一种基于协作机器人实现的数据采集和同步系统

Abstract

本申请公开了一种基于协作机器人实现的数据采集和同步系统，涉及试验设备技术领域。该系统中，用于夹持产品的产品夹具、用于以信号连接产品以获取产品的霍尔数据第一数据组件和协作机器人均设于测试台；协作机器人的抓手用于抓取产品的手柄，且协作机器人的若干关节均设有第二数据组件，用于检测以获取检测数据；工控机中数据处理器信号连接于第一数据组件和若干第二数据组件；且运动控制器信号连接于第二数据组件，运动控制器用于接收检测数据以及输出运动指令；主控制器信号连接于运动控制器和协作机器人的控制器，用于接收运动指令并控制协作机器人的运动，该系统能够满足待测试组件的手柄多路径运动的需求，且对于操作人员的专业性要求较低。

Claims

1. A data acquisition and synchronization system implemented based on collaborative robots, characterized in that, include: Test bench (2); Product clamp (3) is provided on the test bench (2) and is used to clamp the product (1); A first data component, which is disposed in the product fixture (3), is used to signal-connect the product (1) to obtain Hall data of the product (1); A collaborative robot (4) is provided on the test platform (2), and the end of the collaborative robot (4) is provided with a gripper (42) for gripping the handle (11) of the product (1). Several joints of the collaborative robot (4) are provided with second data components. The second data components are used to detect and obtain detection data. The detection data includes the spatial position, force and torque of the corresponding joints of the collaborative robot (4) during the process of the collaborative robot (4) moving the handle (11). The industrial control computer (5) includes a data processor, a main controller and a motion controller; the data processor is signal-connected to the first data component and several second data components; and the motion controller is signal-connected to the second data component, the motion controller is used to receive the detection data and output motion commands; the main controller is signal-connected to the motion controller and the controller of the collaborative robot (4), the main controller is used to receive the motion commands and control the motion of the collaborative robot (4).

2. The collaborative robot-based data collection and synchronization system of claim 1, wherein, The data processor is a robot development kit.

3. The collaborative robot-based data collection and synchronization system of claim 1, wherein, The gripper (42) includes a gripper body (421) and a cap (422). The cap (422) has a receiving cavity for clearance fitting the handle (11) of the product (1). The tail end of the cap (422) has a ball cap structure (4221), and the ball cap structure (4221) has at least one set of oppositely arranged platform portions (42211) and at least one set of oppositely arranged convex corner portions (42212). The convex corner portions (42212) are located between adjacent platform portions (42211), and the vertical distance between the opposite platform portions (42211) is less than the line distance between the vertex positions of the opposite convex corner portions (42212). The head end of the gripper body (421) has a retaining plate (4211), the retaining plate (4211) has a mounting through hole, the number of side walls surrounding the mounting through hole is a multiple of four, and the vertical distance between the relative first side walls surrounding the mounting through hole is greater than the line distance between the apex positions of the relative convex corner (42212), and the vertical distance between the relative second side walls is equal to the vertical distance between the relative platform portions (42211); When the convex corner portion (42212) is arranged opposite to the corresponding first sidewall, the cap (422) can be inserted into or pulled out of the mounting through hole. When the platform portion (42211) is arranged opposite to the corresponding first sidewall, the snap-fit ​​ball segment of the ball-shaped notch structure (4221) is inserted into and snapped into the mounting through hole.

4. The collaborative robot-based data collection and synchronization system of claim 3, wherein, The number of platform portions (42211) of the spherical cap structure (4221) is two, and the number of convex corner portions (42212) is six; There are two first sidewalls and six second sidewalls, which together with the two first sidewalls form an octagonal insertion hole.

5. The collaborative robot-based data collection and synchronization system of claim 3, wherein, The cap (422) includes a flange plate (4212) and several connecting rods (4213). The flange plate (4212) is used to connect to the end of the arm (41) of the collaborative robot (4). The flange plate (4212) is arranged opposite to the clamping plate (4211). The connecting rod (4213) is located between the flange plate (4212) and the clamping plate (4211) and is connected to the flange plate (4212) and the clamping plate (4211). The tail end of the cap (422) can be inserted into the space formed by the connecting rods (4213).

6. The collaborative robot-based data collection and synchronization system of claim 1, wherein, The product fixture (3) has a test cavity and a slot, and the first data component includes a probe holder (61). The test chamber is used to place the product (1); The slot is connected to the test chamber, and the slot is provided with the probe holder (61) for inserting the pins of the product (1).

7. The collaborative robot-based data collection and synchronization system of claim 6, wherein, The test cavity is used to fit with the product (1) with clearance, and a plurality of the product fixtures (3) are optionally disposed on the test table (2). The test bench (2) is equipped with a fixed connector (7), and the tail end of the fixed connector (7) is connected to the industrial control computer (5). The first data component also includes a movable connector (62), which is located on the product fixture (3). The probe holder (61) is connected to the movable connector (62) via signal. When the product fixture (3) is located on the test bench (2), the fixed connector (7) is inserted into the fixed connector (7) to achieve electrical connection.

8. The collaborative robot-based data collection and synchronization system of claim 7, wherein, The fixed connector (7) has several pins, and the pins of the movable connector (62) can be selectively connected to the corresponding pins of the fixed connector (7).

9. The data acquisition and synchronization system based on a collaborative robot according to claim 7, characterized in that, The fixed connector (7) is provided with a locking pin (71), and the movable connector (62) is provided with a rotatable sleeve (621). The movable end of the sleeve (621) has a hook (6211) to engage or disengage from the locking pin (71).

10. The collaborative robot-based data collection and synchronization system of claim 7, wherein, It also includes a communication conversion adapter, the input end of which is electrically connected to the pins in the fixed connector (7), the output end of which is electrically connected to the first end of the communication cable, and the second end of the communication cable has a USB connector for plugging into the industrial control computer (5).

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