermined position, and then the microphone mounting table can exert its function. However, this microphone mounting stand is heavy and bulky, inconvenient and even difficult to move.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: a robot control system is provided that facilitates acoustic detection of robot positioning.
In order to solve the technical problems, the invention adopts a technical scheme that: a manipulator control system for acoustic detection comprises a test room, a manipulator and a computer system;
the manipulator comprises a rotating shaft, a connecting rod, a single-shaft steering joint, a clamp and a motor;
The connecting rod comprises a first rod and a second rod; the single-axis steering joint comprises a first joint, a second joint and a third joint; the motor comprises a rotating shaft motor, a first motor, a second motor and a third motor;
The rotating shaft can be arranged on the roof of the test room in a shaft rotating manner, one end of the first rod is connected with the rotating shaft through a first joint, and the other end of the first rod is connected with the second rod through a second joint; the clamp is connected with a second rod through a third joint;
The rotating shaft is connected with a rotating shaft motor; the first motor, the second motor and the third motor are respectively connected with and drive the first joint, the second joint and the third joint;
The motor comprises an output shaft and an angle sensor, and the angle sensor is arranged on the output shaft;
the fixture is provided with two laser distance measuring devices, each laser distance measuring device comprises a laser emission head, and the directions of the laser emission heads of the two laser distance measuring devices are mutually perpendicular;
the computer system comprises a processor, a servo controller and a display screen; the processor, the display screen, the motor, the laser distance meter and the servo controller are electrically connected.
The invention has the beneficial effects that: in the manipulator control system for acoustic detection, firstly, a servo controller is manually operated to control a rotating shaft and a single-shaft steering joint to move, the angle of a clamp is adjusted, one laser distance measuring device faces to the ground vertically, the other laser distance measuring device faces to the surface of an object to be detected vertically, the laser measuring device transmits measured data to a processor, and the processor also receives information transmitted by an angle sensor.
According to the manipulator control system for acoustic detection, the processor establishes a relative coordinate system with an object to be detected by using data of the laser range finder, and calculates the positions and the heights of the clamp and the microphone after moving and the distance between the clamp and the microphone and the surface of the object to be detected according to data of the angle sensor by using the operation module and taking fixed data such as the length of each connecting rod and the rotation radius of the single-axis steering joint as the basis, and the distance is displayed in the display screen. And obtaining acoustic data of the object to be tested according to sounds emitted by the object to be tested and received by the microphone at different positions.
The manipulator control system for acoustic detection provided by the invention has the advantages that the arrangement of the position of the microphone is unexpected in the field, and compared with the prior art, the manipulator is suspended on the roof of a test room, so that the microphone can be controlled to detect acoustic data at various angles around an object to be detected more easily without moving the whole manipulator under the condition of ensuring smaller equipment volume. According to the manipulator control system for acoustic detection, when the plane with the same plane or the plane with small angle change of the object to be detected is subjected to acoustic detection for multiple times, the angle of the laser range finder is not required to be vertical to the ground or the surface of the object to be detected every time, and the servo controller is manually operated according to data on the display screen to control the position of the clamp, so that the adjustment efficiency and the adjustment accuracy are also greatly improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a manipulator control system for acoustic detection according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a manipulator structure of a manipulator control system for acoustic detection according to an embodiment of the present invention;
Description of the reference numerals: 1. testing a room;
2. a manipulator; 21. a rotating shaft; 22. a connecting rod; 23. a single-axis steering joint; 24. a clamp; 241. a laser range finder; 242. a camera;
3. a computer system;
4. A processor; 41. a signal acquisition processing module; 42. extracting a pixel point module; 43. an operation module; 44. a monitoring and analyzing module;
5. A servo controller;
6. A display screen;
7. A PLC controller;
8. An input device.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 and 2, an embodiment of the present invention provides a manipulator control system for acoustic detection, which includes a test room 1, a manipulator 2 and a computer system 3;
The manipulator 2 comprises a rotating shaft 21, a connecting rod 22, a single-shaft steering joint 23, a clamp 24 and a motor;
the connecting rod 22 includes a first rod and a second rod; the single-axis steering joint 23 includes a first joint, a second joint, and a third joint; the motor comprises a rotating shaft motor, a first motor, a second motor and a third motor;
The rotating shaft 21 can be vertically arranged on the roof of the test room 1 in a shaft rotating way, one end of the first rod is connected with the rotating shaft 21 through a first joint, and the other end of the first rod is connected with a second rod through a second joint; the clamp 24 is connected to the second rod by a third joint;
the rotating shaft 21 is connected with a rotating shaft motor; the first motor, the second motor and the third motor are respectively connected with and drive the first joint, the second joint and the third joint;
The motor comprises an output shaft and an angle sensor, and the angle sensor is arranged on the output shaft;
the fixture 24 is provided with two laser distance measuring devices 241, the laser distance measuring devices 241 comprise laser emission heads, and the directions of the laser emission heads of the two laser distance measuring devices 241 are mutually perpendicular;
The computer system 3 comprises a processor 4, a servo controller 5 and a display screen 6; the processor 4 comprises a signal acquisition processing module 41 and an operation module 43; the processor 4, the display screen 6, the motor, the laser range finder 241 and the servo controller 5 are electrically connected.
From the above description, the beneficial effects of the invention are as follows: in the manipulator control system for acoustic detection provided by the invention, firstly, the servo controller 5 is manually operated to control the rotation shaft 21 and the single-shaft steering joint 23 to move, the angle of the clamp 24 is adjusted, one laser distance measuring device 241 faces the ground vertically, the other laser distance measuring device 241 faces the surface of an object to be detected vertically, the laser measuring device transmits measured data to the processor 4, and the processor 4 also receives the information transmitted by the angle sensor.
According to the manipulator control system for acoustic detection, the processor 4 establishes a relative coordinate system with an object to be detected by using the data of the laser range finder 241, and calculates the positions and heights of the clamp 24 and the microphone after moving and the distance to the surface of the object to be detected by using the operation module 43 based on the fixed data such as the length of each connecting rod 22 and the rotation radius of the single-axis steering joint 23 and the like as the data of the angle sensor, and displays the positions and the heights in the display screen 6. The arrangement of the manipulator control system for acoustic detection provided by the invention, in which the manipulator 2 is used to control the position of the microphone, is unexpected in the art, and compared with the prior art, the manipulator 2 is suspended on the roof of the test room 1, so that the microphone can be controlled to detect acoustic data at various angles around an object to be detected more easily without moving the whole manipulator 2 under the condition of ensuring smaller equipment volume. According to the manipulator control system for acoustic detection, when the plane with the same plane or the plane with small angle change of the object to be detected is subjected to acoustic detection for multiple times, the angle of the laser range finder 241 is not required to be vertical to the ground or the surface of the object to be detected every time, and the servo controller 5 is manually operated according to the data on the display screen 6, so that the position of the clamp 24 is controlled, and the adjustment efficiency and the adjustment accuracy are greatly improved.
Further, the servo controller 5 includes 4 controller bodies including a driving circuit board and a relay; the 4 controller bodies are respectively and electrically connected with the rotating shaft motor, the first motor, the second motor and the third motor through driving circuit boards; the relay is arranged on the driving circuit board.
As can be seen from the above description, the above arrangement provides 4 relays, and the staff can control the forward rotation, reverse rotation or stop movement of each movable joint (the rotating shaft 21, the unidirectional steering joint) by controlling the switches on the relays respectively, so as to provide a simple and efficient servo controller 5.
Further, the fixture 24 is further provided with a camera 242, and the camera 242 is parallel to one of the laser sensors;
The camera 242 is electrically connected with the processor 4;
The computer system 3 further comprises an input device 8, and the processor 4 further comprises an extraction pixel point module 42;
The input device 8 is electrically connected with the processor 4, and the processor 4 is electrically connected with the servo controller 5.
As can be seen from the above description, the camera 242 and the pixel point extraction module 42 are used for three-dimensional imaging, when acoustic detection is started, a worker operates the servo controller 5 to control the manipulator 2 to move around the object to be detected, and the camera 242 faces the object to be detected, the camera 242 transmits recorded images to the processor 4, the pixel point extraction module 42 in the processor 4 extracts feature points and contour points of the images captured at different positions, the operation module 43 calculates the feature points and the pixel points extracted by the pixel point extraction module 42, sequentially obtains direction information of light and light field information of the object to be detected, synthesizes data information of the three-dimensional image, and cooperates with data of the laser range finder 241 to establish a spatial coordinate system of the test room 1; the beneficial effect of the arrangement is that when the object to be measured is larger and the shape is complex, the situation that the microphone is required to adjust the angle of the clamp 24 for many times to ensure that the laser range finder 241 faces the vertical ground or the surface of the object to be measured when measuring the object to be measured at multiple angles is avoided, and the position of the clamp 24 is measured for many times. The processor 4 is electrically connected with the servo controller 5 to operate the servo controller 5, a worker only needs to input the required microphone height and the distance to a certain surface (angle) of an object to be detected by using the input device 8, and the operation module 43 calculates the coordinates to which the clamp 24 needs to be moved from the direction, so that the servo controller 5 is automatically operated, the intellectualization and mechanical automation of acoustic detection are realized, and the efficiency of acoustic detection is improved.
Further, the operation module 43 is provided with an equation set matrix operation module 43 for operating all feature points and contour points of the pictures shot by the camera 242, a mapping relation operation module 43 for establishing function operation for the same feature point and pixel point in different pictures, a screening grouping operation module 43 for screening the pixel points through focal length, aperture and depth information of different pictures, and an average operation module 43, a difference operation module 43 and a conversion processing operation module 43 for performing replacement operation for the pixel points; the pixel point replacement operation may be performed by any one or a combination of several of the mean value operation module 43, the difference value operation module 43, and the conversion processing operation module 43.
From the above description, the above arrangement provides a simple and efficient algorithm for three-dimensional imaging.
Further, the camera 242 is a monocular camera 242.
As can be seen from the above description, the above arrangement provides a simple and efficient camera 242 for three-dimensional imaging.
Further, the processor 4 further includes a PLC controller 7, and the PLC controller 7 is electrically connected to the processor 4 and the servo controller 5.
As can be seen from the above description, when the shape of the object to be measured is irregular, the manual control of the movement of the manipulator 2 (the movement track of the fixture 24 may have a larger probability of error), which may cause the image recorded by the camera 242 to be unsatisfactory, so the PLC controller 7 is set to control the fixture 24 to move with a specified movement track according to a specified program, thereby providing accuracy of three-dimensional imaging and acoustic detection.
Further, the output shaft is further provided with a speed sensor, and the processor 4 further comprises a monitoring and analyzing module 44.
As can be seen from the above description, the speed sensor is configured to monitor the linear speed and the acceleration of the rotating shaft 21 and the single-axis steering joint 23, and transmit information to the monitoring and analyzing module 44 and the computing module 43 (it should be noted that the angle sensor and the speed sensor may be combined into one device), the monitoring and analyzing module 44 determines whether the camera 242 has a shake problem according to the speed, the acceleration and the angular speed information of the camera 242, determines whether the movement track of the camera 242 is regular, and displays the result on the display screen 6. Therefore, the manipulator control system for acoustic detection is provided with an automatic error monitoring system, and the accuracy of acoustic detection is improved.
Further, the display screen 6 is a touch operation screen.
As will be seen from the above description, the arrangement described above provides a simple and efficient display screen 6 which can be used as an input device 8.
Further, the clamp 24 includes a jaw body, a bolt assembly, and two semi-annular jaws made of stainless steel SUS 301; one end of the clamping piece is connected to the clamping jaw body, and the two clamping pieces are oppositely arranged;
The bolt assembly comprises a bolt body and a nut, one end of the bolt penetrates through the upper parts of the two clamping pieces and is connected with the nut, and the clamping pieces are tightly pressed on the clamping jaw body by the microphone after the bolt assembly is screwed.
From the above description, the above arrangement provides a simple and efficient fixture 24 that can accommodate microphones of different sizes, improving the versatility of the manipulator control system for acoustic detection.
Further, the motor is a capacitor-started single-phase motor.
From the above description, the above arrangement provides a simple and efficient reversible motor.
Example 1
The application scene of the manipulator control system for acoustic detection provided by the invention is as follows: the microphone is clamped for acoustic detection.
Referring to fig. 1-2, a manipulator control system for acoustic detection includes a test room 1, a manipulator 2, and a computer system 3;
The manipulator 2 comprises a rotating shaft 21, a connecting rod 22, a single-shaft steering joint 23, a clamp 24 and a motor;
the connecting rod 22 includes a first rod and a second rod; the single-axis steering joint 23 includes a first joint, a second joint, and a third joint; the motor comprises a rotating shaft motor, a first motor, a second motor and a third motor;
The rotating shaft 21 can be vertically arranged on the roof of the test room 1 in a shaft rotating way, one end of the first rod is connected with the rotating shaft 21 through a first joint, and the other end of the first rod is connected with a second rod through a second joint; the clamp 24 is connected to the second rod by a third joint;
the rotating shaft 21 is connected with a rotating shaft motor; the first motor, the second motor and the third motor are respectively connected with and drive the first joint, the second joint and the third joint;
the motor comprises an output shaft, a speed sensor and an angle sensor, wherein the speed sensor and the angle sensor are arranged on the output shaft;
The clamp 24 includes a jaw body, a bolt assembly, and two semi-annular jaws made of stainless steel SUS 301; one end of the clamping piece is connected to the clamping jaw body, and the two clamping pieces are oppositely arranged;
The bolt assembly comprises a bolt body and a nut, one end of the bolt penetrates through the upper parts of the two clamping pieces and is connected with the nut, and the clamping pieces are tightly pressed on the clamping jaw body by the microphone after the bolt assembly is screwed.
The clamping jaw body is provided with a camera 242 and two laser distance measuring devices 241, the laser distance measuring devices 241 comprise laser sensors, and the directions of the laser sensors of the two laser distance measuring devices 241 are mutually perpendicular; the camera 242 is parallel to the orientation of one of the laser sensors;
The computer system 3 comprises a processor 4, a servo controller 5, a PLC controller 7 and a display screen 6; the processor 4 comprises a signal acquisition processing module 41, an extraction pixel point module 42, a monitoring analysis module 44 and an operation module 43; the processor 4 is electrically connected with the display screen 6, the motor, the camera 242 and the laser range finder 241; the display screen 6 is a touch operation screen; the servo controller 5 is electrically connected with the processor 4 and the PLC controller 7.
The servo controller 5 comprises 4 controller bodies, wherein the controller bodies comprise a driving circuit board and a relay; the 4 controller bodies are respectively and electrically connected with the rotating shaft motor, the first motor, the second motor and the third motor through driving circuit boards; the relay is arranged on the driving circuit board.
The operation module 43 is provided with an equation set matrix operation module 43 for operating all feature points and contour points of the pictures shot by the camera 242, a mapping relation operation module 43 for establishing function operation on the same feature point and pixel point in different pictures, a screening grouping operation module 43 for screening the pixel points through focal length, aperture and depth information of different pictures, and a mean value operation module 43, a difference operation module 43 and a conversion processing operation module 43 for carrying out replacement operation on the pixel points; the pixel point replacement operation may be performed by any one or a combination of several of the mean value operation module 43, the difference value operation module 43, and the conversion processing operation module 43.
Use and working principle of the manipulator control system for acoustic detection are as follows:
first, only the object to be tested and the manipulator 2 are in the test room 1, and the rest of the devices are outside the test room 1, so as to reduce noise interference in the test room 1. The outer surface of the cabinet hand 2 can be treated by using sound-insulating paint so as to reduce the interference of noise emitted by the mechanical hand 2.
Placing an object to be tested as far as possible under the manipulator 2 in the test room 1, and starting the PLC 7; the PLC controller 7 operates the operation motor in a prescribed manner to move the clamp 24 around the object to be measured in a prescribed trajectory, wherein the laser range finder 241 parallel to the camera 242 faces a certain plane of the object to be measured at least once vertically, records information of the distance to the object to be measured, and the camera 242 records a plurality of images around the object to be measured; the angle sensor and the speed sensor also record the angular variation, linear velocity and linear acceleration of the output shaft of each motor during the movement of the gripper 24.
Then, the camera 242, the laser range finder 241, the angle sensor and the speed sensor transmit the obtained data to the processor 4 through the communication lines electrically connected, the acquisition processing module of the processor 4 processes the data of the laser range finder 241, the angle sensor and the speed sensor, the extraction pixel point module 42 processes the signals of the camera 242, specifically extracts the feature points and the contour points of the images shot at different positions, and the operation module 43 calculates the feature points and the pixel points extracted by the extraction pixel point module 42 to sequentially obtain the direction information of the light and the light field information of the object to be detected and synthesize the data information of the three-dimensional image. Then, the space coordinate system of the test room 1 is established by matching with the data of the two laser distance measuring devices 241, so that the space coordinates of the clamp 24 (microphone) and the space coordinates of each point on the outer surface of the object to be tested are obtained and displayed on the display screen 6.
After the data of the angle sensor and the speed sensor are processed by the acquisition processing module, the angle variable, the linear speed and the linear acceleration of the output shaft of the motor are converted into speed, acceleration and angular speed information of the camera 242. The monitoring and analyzing module 44 judges whether the camera 242 has the shake problem or not according to the speed, acceleration and angular speed information of the camera 242, judges whether the movement track of the camera 242 is regular or not, and displays the result through the display screen 6. If the motion trail is irregular, the display screen 6 prompts the staff to shoot three-dimensional imaging again.
The data of the laser range finder 241 is transmitted to the operation module 43 for correcting and extracting the depth data information in the pixel point module 42.
The staff can input a coordinate, a distance from a surface or a distance from a point (which can be the sounding point of the object to be detected) through the input device 8; the calculation module 43 can calculate the required rotation angle of the rotating shaft 21 and the single-shaft steering joint 23 according to the known conditions such as the rotation radius of the connecting rod 22 and the rotating shaft 21, so that the processor 4 operates the servo controller 5 to control the output shaft of the motor to rotate.
The manipulator control system for acoustic detection has the beneficial effects that a space coordinate system of a test room 1 is established by utilizing a three-dimensional imaging technology, coordinates of each surface of an object to be detected or coordinates of sounding points are obtained, the coordinates after the clamp 24 is displaced are calculated through the operation module 43 by the rotation angle of the motor output shaft, so that the distance between the clamp 24 and the object to be detected and the height between the clamp 24 and the ground are calculated by the computer system 3, and the intellectualization and mechanical automation of acoustic detection are realized.
Example two
The application scene of the manipulator control system for acoustic detection provided by the invention is as follows: the microphone is clamped for acoustic detection.
A manipulator control system for acoustic detection, comprising a test room 1, a manipulator 2 and a computer system 3;
The manipulator 2 comprises a rotating shaft 21, a connecting rod 22, a single-shaft steering joint 23, a clamp 24 and a motor;
The connecting rod 22 includes a first rod and a second rod; the single-axis steering joint 23 includes a first joint, a second joint, and a third joint; the motor comprises a rotating shaft 21 motor, a first motor, a second motor and a third motor;
The rotating shaft 21 can be vertically arranged on the roof of the test room 1 in a shaft rotating way, one end of the first rod is connected with the rotating shaft 21 through a first joint, and the other end of the first rod is connected with a second rod through a second joint; the clamp 24 is connected to the second rod by a third joint;
the rotating shaft 21 is connected with a motor of the rotating shaft 21; the first motor, the second motor and the third motor are respectively connected with and drive the first joint, the second joint and the third joint;
The motor comprises an output shaft and an angle sensor, and the angle sensor is arranged on the output shaft;
The fixture 24 is provided with two laser distance measuring devices 241, the laser distance measuring devices 241 comprise laser sensors, and the laser emission heads of the two laser distance measuring devices 241 are mutually perpendicular;
The computer system 3 comprises a processor 4, a servo controller 5 and a display screen 6; the processor 4, the servo controller 5, the display screen 6, the motor and the laser range finder 241 are electrically connected.
The servo controller 5 comprises 4 controller bodies, wherein the controller bodies comprise a driving circuit board and a relay; the 4 controller bodies are respectively and electrically connected with a rotating shaft 21 motor, a first motor, a second motor and a third motor through driving circuit boards; the relay is arranged on the driving circuit board.
The display screen 6 is a touch operation screen.
The clamp 24 includes a jaw body, a bolt assembly, and two semi-annular jaws made of stainless steel SUS 301; one end of the clamping piece is connected to the clamping jaw body, and the two clamping pieces are oppositely arranged;
The bolt assembly comprises a bolt body and a nut, one end of the bolt penetrates through the upper parts of the two clamping pieces and is connected with the nut, and the clamping pieces are tightly pressed on the clamping jaw body by the microphone after the bolt assembly is screwed.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (4)
1. The manipulator control system for acoustic detection is characterized by comprising a test room, a manipulator and a computer system;
the manipulator comprises a rotating shaft, a connecting rod, a single-shaft steering joint, a clamp and a motor;
The connecting rod comprises a first rod and a second rod; the single-axis steering joint comprises a first joint, a second joint and a third joint; the motor comprises a rotating shaft motor, a first motor, a second motor and a third motor;
the axis of the rotating shaft is vertically arranged on the roof of the test room, one end of the first rod is connected with the rotating shaft through a first joint, and the other end of the first rod is connected with the second rod through a second joint; the clamp is connected with a second rod through a third joint;
The rotating shaft is connected with a rotating shaft motor; the first motor, the second motor and the third motor are respectively connected with and drive the first joint, the second joint and the third joint;
The motor comprises an output shaft and an angle sensor, and the angle sensor is arranged on the output shaft;
the fixture is provided with two laser distance measuring devices, each laser distance measuring device comprises a laser emission head, and the directions of the laser emission heads of the two laser distance measuring devices are mutually perpendicular;
The computer system comprises a processor, a servo controller and a display screen; the processor, the display screen, the motor, the laser distance meter and the servo controller are electrically connected;
The servo controller comprises 4 controller bodies, wherein the controller bodies comprise a driving circuit board and a relay; the driving circuit board is respectively and electrically connected with the rotating shaft motor, the first motor, the second motor and the third motor; the relay is arranged on the driving circuit board;
the fixture is also provided with a camera, and the camera is parallel to one of the laser emission heads;
The camera is electrically connected with the processor;
the computer system further includes an input device;
the input device is electrically connected with the processor;
The processor comprises a signal acquisition processing module and an operation module, wherein the operation module is provided with an equation set matrix operation module for operating all characteristic points and contour points of a picture shot by the camera, a mapping relation operation module for establishing function operation on the same characteristic point and pixel point in different pictures, a screening grouping operation module for screening the pixel points through focal length, aperture and depth information of different pictures, and a mean value operation module, a difference value operation module and a conversion processing operation module for carrying out replacement operation on the pixel points; the pixel point is replaced by any one or the combination of a plurality of mean value operation modules, difference value operation modules and conversion processing operation modules;
The output shaft is also provided with a speed sensor;
the clamp comprises a clamping jaw body, a bolt assembly and two semi-annular clamping pieces made of stainless steel SUS 301; one end of the clamping piece is connected to the clamping jaw body, and the two clamping pieces are oppositely arranged;
the bolt assembly comprises a bolt body and a nut, one end of the bolt body penetrates through the upper parts of the two clamping pieces and is connected with the nut, and the clamping pieces are tightly pressed on the clamping jaw body by the microphone after the bolt assembly is screwed.
2. The acoustic detection robot control system of claim 1, wherein the camera is a monocular camera.
3. The acoustic detection robot control system of claim 1, wherein the display screen is a touch-operated screen.
4. The acoustic detection robot control system of claim 1, wherein the motor is a capacitor-actuated single-phase motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111539402.5A CN114029960B (en) | 2021-12-15 | 2021-12-15 | Manipulator control system for acoustic detection |
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| CN202111539402.5A CN114029960B (en) | 2021-12-15 | 2021-12-15 | Manipulator control system for acoustic detection |
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| CN114029960B true CN114029960B (en) | 2024-08-23 |
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