CN114559427B - Intelligent linkage system of manipulator and guide rail and control method thereof - Google Patents
Intelligent linkage system of manipulator and guide rail and control method thereof Download PDFInfo
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- CN114559427B CN114559427B CN202111571419.9A CN202111571419A CN114559427B CN 114559427 B CN114559427 B CN 114559427B CN 202111571419 A CN202111571419 A CN 202111571419A CN 114559427 B CN114559427 B CN 114559427B
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- 238000001514 detection method Methods 0.000 claims abstract description 55
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- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000002195 synergetic effect Effects 0.000 abstract description 2
- 238000006243 chemical reaction Methods 0.000 description 8
- 238000010191 image analysis Methods 0.000 description 5
- 238000007726 management method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses an intelligent linkage system of a manipulator and a guide rail and a control method thereof. According to the intelligent linkage system of the manipulator and the guide rail, disclosed by the invention, the work piece is accurately and rapidly positioned and calibrated by utilizing the synergistic effect of the coordinate calibration module, the infrared acquisition module, the work piece detection module and the total control center in the intelligent linkage system, so that the work can be accurately detected, the detection data can be encrypted, and the user side can decrypt and check.
Description
Technical Field
The invention relates to the technical field of equipment detection, in particular to an intelligent linkage system of a manipulator and a guide rail and a control method thereof.
Background
The workpiece detection is generally performed manually or semi-automatically, the numerical values of the height, the outer diameter, the inner diameter and the like of the workpiece are manually or semi-automatically positioned and measured by manual feeding, after the measurement is completed, the workpiece detection numerical value is displayed on a corresponding display terminal, the qualified or unqualified workpiece is judged, then the workpiece is taken down by a worker, the workpiece is placed in a qualified product material box or an unqualified product material box according to the judgment result, the working strength of an operator is high, and misjudgment is easily caused.
The invention discloses a management system based on DR detection on Chinese patent literature, and the disclosure number of the management system is CN 113706500A. A DR detection based management system, the system comprising: the device comprises a DR detection module, an image transmission module, an image analysis module and an image storage module which are connected in sequence; the DR detection module is used for obtaining an image to be detected of a workpiece to be detected by adopting X rays; the image transmission module is used for transmitting the image to be detected obtained by the DR detection module to the image analysis module; the image analysis module is used for analyzing the image to be detected and determining whether the image to be detected is qualified or not so as to determine whether the workpiece to be detected is qualified or not; the image storage module is used for storing the image to be detected after being analyzed by the image analysis module. The invention can collect a large number of informationized images to be detected by the DR detection module, and analyze and sort the large number of images to be detected by the image analysis module, thereby realizing unified archiving management of informationized data. However, the invention does not relate to a technical solution other than image detection.
Disclosure of Invention
The invention solves the problem of low efficiency of manual or semi-automatic workpiece detection modes in the prior art, and provides an intelligent linkage system of a manipulator and a guide rail and a control method thereof.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a manipulator and guide rail intelligent linkage system comprises
And the coordinate calibration module is used for: the position of the workpiece is primarily calibrated, and the position is stored in a coordinate database of a total control center in the form of point coordinates;
and the infrared acquisition module is used for: the infrared distance acquisition module is used for acquiring the infrared distance from the infrared acquisition module to the surface of the workpiece, converting the distance information into a form of point coordinates after acquisition, and comparing and calibrating the point coordinates with the preliminarily calibrated point coordinates;
the total control center: in an intranet environment, encrypting the workpiece detection information, calibrating point coordinates of the workpiece, and controlling the movement of the manipulator on the guide rail and the movement of the manipulator;
the workpiece detection module: detecting the workpiece, and sending the detected data to a total control center for encryption;
the user terminal: decrypt the data and view it. The invention has a coordinate calibration module, firstly, a whole linkage system and the space coordinates of the detection position are established, an origin is set, after the distance between the workpiece and the origin is detected, the position of the workpiece is represented by the range of the point coordinates, and the coordinate is stored in a coordinate database; the intelligent linkage system is characterized by further comprising a total control center in an intranet environment, wherein a data encryption module and a calibration module are arranged for encrypting and calibrating data, and simultaneously controlling the operations of the manipulator and the intelligent linkage system of the guide rail; the infrared acquisition module can be provided with a plurality of mechanical arms, and can directly acquire infrared distance from a workpiece to be detected to obtain distance information; the workpiece detection module has a screening function, and can filter detection data with obvious errors in size after multiple times of detection; the intelligent linkage system of the manipulator and the guide rail has high automation degree and accurate and rapid detection.
Preferably, the coordinate calibration module is connected to a total control center, the total control center is respectively connected to the infrared acquisition module, the workpiece detection module and the user end, and the coordinate calibration module is also connected to the infrared acquisition module. According to the invention, the infrared acquisition module performs data conversion according to the point coordinate information provided by the coordinate calibration module, and the conversion accuracy is high due to the fact that the distance information data is converted into the point coordinate form.
Preferably, the overall control center includes:
and an adaptation module: judging the range of the position of the workpiece to be detected, and judging the workpiece in the range as successful judgment and adaptation;
and a calibration module: calibrating data of the initial calibration of the position of the workpiece and data obtained after infrared acquisition;
and a data encryption module: encrypting the data detected by the workpiece;
and a workpiece coordinate updating module: the method is used for updating the coordinates of the points in real time after the workpiece moves. In the invention, the total control center is the brain of the whole system, firstly, the adaptation module of the total control center can judge the adaptation degree, and the judgment success condition is that the coordinate range of the position point of the detected workpiece is positioned in the total detection range of the system, the calibration module is used for comparing the primary calibration data with the infrared acquisition data, and in addition, the total control center is also provided with sub controllers at the mechanical arm and the guide rail respectively, thereby being beneficial to the accurate control of each part of the system.
Preferably, a control method of the intelligent linkage system of the manipulator and the guide rail is adopted, and the control method comprises the following steps:
s1, acquiring coordinate information of a peripheral workpiece;
s2, selecting a workpiece to be detected and performing adaptation;
s3, after the manipulator moves to the relevant position, infrared acquisition and calibration are carried out;
s4, detecting the workpiece or carrying the workpiece;
s5, detecting data encryption and user side decryption viewing. In the method, the coordinate calibration module is used for collecting the information of each workpiece, and the collected information is stored in the coordinate database and is called at any time; after a workpiece to be detected is selected, preliminary calibration data corresponding to the workpiece is called from a coordinate database to carry out adaptation degree judgment, after the adaptation is judged, a main control center can call a guide rail and a manipulator to move and carry out infrared acquisition, the acquired and converted data are calibrated and compared with the preliminary calibration data, the workpiece can be detected after calibration, the detected data are stored in a data encryption module of the main control center for encryption, and a plurality of user ends are arranged for decryption and checking.
Preferably, the step S2 includes the steps of:
s21, after a workpiece to be measured is selected, calling the range of the position point coordinates of the workpiece to be measured;
s22, detecting whether the range of the position point coordinates is within the total range of system detection, if so, completing the adaption, and if not, failing to detect the position of the workpiece or the system to be adjusted. In the invention, the total detection range of the system flexibly changes according to the length and the shape of the guide rail and the adjustment range of the manipulator, the guide rail is a straight guide rail, the manipulator slides in the guide rail, and when the adaption is unsuccessful, two choices exist, namely, the position of the system is adjusted, and the position of the workpiece is adjusted, so that the workpiece is adjusted conveniently in general.
Preferably, the step S3 includes the steps of:
s31, after the adaptation is completed, the manipulator slides to a reasonable position along the guide rail;
s32, the manipulator moves to the most appropriate position up and down, and the specific position is selected by taking the minimum power consumption as a reference;
s33, infrared acquisition and detection are carried out, and after detection, data are converted into a calibration module to be calibrated with primarily calibrated data. In the invention, the reasonable position is not limited to the minimum distance from the workpiece, but the principle of minimum power consumption of the whole system is adopted, so that the reasonable position needs to be determined by comprehensively considering factors such as the movement amount of the manipulator in the linkage system, and the like, and the principle of minimum power consumption of the whole system is adopted at the upper and lower most suitable positions of the manipulator. And partial electric quantity can be saved.
The beneficial effects of the invention are as follows: according to the intelligent linkage system of the manipulator and the guide rail, disclosed by the invention, the workpiece is accurately and rapidly positioned and calibrated by utilizing the synergistic effect of the coordinate calibration module, the infrared acquisition module, the workpiece detection module and the main control center in the intelligent linkage system, so that the work is accurately detected, the detection data is encrypted, and the user side can decrypt and check.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the overall control center of the present invention;
FIG. 3 is a schematic representation of the present invention;
fig. 4 is a flow chart of the present invention.
Detailed Description
Examples:
the embodiment provides an intelligent linkage system of a manipulator and a guide rail, referring to fig. 1, mainly comprising a coordinate calibration module, an infrared acquisition module, a workpiece detection module, a total control center and a user end, wherein the infrared acquisition module and the workpiece detection module are arranged on a detection head of the manipulator, the total control center is mainly used for checking the adaptation degree of coordinates of a workpiece point, and simultaneously, workpiece information acquired by infrared acquisition is used for calibration, and the movement of the whole linkage system is controlled to comprise the movement of the manipulator on the guide rail and the independent movement of the manipulator; the coordinate calibration module is used for primarily calibrating the position of the workpiece, and specific data are represented by point coordinates and stored in a coordinate database of the total control center; the infrared acquisition module is used for mainly acquiring the infrared distance of the workpiece to be detected, namely the distance from the module to the working surface, and then converting the infrared distance information into point coordinate data, so that the point coordinate data can be calibrated with the point coordinate data preliminarily calibrated by the coordinate calibration module; the workpiece detection module mainly has the functions of detecting a workpiece, transmitting detection data to a main control center, and carrying out encryption operation on the detection data to ensure the safety; the user side has the main function of being convenient for personnel to check, and can be used as a decryption terminal and a computer or a mobile phone. Tablets and other networking devices, and the number is not limited. And meanwhile, the total control center is respectively connected with the infrared acquisition module, the coordinate calibration module, the workpiece detection module and the user side, and the coordinate calibration module is connected with the infrared acquisition module.
Referring to fig. 2, in a general control center, the system comprises a calibration module, an adaptation module, a data encryption module and a workpiece coordinate updating module, wherein the calibration module mainly functions as comparison of two data, specifically, data of initial calibration of a workpiece position and data after infrared acquisition and conversion; the function of the adaptation module is to judge the range of the workpiece to be detected, and only the workpiece to be detected with successful adaptation judgment can be detected; the data encryption module is configured to ensure data security, in this embodiment, the data detected by the workpiece is encrypted by digital-analog conversion, then binary conversion is performed, each independent detection data is converted into binary and then converted into a binary image, and the user side can reversely decrypt the binary image to regenerate the detection data; the workpiece coordinate updating module is in communication connection with a coordinate database of the total control center, and after the workpiece is carried and moved, the workpiece coordinate updating module updates the coordinates and stores the updated coordinates into the coordinate database.
Referring to fig. 3, for the simplified view of the present invention, the manipulator is slidably connected to the guide rail, and the guide rail is connected to the ground, and the connection manner of the guide rail and the ground is not limited herein, but is generally disposed movably below the guide rail.
The invention also provides a control method of the intelligent linkage system of the manipulator and the guide rail, and referring to fig. 4, the intelligent linkage system mainly comprises the following five steps:
step one: collecting coordinate information of all surrounding workpieces; namely, the calibration module is utilized to finish the primary calibration;
step two: adapting a workpiece to be detected; in this process, it is mainly divided into two sub-steps: firstly, selecting a workpiece to be detected, calling a range of workpiece point coordinates in a total control center coordinate database, for example, taking out point coordinates of eight vertexes of the workpiece which is a cuboid small block as a range boundary; secondly, judging whether the range of the coordinates of the workpiece points falls into the total range of system detection, if so, carrying out the next step, and if not, stopping the detection step and carrying out the adjustment of the workpiece or the system position again;
step three: the calibration is carried out after the infrared acquisition, and in the step, the method comprises the following three steps: firstly, after the complete step II is adapted, the manipulator slides to a reasonable position; then, the manipulator moves to the upper and lower most suitable positions, and the selection of the reasonable positions and the upper and lower most suitable positions takes the minimum power consumption of the whole intelligent linkage system as a principle; finally, an infrared acquisition module positioned at the manipulator detection head acquires the infrared distance from the workpiece, after the completion, the data are converted into a point coordinate form and then are compared and calibrated with the preliminarily calibrated data, if the data are consistent, the data do not need to be changed, and if the data are inconsistent, the data obtained by infrared acquisition and conversion are used as the standard;
step four: the size detection of the workpiece is finished by utilizing the workpiece detection module, and meanwhile, the workpiece can be moved and carried;
step five: after the data storage is detected, encryption operation is carried out, and the user can decrypt and check the data.
The invention has a coordinate calibration module, firstly, a whole linkage system and the space coordinates of the detection position are established, an origin is set, after the distance between the workpiece and the origin is detected, the position of the workpiece is represented by the range of the point coordinates, and the coordinate is stored in a coordinate database; the intelligent linkage system is characterized by further comprising a total control center in an intranet environment, wherein a data encryption module and a calibration module are arranged for encrypting and calibrating data, and simultaneously controlling the operations of the manipulator and the intelligent linkage system of the guide rail; the infrared acquisition module can be provided with a plurality of mechanical arms, and can directly acquire infrared distance from a workpiece to be detected to obtain distance information; the workpiece detection module has a screening function, and can filter detection data with obvious errors in size after multiple times of detection; the intelligent linkage system of the manipulator and the guide rail has high automation degree and accurate and rapid detection.
According to the invention, the infrared acquisition module performs data conversion according to the point coordinate information provided by the coordinate calibration module, and the conversion accuracy is high due to the fact that the distance information data is converted into the point coordinate form.
In the invention, the total control center is the brain of the whole system, firstly, the adaptation module of the total control center can judge the adaptation degree, and the judgment success condition is that the coordinate range of the position point of the detected workpiece is positioned in the total detection range of the system, the calibration module is used for comparing the primary calibration data with the infrared acquisition data, and in addition, the total control center is also provided with sub controllers at the mechanical arm and the guide rail respectively, thereby being beneficial to the accurate control of each part of the system.
In the method, the coordinate calibration module is used for collecting the information of each workpiece, and the collected information is stored in the coordinate database and is called at any time; after a workpiece to be detected is selected, preliminary calibration data corresponding to the workpiece is called from a coordinate database to carry out adaptation degree judgment, after the adaptation is judged, a main control center can call a guide rail and a manipulator to move and carry out infrared acquisition, the acquired and converted data are calibrated and compared with the preliminary calibration data, the workpiece can be detected after calibration, the detected data are stored in a data encryption module of the main control center for encryption, and a plurality of user ends are arranged for decryption and checking.
In the invention, the total detection range of the system flexibly changes according to the length and the shape of the guide rail and the adjustment range of the manipulator, the guide rail is a straight guide rail, the manipulator slides in the guide rail, and when the adaption is unsuccessful, two choices exist, namely, the position of the system is adjusted, and the position of the workpiece is adjusted, so that the workpiece is adjusted conveniently in general.
In the invention, the reasonable position is not limited to the minimum distance from the workpiece, but the principle of minimum power consumption of the whole system is adopted, so that the reasonable position needs to be determined by comprehensively considering factors such as the movement amount of the manipulator in the linkage system, and the like, and the principle of minimum power consumption of the whole system is adopted at the upper and lower most suitable positions of the manipulator. And partial electric quantity can be saved.
The foregoing embodiments are further illustrative and explanatory of the invention, as is not restrictive of the invention, and any modifications, equivalents, and improvements made within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The utility model provides a manipulator and guide rail intelligence linked system which characterized in that includes
And the coordinate calibration module is used for: the position of the workpiece is primarily calibrated, and the position is stored in a coordinate database of a total control center in the form of point coordinates;
and the infrared acquisition module is used for: the infrared distance acquisition module is used for acquiring the infrared distance from the infrared acquisition module to the surface of the workpiece, converting the distance information into a form of point coordinates after acquisition, and comparing and calibrating the point coordinates with the preliminarily calibrated point coordinates;
the total control center: in an intranet environment, encrypting the workpiece detection information, calibrating point coordinates of the workpiece, and controlling the movement of the manipulator on the guide rail and the movement of the manipulator;
the workpiece detection module: detecting the workpiece, and sending the detected data to a total control center for encryption;
the user terminal: decrypting the data and checking;
the control method of the intelligent linkage system of the manipulator and the guide rail comprises the following steps:
s1, acquiring coordinate information of a peripheral workpiece;
s2, selecting a workpiece to be detected and performing adaptation;
s3, after the manipulator moves to the relevant position, infrared acquisition and calibration are carried out;
s4, detecting the workpiece or carrying the workpiece;
s5, detecting data encryption and user side decryption viewing.
2. The intelligent linkage system of the manipulator and the guide rail according to claim 1, wherein the coordinate calibration module is connected to a main control center, the main control center is respectively connected to the infrared acquisition module, the workpiece detection module and the user side, and the coordinate calibration module is further connected to the infrared acquisition module.
3. The manipulator and rail intelligent linkage system of claim 1 or 2, wherein the overall control center comprises:
and an adaptation module: judging the range of the position of the workpiece to be detected, and judging the workpiece in the range as successful judgment and adaptation;
and a calibration module: calibrating data of the initial calibration of the position of the workpiece and data obtained after infrared acquisition;
and a data encryption module: encrypting the data detected by the workpiece;
and a workpiece coordinate updating module: the method is used for updating the coordinates of the points in real time after the workpiece moves.
4. The intelligent linkage system of a manipulator and a guide rail according to claim 1, wherein the step S2 comprises the steps of:
s21, after a workpiece to be measured is selected, calling the range of the position point coordinates of the workpiece to be measured;
s22, detecting whether the range of the position point coordinates is within the total range of system detection, if so, completing the adaption, and if not, failing to detect the position of the workpiece or the system to be adjusted.
5. The intelligent linkage system of a manipulator and a guide rail according to claim 1, wherein the step S3 comprises the steps of:
s31, after the adaptation is completed, the manipulator slides to a reasonable position along the guide rail;
s32, the manipulator moves to the most appropriate position up and down, and the specific position is selected by taking the minimum power consumption as a reference;
s33, infrared acquisition and detection are carried out, and after detection, data are converted into a calibration module to be calibrated with primarily calibrated data.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100234320B1 (en) * | 1997-06-19 | 1999-12-15 | 윤종용 | Method of controlling tracking path of working point of industrial robot |
| JPH1119891A (en) * | 1997-06-30 | 1999-01-26 | Yaskawa Electric Corp | Handling method for moving object and calibration method in handling device for moving object |
| JP6351293B2 (en) * | 2014-02-20 | 2018-07-04 | キヤノン株式会社 | Robot system and article manufacturing method |
| CN107478155A (en) * | 2017-08-24 | 2017-12-15 | 苏州光照精密仪器有限公司 | Product inspection method, apparatus and system |
| CN108286949B (en) * | 2017-12-29 | 2020-07-14 | 北京卫星制造厂 | Movable three-dimensional detection robot system |
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