The scientific and technological thesis on robots Part I: "Talk about intelligent mobile robots"
Abstract: With the progress of science and technology, the performance of intelligent robots is constantly improved, and the application range of mobile robots is also becoming more and more extensive, and is widely used in the military, de-escalation, agriculture, rescue, marine development and so on. Introduces the basic system composition of common intelligent mobile robots and some of its related technologies, puts forward a kind of obstacle-crossing mechanism that can be applied to intelligent mobile robots, and briefly explains its working principle. On the basis of a certain understanding of intelligent robots, it discusses the current status of research on intelligent mobile robots and its development trends.
Keywords: intelligent mobile robot, obstacle-crossing, obstacle avoidance, stretching and contraction
1 Introduction
The appearance of intelligent robots in the 1960s opened up a new era of intelligent production automation. Today, more than 50 years after the introduction of industrial robots, robots are seen as an indispensable production tool. Due to technological advances in the fields of sensors, controls, drives and materials, new areas of robotics applications have opened up. Intelligent mobile robots are an important branch of robotics.
2 The basic system composition of intelligent mobile robot and its related technology
Because intelligent mobile robot has a broad application prospects in dangerous and harsh environments as well as civil and other aspects, which makes the world pay great attention to its development. Its *** with the five major system components are: (1) mechanical mechanism unit is the skeleton of the intelligent mobile robot, robot all the modules rely on its support, mechanical mechanism unit structure, performance, strength directly affects the stability of the entire robot. With the development of science and technology and the research and development of new materials, the structural performance of intelligent robotic products has been greatly improved, the mechanical mechanism of the various process and size design toward a more reasonable and efficient, more lightweight and beautiful, more environmentally friendly and energy-saving, more safe and reliable development direction. (2) Power and drive unit provides power source for intelligent mobile robot. (3) The environment perception unit is equivalent to the five senses of the intelligent mobile robot, the robot through the perception unit of the surrounding environment perception and identification and the collection of various parameters, and then converted into the control module can be recognized by the photoelectric signal, input to the control unit for data processing. (4) The actuator unit is the execution part of the intelligent mobile robot, which can execute orders and complete tasks according to the commands of the control center. Different robots have different actuators, and the design of the actuator affects the efficiency, precision, stability and reliability of the action to be performed. (5) Information processing and control unit as the core part of the whole mechanical system, it is like a human brain, regulating the whole system, all activities are directed by it. The information collected from the sensor part of the centralized summary, storage, analysis of all information, planning decisions, output commands. Make the robot purposeful operation.
Intelligent mobile robot is a comprehensive electromechanical system that integrates environment sensing, dynamic decision-making and planning, behavior control and execution, and other functions. It is sensor technology, control technology, mobile technology, information processing, artificial intelligence, electronic engineering, computer engineering and other multidisciplinary research results, in a sense, is the product of the evolutionary process of the development of the machine, is currently one of the most active areas of science and technology development.
3 An obstacle-crossing robot
The mobile robot we designed (Fig. 1) has good maneuverability, and the front guide wheel, front wheel and rear wheel can realize independent lifting and lowering motion. The front guide wheel (Figure 1) is controlled by the swing angle of the rocker through the rotation angle of the crank disc, which drives the related planar linkage mechanism to move, thus realizing the extension and contraction of the front guide wheel to achieve climbing over. The side drive mechanism on both sides of the robot is a planar linkage-slider obstacle-crossing mechanism, and the front and rear wheels (as shown in Fig. 1) are driven by the movement of the planar linkage mechanism through the movement of the guide bar in the groove, respectively, which realizes the extension and contraction of the front and rear wheels to realize the obstacle-crossing function. This robot can realize a large height of obstacle crossing through the design of the size, and can also realize the climbing over many types of obstacles through the reasonable control of the angle of the wheel swing.
4 Overview of the application of intelligent mobile robot
With the progress of science and technology, the robot's function is constantly improved, intelligent mobile robot application range is also greatly broadened, not only in the industrial, agricultural, medical, service and other industries in a wide range of applications, but also in the de-escalation, marine development and cosmic exploration field and other hazardous and dangerous occasions (such as radiation, disaster areas, toxic, etc.) to get a very good application. Good application.
4.1 Land intelligent mobile robot
In the late 1960s, the Soviet Union and the United States in order to complete the occupation of cosmic space, the completion of the lunar exploration program, the respective research and development and the application of mobile robots, mobile robots to achieve the collection of samples of the soil of the alien and soil analysis and other tasks. The emergence of land-based intelligent mobile robots is to help human beings to accomplish tasks that cannot be accomplished. Land mobile robots are also widely used in the military, can be accomplished to remove explosives, mine clearance, reconnaissance, removal of obstacles, etc. In recent years, intelligent mobile robots have also gradually begun to integrate into people's daily lives.
4.2 Underwater Intelligent Mobile Robot
In recent years, people's thirst for resources to increase, the beginning of the development of atomic energy and marine resources, coupled with the complexity of the underwater environment (poor visibility, positioning difficulties, fluid changes, etc.), the advantages of underwater intelligent mobile robot in the seabed resource exploration so that it has received attention. In recent years, scientists at the University of Kiel, Germany, developed a new type of deep-water robot? ROV Kiel 6000? This deep-water robot can go down to 6,000 meters deep seabed, looking for mysterious deep-water creatures and? white gold? combustible ice.
4.3 Bionic Intelligent Mobile Robots
In recent years, many robotics research organizations around the world have been focusing more and more on bionics and mechanisms. In some cases bionic robots especially unique advantages, for example, snake robot low center of gravity, able to mimic the movement of snakes, shuttling in the ability to shuttle in the disaster site and other complex terrain to help humans to complete a variety of tasks. In addition to this there are bionic pet dogs, bionic fish, bionic insects and so on.
5 Intelligent mobile robot development direction and prospects
Factors affecting the development of mobile robots are: navigation and localization technology, multi-sensor information fusion technology, multi-robot coordination and control technology, etc. Thus, the development trend of mobile robot technology mainly includes:
(1) Highly intelligent and emotional robots. With the development of science and technology, people's demand for human-computer interaction technology is increasingly high, with human intelligence and emotional mobile robots is the future development trend of mobile robots. The current mobile robot can only be said to have partial intelligence, people are eager to be able to appear safe and reliable communication and exchange of highly intelligent robots. Although it is still very difficult to realize highly intelligent emotional robots, but one day, with the breakthrough of science and technology, it will become a reality.
(2) Highly adaptable and multifunctional robots. The emergence of robots is a service for human beings, there are still many unknown worlds in nature waiting for us to open up, a variety of dangerous and complex and changing environment, humans can not get involved, so people are also eager to replace human robots, highly adaptable and multi-functional robots will be one of the directions of development of robots.
(3) general service-oriented robot. With the development of science and technology, robots should be more and more easily integrated into people's daily lives, serving people in their daily lives. For example, in the family, the robot can help people do all kinds of housework, and people live in close relationship.
(4) Special intelligent mobile robots. According to different applications, different purposes, the design of a variety of special intelligent mobile robot is the future direction of development, such as nano robots, cosmic exploration robots, deep sea exploration robots, entertainment robots and so on.
6 Conclusion
In short, intelligent mobile robot involves sensor technology, control technology, mobile technology, information processing, artificial intelligence, control engineering and other multidisciplinary technologies. The future of intelligent mobile robots to life, safe and reliable, simple operation is the trend. Although the intelligent mobile robot is developing at an amazing speed, there is still a long way to go to realize the highly adaptable, intelligent, emotional and multi-functional mobile robot.
References:
[1] Xie Jin,Wan Chaoyan,Du Lijie. Mechanical principles (2nd edition)[M]. Beijing:Higher Education Publishing House,2010.
[2] Chen, G.H.. Mechanisms and applications [M]. Beijing:Machinery Industry Press,2008.
[3] Xu Guobao,Yin Yixin,Zhou Meijuan. Current status and prospect of intelligent mobile robot technology[J]. Robotics Technology and Application,2007(2).
[4] Xiao Shide, Tang Mang, Meng Xiangyin, et al. Monitoring and control of mechatronics system[M]. Sichuan: Southwest Jiaotong University Press, 2011.
Robotics of science and technology thesis Part II: "Introduction to the robot design methodology"
Abstract: Robotics is a very important tool in the completion of human intelligence, with the development of the times, robotics has been in the world with a certain degree of development, and even many countries robots have been used in the actual life. The design method of the robot is undoubtedly a lot of people are very interested in the problem, so this paper for the design method of the robot is explored in detail.
Keywords: robot; design; methods
1. Introduction
Throughout the history of human development, the progress of tools to drive human civilization, and now the design of the direction of intelligence in the development of robots is the development of human intelligence in the process of flooding an important product, so the robot's commonly used design methods is a necessary tool for designers.
2. Hardware design of the control system
In the context of the continuous development of modern science and technology, the industrial site involved in the amount of heavy manual labor continues to increase. The realization of some of the labor tasks is difficult to rely on manpower alone. In order to complete the industrial site of the relevant production tasks. It is necessary to realize the hardware part of the robot control system through the research and application of the robot device is mainly composed of five modules: control module, trajectory module, obstacle avoidance module, motor drive module, power supply module.
(1) control system module. ATmega128 is based on the AVR RISC structure of the 8-bit low-power CMOS microprocessor, fast computing speed, with multiple PWM outputs, speed measurement, obstacle avoidance and other circuits generated by the input signals for processing, and the output of control signals to the drive amplifier circuit, thereby controlling the motor speed, this way the PWM signal generated than the timer interrupt generated PWM signal. The PWM signal generated in this way is better than the PWM signal generated by timer interrupt in real time, and will not take up the system's timer resources.
(2) Tracking module. Tracking refers to the cart walking along the white guide line on the race course, and the schematic diagram of the tracking module is shown in Figure 2. The tracking module adopts a gray scale sensor, the transmitter tube is an ordinary LED lamp, and the receiver tube is a photosensitive transistor 3DU33. The working principle is: different color objects reflect different brightness to the LED transmitter light, and the photosensitive transistor 3DU33 receives the light of these different brightnesses, and it will present different voltages Vx. Vx is inputted into the in-phase terminal of the comparator LM339, and compared with the potentiometer set voltage V0, when Vx&g/g/l, Vx&g/l is set at the same phase. Comparison, when Vx>V0, the comparator outputs a high level, when Vx tracing robot front and rear ends are tracing module consisting of seven grayscale sensors. Among them, the middle three grayscale sensors play the role of patrolling, the grayscale sensors at both ends play the role of detecting bends, and the remaining two grayscale sensors alternate patrolling and detecting bends. Experiments have proved that such an arrangement diagram of grayscale sensors is effective for robot tracing and ? cost-effective? very high.
(3) Obstacle avoidance module. Obstacle avoidance module mainly uses infrared transmitter-receiver sensors, when the infrared sensing obstacle avoidance module is close to the object, the output of a low-level signal; when there is no sensing of the object, the output of a high-level signal. The signal line into the control port of the microcontroller, the control program can play a role in detecting obstacles, when in the path of the robot can be found on the obstacles and timely avoidance of bypass.
(4) drive module. Trajectory obstacle avoidance robot requires flexible walking, fast response, so the drive motor is required to have ? Fast rotation speed, timely braking? and other characteristics. Our design and production of trajectory obstacle avoidance robot using the company's JMP-BE-3508I drive board module, its input voltage of 11V to 24V, the maximum output current of 20A, to meet the requirements of fast forwarding, braking, turning. And the motor speed reaches 500rpm and the blocking torque is 8KG.CM, which has a strong braking function. The four PWM output signals of the microcontroller are utilized to control the speed of the four wheels respectively. And adopt ? four-wheel drive? ,? differential turning? way to realize the robot's forward, backward and turn.
(5) Power module. The power supply module of the trajectory robot mainly realizes the following three major functions: ① Stable output 5V working voltage. Therefore, we design and produce the power supply module with 7805 chip as the core, the input voltage cutoff to 5V. ② Provide enough current. 7805 chip maximum output current is 1.5A, and the trajectory robot needs a larger current, so we use two 7805 chips were used on the control system and external devices for power supply. ③ Filtering. In the input and output of the 7805 chip were connected in parallel with 104 chip capacitors and 10?F electrolytic capacitors, filtering high-frequency and low-frequency signals.
3. Hardware and software module development process and interface program
(1) image processing module: the camera captures the image in real time, processed and transformed and the initial image processing comparison, to find out the location of the differences in the image transmitted via TCP.
(2) TCP communication module: the vision system is connected to the Bergerac controller via Ethernet, the controller can be used as a client or server to transfer data in real time: define the structure used for the vision system to transfer the position to the robot and the robot real-time feedback of the position and signal status data to the vision system.
(3) Position Conversion Module: Converts the position of the vision system to the position of the robot and transmits it to the robot to control its operation.
(4) trajectory planning module: motion trajectory planning and speed planning, according to the current position of the robot and the target position, select the optimal motion trajectory (straight line, arc, irregular curve and other motion trajectories), and then interpolation of the trajectory, speed, interpolation value call robot kinematics algorithm calculates the reliability of the trajectory, and then real-time interpolation of the position, speed transmitted to the motion control The interpolation value calls the robot kinematics algorithm to calculate the reliability of the trajectory, and then the real-time interpolation position and velocity is transmitted to the motion control module.
(5) motion control module: according to the value of real-time interpolation combined with acceleration, acceleration and other control parameters to the driver.
(6) Servo module: according to the data sent by the controller, combined with the servo control parameters, drive the motor to run to each position with the fastest response and speed.
4. Robot Accuracy Calibration and Vision Software Processing
4.1 Accuracy Calibration
Accuracy calibration includes robot accuracy calibration and robot position calibration relative to the vision camera. Before the robot moves, it is necessary to use a laser tracking instrument to calibrate the exact length of each axis, zero point, deceleration ratio, coupling ratio and other mechanical parameters to the kinematics, controller system, so that the robot can run accurately according to the theoretical trajectory. Row to the designated point. Through the three-point method, six-point method calibration robot relative to the vision camera X, Y, Z direction distance to the position transformation module, determine the robot coordinate system relative to the camera coordinate system transformation relationship.
4.2 Vision Processing Software
It includes fixed vision system calibration module and mobile vision system calibration module. The vision system is mounted in a fixed position, which is equivalent to establishing a user coordinate system of the camera for the robot, and this module is used to calculate the position transformation relationship between the robot and the fixed vision system. The vision system is installed at the end of the robot flange position is equivalent to the robot to establish the camera a tool coordinate system, with the robot movement and real-time position change, this module is used to calculate the relationship between the robot and the dynamic vision system position conversion. Real-time processing transmission robot, vision system and Ethernet operation communication status and error state processing.
4.3 Human-machine interface design and implementation
When the robot fails to move the position automatically, for example, when it encounters the hardware limit or collision phenomenon, then it can enter the manual page and select the robot operation to move the robot to the specified position. For a new palletizing process line, you need to configure the system parameters, position information, and product parameters, and other necessary information. Functions for editing and creating palletizing data, product coverage for bags, boxes, and variable quantity gripping. It is possible to add product quantities, change the product orientation, modify the quantity in a single step, move the product position, and rotate the product, among other settings. On this page, the example generates five bags per layer of bagged products, numbered from 1 to 5, which can be adjusted by adjusting the order of the number to achieve a change in the actual palletizing order of the product.
5. Conclusion
In short, in the process of robot design, according to the design of the purpose of the design of the targeted design, for the design of the process of the problems arising in a timely manner using the above thinking to solve the problem, with the popularization of machine intelligence, no doubt the design of robots in the future will have a broader sky.
References:
[1] Heping Zhang, Yan Chen. Design and application of Wincc in baler HMI[J].HMI and Industrial Software, 2012(3):70-72.
[2]Zhu Huadong, Kong Yaguang. Design of embedded human-machine interface[J]. China Water Transportation, 2008(11):125-126.
[3]Jin Changxin, Li Wei. Implementation of human-machine interface of on-board computer system based on Windows CE[J]. Microcomputer Information, 2005(21):132-134.
The scientific and technical thesis of robotics Article 3: "An Introduction to the Troubleshooting of igm Welding Robot"
[Abstract] Robotics integrates the high and new technology formed by the multidisciplinary disciplines of computers, control theory, mechanism, information and sensing technology, artificial intelligence and so on. This paper introduces the working principle of igm welding robot, as well as the common failure phenomenon of the robot in the actual work, analyzes the reasons for the failure, and puts forward the corresponding repair method.
[Keywords] igm welding robot Working principle Troubleshooting
0 Preface
Robotics is a high-tech technology that synthesizes multiple disciplines such as computers, control theory, mechanism, information and sensing technology, and artificial intelligence. The intervention of this new technology puts forward higher requirements for maintenance technicians. How to ensure the reliability and stability of the welding robot, play the robot's greatest advantage, for the robot fault repair and equipment maintenance work is particularly important.
1 igm welding robot composition and working principle
1.1 igm welding robot composition
igm welding robot is engaged in welding (including cutting and spraying) industrial robots, it is fine processing, dexterous action, high welding precision, weld forming good. In the machinery industry has been widely used.
1.2 igm welding robot working principle
igm welding robot internal axis control principle: through the digital servo board DSE-IBS processing the current position of the calibration, position drive, speed drive and other information, the processed information is fed to the servo drive, the servo drive internal pulse width modulator modulation, and then amplify the output to promote the servo motor. Servo motor movement at the same time, the encoder synchronous operation, and the collected position angle information feedback to the RDW control board, through the incremental calculation of the RDW board, the position of the data after the rectification of the information back to the DSE-IBS board, do the next cycle of the calculation process, this process is repeated so as to realize the real-time position of the iterative process.
2 igm welding robot fault diagnosis and analysis
2.1 Welding robot fault types
Welding robot fault types can be divided into software faults and hardware faults, caused by the machine software faults, such as the system shutdown dead phenomenon; caused by the machine hardware faults, such as drive units, electrical components of the module failure. Failure phenomenon can be divided into man-made failures and natural failures, sudden failure of the three categories. For the maintenance, natural faults and sudden failure of the exclusion of the difficult, because this maintenance is not only for the fault unit itself, but also to improve the system, which requires careful analysis, optimization and improvement of fault diagnosis, to avoid the exclusion of the fault repeated, so that the system is further stable and reliable.
2.2 igm welding robot common troubleshooting
2.2.1 Robot power on after the instructor no alarm information, but the robot can not be normal arc. First of all, check the system whether to send wire to send gas, found that the wire feeding system can not manually send wire, protective gas cylinder pressure, but no protective gas at the nozzle of the welding gun. Then check the robot welding cable, the arc board and wire feed board, no faults were found. This indicates that the function of the robot is normal, may be the welding circuit is not smooth. You can measure the welding circuit impedance to determine whether the welding circuit is normal.
The test steps of the circuit impedance:
i Connect the ground wire to the workpiece, ensure that the ground clamp is clean and good contact with the part of the workpiece;
ii Turn on the power of the robotic cabinet, the Furness welder power switch to the position of ?I?
iii In the second level of the welder menu to select the ?r? function.
iv Remove the torch nozzle, screw on the conductive nozzle and press the nozzle against the surface of the workpiece. It is important to note that the measurement process ensures that the conductive nozzle is clean in contact with the workpiece. The wire feeder and cooling system do not start while the measurement is in progress;
v Tap the torch switch or tap the wire feed key. Welding circuit impedance value measurement is completed. During the measurement, the right display shows ?run?;
vi The display shows the measured value after the welding circuit measurement is completed. The measured weld circuit impedance is 18 ? (normal value to <20? is good), indicating that the welding robot welding circuit is smooth. And then power off and on debugging, welding robot can be normal arc, it should be the circuit test process by connecting the ground clamp, disassemble the nozzle, conductive nozzle, etc. will be connected to the circuit is not normal contact place.
2.2.2 igm robot in the welding process, the arc is difficult to draw, welding current is extremely unstable, and often arc break, repeated ?Arc fault?arc fault.
i check the grounding cable, measuring the circuit resistance value of 9.7?, normal
value to <20?
iiCheck that the diameter of the welding wire (Ф1.2) matches the nominal diameter of the wire feed wheel.
iii Match the wire material (G2Si) with the welding method and welding base material.
iv After observing the nozzle of the welding gun, there is a large amount of dusty cut powder, manually fed wire is not smooth and flat, there is a small amount of bending and injury to the wire, indicating that the wire feeding is not smooth.
vThe wire feed resistance test. Will feed the wire locking lever, compression lever open, hand plate wire disk will be back to the wire, found that the resistance is very large. Most of the wire feed hose clogging or hose and robot clamp angle is too large.
vi Check the wear and tear of the wire feed wheel, V-type wire feed slot is not easy to be too deep and too wide, in order to place a Ф1.2 specifications of the wire for the best, the gap is too large, will affect the stability of the wire feed, the stability of the welding current. Remove the wire feed wheel, found that the wire feed wheel wear and tear, roundness error is larger, the wire feed slot is too deep. Once the wire feeding mechanism is out of control, it will feed wire at high speed, the welding power supply does not get the normal signal feedback (the feedback of the wire feeding speed using photoelectric speed measurement), can not provide stable current, voltage, resulting in not normal welding. Replacement of wire feed wheel, wire feed hose, and pressure adjustment, the fault is lifted, welding normal.
2.2.3 igm robot back to zero parameters automatically lost. igm robot in the next boot, back to zero parameters are automatically lost, re-calibrate the zero, enter the parameters, save the parameters repeatedly lost. Check the teaching cable, interface, program, axis card, RDW board indicators are all normal, check the backup battery (buffer battery, for power off or accidental power loss, for the system to provide a short period of time power supply, for the storage of information) to measure the voltage value, a 8.9 V, a 12 V, the total voltage is 21 V, the normal value of 24 V, replace a set of batteries, everything is normal, and then did not appear to lose data. The phenomenon of data loss does not occur again.
2.3 Analysis and treatment of sudden failure
The failure is unpredictable and sudden. In practice, it occurs most often. Most of the system failure affected by the environment, such as welding robot control part of the circuit board failure, voltage stabilization power supply failure, communication failures, etc., reflected in the robot in the work of the sudden alarm and can not eliminate the alarm. Restart and return to normal, but soon appeared again alarm, this type of failure caused by the whole system is not stable.
In order to further determine the driver's good and bad, narrow the scope of the fault,
check the encoder, RCI series of robots used in the various axes of the encoder is an absolute encoder, it is a kind of electromagnetic components, can transfer the information of the angle of rotation, by two fixed windings (sin and cos windings) and a reference winding, basically the same as the principle of rotary transformer similar. The principle is basically similar to that of a rotary transformer. X12 plug unplugged, were measured 11-12, 13-5, 14-4 terminal resistance, the results of the resistance value of none, indicating that the encoder is abnormal.
Find the 12-axis servo motor, inspection found that the encoder plug lock and cap has been withdrawn, the plug connection is loose. The plug will be re-inserted, locked in place, and again measured 11-12 terminal resistance value of 94?, 13-5 terminal resistance value of 65?, 14-4 terminal resistance value of 65?, 9-10 terminal resistance value of 600?, indicating that the winding is normal. After power on, the drive can be opened normally, the fault is lifted.
3 Conclusion
Maintenance work is theory-guided practice, practice to promote the theory of a recurring process, the organic combination of theory and practice will make the maintenance staff more in-depth, more accurate judgment to deal with a variety of faults. Work maintenance personnel must have the ability to analyze and judge independent thinking, the operation must pay attention to observation, not blindly change the welding robot settings, jumper, etc., to develop a good habit of making work records, summarize the phenomenon of various types of faults and the treatment process, the accumulation of troubleshooting and maintenance experience to improve the level of maintenance.
References
[1] Dai Guangping. Welding Robot Troubleshooting and Maintenance Technology. Chongqing: China Jialing Industry Co., Ltd, 2003.
[2] China Welding Association complete sets of equipment and specialized machinery branch. Practical Manual of Welding Robot. Mechanical Industry Press, 2014.
[3] Li Demin. Fault Maintenance of Welding Robots. Changchun: Changke Joint Stock Manufacturing Center, 2011.
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