An industrial robot automatic control system and method

Abstract

The present invention discloses an industrial robot automatic control system, which relates to the technical field of industrial control and includes a control module, a robotic arm module, an identification module, a positioning module and a transmission module; the control module obtains control information and controls the robotic arm module to move and sort motors; the robotic arm module receives the control information and moves and sorts motors; the identification module identifies the types of motors based on weight and sound waves; the positioning module is used to position the motors and transmit the positioning information to the control module; the transmission module is used to transmit the motors to the robotic arm module for sorting. When sorting, the transmission module stops transmitting, and after sorting is completed, the transmission module continues to transmit. The present invention accurately identifies the motors on the conveyor belt through the positioning module, can more accurately identify and clamp the motors, reduce the errors in identification, and improve the efficiency of automatic control.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial control, and particularly to an industrial robot automatic control system and method. Background Art

[0002] An industrial robot is a fixed or mobile, automatically controlled, reprogrammable, multi-purpose manipulator that is programmed for three or more axes under the background of industrial automation. It is a multi-joint manipulator or a machine device with multiple degrees of freedom for the industrial field, mainly performing monotonous, frequent, and repetitive long-term operations through automatic control to replace human labor in the industrial production and processing process. Generally, it operates on an assembly line in a factory in the form of a robotic arm. In an automobile processing factory, there are usually various types of motors waiting to be processed. During the transportation of the motors, they are usually transported uniformly through a conveyor belt, and the motors on the conveyor belt are randomly placed without good order. The robotic arm is used to sort different motor models so that different motor models can be processed in the next step. However, in the prior art, the industrial robot cannot accurately identify the randomly placed motors on the conveyor belt during motor sorting and needs to perform identification and clamping multiple times, resulting in low sorting efficiency. In view of this, we propose an industrial robot automatic control system and method. Summary of the Invention

[0003] To solve the above technical problems, an industrial robot automatic control system and method are provided, and this technical solution solves the above problems.

[0004] To achieve the above object, the technical solution adopted by the present invention is: an industrial robot automatic control system, including a control module, a robotic arm module, an identification module, a positioning module, and a transmission module;

[0005] The control module obtains control information and controls the robotic arm module to move and sort motors;

[0006] The robotic arm module receives the control information and moves to sort motors;

[0007] The identification module identifies the type of motor based on weight and sound waves;

[0008] The positioning module is used to position the position of the motor and transmit the positioning information to the control module;

[0009] The transmission module is used to transport the motor to the robotic arm module for sorting. When sorting, the transmission module stops transporting. After sorting is completed, the transmission module continues to transport;

[0010] After the control module receives the input C-point midpoint coordinate position, it obtains the straight-line distance length, and the distance length is obtained based on the following formula:

[0011]

[0012] Among them, (x3, y3) is the coordinate position of point C, and (x0, y0) is the coordinate position of the robotic arm module, which is the origin (0, 0). E is the Euclidean distance value between the two points. The obtained E is the length value that the robotic arm module needs to extend.

[0013] The angle for the robotic arm module to move is calculated by the following formula:

[0014]

[0015] Among them, E is the Euclidean distance line between the two points, x is the x-axis of the origin, and cosθ is the cosine value of the included angle. The included angle is solved based on the following formula:

[0016]

[0017] Among them, arccos is the inverse cosine function, and θ is the included angle value between E and the positive direction of the x-axis. The obtained angle value is the angle value that the current robotic arm module needs to rotate. The angle value and the extended length value are input into the control module, and the robotic arm module is controlled to perform automatic control clamping and move the current motor clamping.

[0018] After the robotic arm module moves the current motor clamping away, according to the model of the current motor, the current motor is correspondingly transported to the corresponding sorting line. The control module obtains the corresponding sorting line position in the same way as above, and operates the robotic arm module to change the angle and extend or shorten the length to complete the sorting work of the current motor model. Then the transmission module continues to transmit, and transports the next group of motors to be sorted to the recognition module for repeated sorting processing.

[0019] Preferably, the recognition module includes a weight detection unit and a sound wave emission and reception unit. The weight detection unit is located at the transmission module to detect the motor weight data. The weight data is collected and compared with the existing weight standards of different motors to initially determine the type of the motor. The sound wave emission and reception unit emits sound waves to the outer surface of the motor, and after refraction and reception, a waveform image of the motor is obtained. Based on the existing motor waveform image standards, the type of the motor is further compared and determined. The comparison standards are to pre-obtain the standard weight information and refracted sound wave information according to different motor types and store them.

[0020] Preferably, based on the direct comparison method, the obtained weight data is compared with the stored standard weight data value, and a group of comparison data with the smallest difference is selected. Further, it is determined whether it is the current model of the motor through waveform image comparison. The judgment formula is:

[0021]

[0022] where x i and y i represent the values of two sets of acquired waveform image signals at the i-th and sampling points. N is the number of sampling points. The smaller the calculated value, the more similar the two sets of image waveforms. Conversely, the larger the calculated value, the less similar the two sets of image waveforms. If the two sets of waveforms obtained are more similar, combined with the comparison result of the weight data, the model of the current motor is judged. If the two sets of waveforms obtained are not similar, combined with the weight data, re-screen and match to perform judgment and recognition to obtain the model of the current motor.

[0023] Preferably, the positioning module takes the robotic arm module as the origin to establish a two-dimensional coordinate system. Based on the weight data of the motor obtained by the recognition module, the position of the weight generation area is obtained, and the coordinate position of the current motor is plotted in the two-dimensional coordinate system. The current coordinate position is a range interval. The leftmost endpoint coordinate A(x1, y1) and the rightmost endpoint coordinate B(x2, y2) of this range interval are obtained, and the calculation of the midpoint C is performed. The calculation formula is:

[0024]

[0025] where x1 is the position of the x-axis at point A, x2 is the position of the x-axis at point B, y1 is the position of the y-axis at point A, y2 is the position of the y-axis at point B, and C is the midpoint coordinate, that is, C(x3, y3);

[0026] The calculated midpoint position coordinate of the motor is input into the control module.

[0027] Preferably, the control module is based on dynamic model simulation optimization control, which describes the relationship between the forces, torques and motion states suffered by the robotic arm during movement, and optimizes the working state of the robotic arm according to the relationship.

[0028] Preferably, the transmission module includes a transportation conveyor belt and a sorting conveyor belt. A weight detection unit is arranged in the middle of the transportation conveyor belt, and the robotic arm module is located on one side of the weight detection unit.

[0029] An industrial robot automatic control method, the control steps are:

[0030] S1. The transmission module transports the motor to be sorted. When it is transported to the recognition module, the transmission module stops transmitting;

[0031] S2. The recognition module judges the type of the current motor model by combining weight and sound wave;

[0032] S3. The positioning module obtains the position range of the current motor, calculates the midpoint position through calculation, then calculates the angle value and the extended length value, obtains the parameters required for the movement of the robotic arm module, and inputs the parameters into the control module;

[0033] S4. The control module receives the parameter information, controls the operation of the robotic arm module, performs sorting operations on the motors, and clamps the motors onto the corresponding sorting lines;

[0034] S5. Subsequently, the transmission module continues to transmit the next group of motors to be sorted to the identification module for identification and sorting, and repeats the operation.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] The present invention accurately identifies the motors on the conveyor belt through the positioning module, calculates the extended length and the angle of the robotic arm, transmits the calculated length information and angle information into the control module, and controls the robotic arm through the control module for control output to clamp and sort the motors, which can more accurately identify and clamp the motors, reduce the errors in identification, and improve the efficiency of automatic control. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is the system framework diagram of the present invention;

[0038] Figure 2 is the structural framework diagram of the identification module of the present invention;

[0039] Figure 3 is the flow chart of the positioning steps of the positioning module of the present invention;

[0040] Figure 4 is the flow chart of the control steps of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0041] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations.

[0042] Referring to Figure 1 as shown, an industrial robot automatic control system includes a control module, a robotic arm module, an identification module, a positioning module, and a transmission module;

[0043] The control module obtains control information and controls the robotic arm module to move and sort the motors;

[0044] The robotic arm module receives the control information and moves to sort the motors;

[0045] The identification module identifies the types of motors based on weight and sound waves;

[0046] The positioning module is used to position the motor and transmit the positioning information to the control module;

[0047] The transmission module is used to transport the motor to the robotic arm module for sorting. When sorting, the transmission module stops transmitting. After sorting is completed, the transmission module continues to transmit;

[0048] After the control module receives the input coordinates of point C, it obtains the length of the straight-line distance, which is obtained based on the following formula:

[0049]

[0050] where (x3, y3) are the coordinates of point C, (x0, y0) are the coordinates of the robotic arm module, which is the origin (0, 0), E is the Euclidean distance value between the two points, and the obtained E is the length value that the robotic arm module needs to extend;

[0051] The angle that the robotic arm module needs to move is calculated by the following formula:

[0052]

[0053] where E is the straight line of the Euclidean distance between the two points, x is the x-axis of the origin, and cosθ is the cosine value of the included angle; the included angle is solved based on the following formula:

[0054]

[0055] where arccos is the inverse cosine function, θ is the included angle value between E and the positive direction of the x-axis, and the obtained angle value is the angle value that the current robotic arm module needs to rotate. The angle value and the extended length value are input into the control module to control the robotic arm module to perform automatic control clamping and clamp and move the current motor;

[0056] In this application, a two-dimensional coordinate system is established in the computer. The transmission module is simulated as a two-dimensional coordinate system on a plane. The method of obtaining the weight area position combines weight data and image recognition results to locate the area where the main weight is generated, and the corresponding annotation is generated in the two-dimensional coordinate system in the computer. The Euclidean distance is a method of measuring the straight-line distance between two points, with an intuitive distance measurement method. Calculate the straight-line distance between two points. The domain of the inverse cosine function is (-1, 1), and the threshold is (0, π). The inverse cosine function is neither an odd function nor an even function. The result of the inverse cosine function is an angle in radians. Calculate the extended length of the robotic arm and the angle of the robotic arm, and transmit the calculated length information and angle information to the control module. Through the control module for control, output control to the robotic arm, clamp the motor for sorting, and can more accurately identify and clamp the motor, reducing the errors in identification;

[0057] After the robotic arm module moves away the currently clamped motor, according to the model of the current motor, the current motor is correspondingly conveyed to the corresponding sorting line. The control module obtains the position of the corresponding sorting line in the same way as above, and operates the robotic arm module to change the angle and extend or shorten the length to complete the sorting work of the current motor model. Then the transmission module continues to transmit, conveys the next group of motors to be sorted to the identification module, and performs repeated sorting processing.

[0058] This application accurately controls the movement of the robotic arm module through the control module, ensures the accuracy and efficiency of the sorting operation, realizes the automation of the sorting process, reduces manual intervention, improves production efficiency and stability. Based on weight and acoustic wave technology, it can accurately identify the type and model of the motor, improve the accuracy and efficiency of sorting, and can accurately locate the position of the motor in real time, providing accurate position information for the control module to ensure that the robotic arm module can accurately grasp.

[0059] Refer to Figure 2 As shown, the identification module includes a weight detection unit and an acoustic wave transmitting and receiving unit. The weight detection unit is located at the transmission module to detect the weight data of the motor. The weight data is collected and compared with the existing weight standards of different motors to initially determine the type of the motor. The acoustic wave transmitting and receiving unit emits acoustic waves to the outer surface of the motor, and after refraction and reception, a waveform image of the motor is obtained. Based on the existing motor waveform image standards, further comparison is made to determine the type of the motor. The comparison standards are to pre-obtain the standard weight information and refracted acoustic wave information according to different motor types and store them.

[0060] Based on the direct comparison method, the obtained weight data is compared with the stored standard weight data values, and the group of comparison data with the smallest difference is selected. Further, it is judged whether it is the motor of the current model through waveform image comparison. The judgment formula is:

[0061]

[0062] Where x i and y i represent the values of two groups of waveform image signals obtained at the i-th and sampling points, and N is the number of sampling points. The smaller the calculated value, the more similar the two image waveforms are. On the contrary, the larger the calculated value, the less similar the two image waveforms are. If the two obtained waveforms are more similar, combined with the comparison result of the weight data, the model of the current motor is judged. If the two obtained waveforms are not similar, combined with the weight data, re-screen and match to make a judgment and identification to obtain the model of the current motor.

[0063] In this application, the detection of weight and the detection of sound waves are both existing technologies, and will not be elaborated here. The direct comparison method judges the closeness of data by directly comparing the magnitudes of two sets of data values, and evaluates the direct differences and similarities, with directness, objectivity, and flexibility.

[0064] Referring to Figure 3 As shown, the positioning module takes the robotic arm module as the origin to establish a two-dimensional coordinate system. Based on the weight data of the motor obtained by the recognition module, the position of the weight generation area is obtained, and the coordinate position of the current motor is plotted in the two-dimensional coordinate system. The current coordinate position is a range interval. The leftmost endpoint coordinate A(x1, y1) and the rightmost endpoint coordinate B(x2, y2) of this range interval are obtained, and the calculation of the midpoint C is carried out. The calculation formula is:

[0065]

[0066] where x1 is the position of the x-axis of point A, x2 is the position of the x-axis of point B, y1 is the position of the y-axis of point A, y2 is the position of the y-axis of point B, and C is the midpoint coordinate, that is, C(x3, y3);

[0067] The calculated midpoint position coordinates of the motor are input into the control module.

[0068] Based on the dynamic model simulation optimization control, the control module describes the relationship between the forces, torques and the motion state suffered by the robotic arm during movement, and optimizes the working state of the robotic arm according to this relationship.

[0069] The transmission module includes a transportation conveyor belt and a sorting conveyor belt. A weight detection unit is provided in the middle of the transportation conveyor belt, and the robotic arm module is located on one side of the weight detection unit.

[0070] Through the dynamic model simulation in this application, the control module can more accurately understand the relationship between the forces, torques and the motion state suffered by the robotic arm during movement, enabling the control module to optimize the working state of the robotic arm, reduce unnecessary actions and energy consumption, thereby improving the sorting accuracy and efficiency. The transmission module can continuously transport the motors to be sorted from the initial position to the recognition module, and convey the motors to the corresponding sorting lines after sorting is completed. This continuity and high efficiency ensure the smooth progress of the entire sorting process, with continuity and high efficiency.

[0071] Referring to Figure 4 As shown, an industrial robot automatic control method has the following control steps:

[0072] S1. The transmission module transports the motors to be sorted. When transporting to the recognition module, the transmission module stops transmitting;

[0073] S2. The recognition module determines the type of the current motor by combining weight and sound waves.

[0074] S3. The positioning module obtains the position range of the current motor, calculates the midpoint position through calculation, then calculates the angle value and the extended length value to obtain the parameters required for the movement of the robotic arm module, and inputs the parameters into the control module.

[0075] S4. The control module receives the parameter information, controls the operation of the robotic arm module, performs sorting operations on the motors, and clamps the motors onto the corresponding sorting lines.

[0076] S5. Subsequently, the transmission module continues to transmit the next group of motors to be sorted to the recognition module for recognition and sorting, and repeats the operation.

[0077] This application can improve the sorting efficiency. The process is completed automatically, reducing manual intervention. The recognition module determines the motor model by combining weight and sound waves. This multiple recognition method improves the accuracy and reliability of recognition. The positioning module can accurately obtain the position range of the motor and calculate the precise parameters required for the movement of the robotic arm, ensuring that the robotic arm can accurately clamp the motor.

[0078] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial robot automation control system, characterized in that: It includes a control module, a robotic arm module, an identification module, a positioning module and a transmission module; The control module obtains control information and controls the robot arm module to move the sorting motor; The robot arm module receives control information and moves the sorting motor; The identification module identifies the type of motor based on weight and sound waves; The positioning module is used to locate the position of the motor and transmit the positioning information to the control module; The transmission module is used to transmit the motor to the mechanical arm module for sorting. When sorting, the transmission module stops transmitting, and after sorting is completed, the transmission module continues transmitting; the identification module includes a weight detection unit and a sound wave transmitting and receiving unit. The weight detection unit is located at the transmission module to detect the weight data of the motor. The weight data is collected and compared with the existing weight standards of different motors to preliminarily determine the type of the motor. The sound wave transmitting and receiving unit transmits sound waves to the outer surface of the motor, and after refraction and reception, the sound wave image of the motor is obtained. Based on the existing motor sound wave image standard, the type of the motor is further compared and determined. The comparison standard obtains standard weight information and refracted sound wave information in advance according to the different types of motors, and stores them; The weight data is based on the direct comparison method. The obtained weight data is compared with the stored standard weight data value, and a set of comparison data with the smallest difference is screened out. Further, the acoustic wave image comparison is used to determine whether it is the current type of motor. The judgment formula is: in and The two sets of acoustic wave image signals obtained are represented as The value of the sampling point, is the number of sampling points, where the smaller the calculated value is, the more similar the two sets of image waveforms are, and vice versa, the larger the calculated value is, the more dissimilar the two sets of image waveforms are. If the two sets of waveforms are more similar, the type of the current motor is determined by combining the comparison results with the weight data. If the two sets of waveforms are not similar, they are re-screened and matched in combination with the weight data to make a judgment and identification to obtain the type of the current motor. The positioning module takes the robotic arm module as the origin to establish a two-dimensional coordinate system, obtains the weight data of the motor based on the recognition module, obtains the position of the weight generation area, and draws the coordinate position of the current motor in the two-dimensional coordinate system. The current coordinate position is a range interval, and the coordinate of the leftmost endpoint of this range interval is obtained. With the rightmost endpoint coordinates , midpoint The calculation formula is: in for Click The position of the axis, for Click The position of the axis, for Click The position of the axis, for Click The position of the axis, is the midpoint coordinate, that is ; Calculate the midpoint position coordinates of the motor and input them into the control module.

2. The industrial robot automation control system according to claim 1, characterized in that: The control module receives the input After clicking the coordinate position, get the straight line distance length. The distance length is obtained based on the following formula: in for The coordinate position of the point, is the coordinate position of the robot module, which is the origin , is the Euclidean distance between two points, and the obtained This is the length that the robot module needs to be extended.

3. The industrial robot automation control system according to claim 2, characterized in that: The angle that the robot module needs to move is calculated using the following formula: in for The Euclidean distance from a point to the origin, for Click The position of the axis, is the cosine of the angle; Solve for the angle based on the following formula: in is the arccosine function, for The line connecting the point to the origin is The positive direction angle value of the axis is used to obtain the angle value that the current robot arm module needs to rotate, and the angle value and the extension length value are input into the control module to control the robot arm module to perform automatic control clamping and move the current motor clamping.

4. The industrial robot automation control system according to claim 1, characterized in that: After the robot arm module clamps and moves the current motor, it transports the current motor to the corresponding sorting line according to the type of the current motor. The control module obtains the corresponding sorting line position and operates the robot arm module to change the angle and extend or shorten the length to complete the sorting of the current type of motor. Then the transmission module continues to transmit and transmits the next group of motors to be sorted to the identification module for repeated processing and sorting.

5. The industrial robot automation control system according to claim 1, characterized in that: The control module is based on dynamic model simulation optimization control, which describes the relationship between the force, torque and motion state of the robot arm during movement, and optimizes the working state of the robot arm according to the relationship between the force, torque and motion state.

6. The industrial robot automation control system according to claim 1, characterized in that: The transmission module comprises a transport conveyor belt and a sorting conveyor belt. A weight detection unit is arranged in the middle of the transport conveyor belt, and the mechanical arm module is located at one side of the weight detection unit.

7. An industrial robot automation control method for the industrial robot automation control system according to claim 1, characterized in that: The control steps are as follows: S1, the transmission module transports the motor to be sorted, and when it is transported to the identification module, the transmission module stops transmitting; S2, the identification module determines the type of the current motor by combining weight and sound waves; S3, the positioning module obtains the position range of the current motor, calculates the midpoint position, and then calculates the angle value and the extended length value to obtain the parameters required for the movement of the robot module, and inputs the parameters into the control module; S4, the control module receives the parameter information, controls the operation of the robot arm module, performs sorting operations on the motors, and clamps the motors to the corresponding sorting lines; S5. Then the transmission module continues to transmit the next group of motors to be sorted to the identification module for identification and sorting, and the operation is repeated.

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