阅读说明：本技术 基于uwb技术的切割机器人控制系统 (Cutting machine robot control system based on UWB technology ) 是由 王明玉 于 2018-06-12 设计创作，主要内容包括：本发明公开了基于UWB技术的切割机器人控制系统,包括机器人,还包括与机器人连接的处理器,所述处理器上还连接有UWB发送装置和UWB捕获装置；所述处理器上还连接有超声波校验模块；本方案的通过激光引导的方式控制机器人进行焊接,通过确定UWB发送装置的位置和发出激光的角度以及UWB捕获装置的位置和接收激光的角度可以对焊接点进行定位,处理器控制机器人对定位的焊接点进行焊接,同时还包括超声波校验模块,在焊接过程中对机器人进行开环控制。本发明的优点是：采用UWB引导机器人进行焊接,与激光相比安全性更高；具有双重校验模块,可靠性高。(The invention discloses a cutting robot control system based on UWB technology, comprising a robot and a processor connected with the robot, wherein the processor is also connected with a UWB transmitting device and a UWB capturing device; the processor is also connected with an ultrasonic checking module; the robot is controlled to weld in a laser guiding mode, the welding point can be positioned by determining the position of a UWB sending device, the angle of sending laser, the position of a UWB capturing device and the angle of receiving laser, the processor controls the robot to weld the positioned welding point, and meanwhile the robot also comprises an ultrasonic checking module which is used for carrying out open-loop control on the robot in the welding process. The invention has the advantages that: the UWB is adopted to guide the robot to weld, so that the safety is higher compared with laser; and the double checking modules are arranged, so that the reliability is high.)

1. The cutting machine robot control system based on the UWB technology comprises a robot and is characterized by further comprising a processor connected with the robot, wherein the processor is further connected with a UWB transmitting device and a UWB capturing device; the processor is also connected with an ultrasonic checking module;

a processor: controlling a UWB transmitting device to transmit laser to an area to be welded; receiving positioning information sent by a UWB capturing device, and sending a control signal to the robot according to the positioning information; receiving a calibration signal sent by an ultrasonic calibration module, and adjusting the robot after processing;

an UWB transmitting device: emitting laser to the object to be welded according to the control of the processor;

UWB acquisition device: receiving laser reflected by an object to be welded, positioning a reflection point according to the reflected laser, and sending positioning information to a processor;

the robot comprises: receiving a control signal sent by a processor to act;

an ultrasonic verification module: detecting a welding area through ultrasonic waves, generating a verification signal and sending the verification signal to a processor;

the processor is also connected with an image recognition module; the processor is also connected with a signal input device; and the processor is also connected with a warning module.

Technical Field

The invention relates to a robot control system, in particular to a cutting robot control system based on UWB technology.

Background

The welding robot is an industrial robot for welding, cutting and spraying. According to the definition of the international standardization organization industrial robot, which belongs to the standard welding robot, the industrial robot is a multipurpose, reprogrammable automatic control manipulator with three or more programmable axes for the industrial automation field. To accommodate different applications, the mechanical interface of the last axis of the robot, usually a connecting flange, may be used to attach different tools or end effectors. The welding robot is provided with a welding clamp or a welding gun on a tail shaft flange of the industrial robot, so that the welding robot can carry out welding, cutting or thermal spraying.

The existing cutting robot is generally controlled by a rocker or a preset program, the control process is complex, and the reliability is low.

Disclosure of Invention

The technical problem to be solved by the invention is that the existing cutting robot is generally controlled by a rocker or a preset program, the control process is complex, and the reliability is low.

The invention is realized by the following technical scheme:

the cutting robot control system based on the UWB technology comprises a robot and a processor connected with the robot, wherein the processor is also connected with a UWB transmitting device and a UWB capturing device; the processor is also connected with an ultrasonic checking module;

a processor: controlling a UWB transmitting device to transmit laser to an area to be welded; receiving positioning information sent by a UWB capturing device, and sending a control signal to the robot according to the positioning information; receiving a calibration signal sent by an ultrasonic calibration module, and adjusting the robot after processing;

an UWB transmitting device: emitting laser to the object to be welded according to the control of the processor;

UWB acquisition device: receiving laser reflected by an object to be welded, positioning a reflection point according to the reflected laser, and sending positioning information to a processor;

the robot comprises: receiving a control signal sent by a processor to act;

an ultrasonic verification module: the welding area is detected through ultrasonic waves, and a verification signal is generated and sent to the processor. The robot is controlled to weld in a laser guiding mode, the welding point can be positioned by determining the position of a UWB sending device, the angle of sending laser, the position of a UWB capturing device and the angle of receiving laser, the processor controls the robot to weld the positioned welding point, and meanwhile the robot also comprises an ultrasonic checking module which is used for carrying out open-loop control on the robot in the welding process.

The processor is also connected with an image recognition module. And identifying the trace left after welding, and judging whether the trace is matched with the preset welding track.

The processor is also connected with a signal input device.

And the processor is also connected with a warning module.

Compared with the prior art, the invention has the following advantages and beneficial effects:

1. the cutting robot control system based on the UWB technology adopts the UWB to guide the robot to weld, and has higher safety compared with laser;

2. the cutting robot control system based on the UWB technology has the double check modules and is high in reliability.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

FIG. 1 is a schematic diagram of the system of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.