Obstacle avoidance welding robot for complex environment and obstacle avoidance method thereof
阅读说明：本技术 一种复杂环境用的避障焊接机器人及其避障方法 (Obstacle avoidance welding robot for complex environment and obstacle avoidance method thereof ) 是由 王斌 于 2021-08-20 设计创作，主要内容包括：本发明公开了一种复杂环境用的避障焊接机器人及避障方法,属于焊接技术领域。包括机架；至少两组行走机构设于所述机架的前后侧；障碍物识别单元,用于识别障碍物；多组平行排布的调整机构,设于所述机架下方；所述调整机构用于实现行走机构避让障碍物。本发明中障碍物识别单元对行进道路上的障碍物进行识别,并计算出障碍物的坐标信息,与车轮的行进范围比较；若障碍物在车轮的进行范围内,通过调整机构将车轮升高,实现车轮对障碍物的避让。(The invention discloses an obstacle avoidance welding robot and an obstacle avoidance method for a complex environment, and belongs to the technical field of welding. Comprises a frame; the at least two groups of travelling mechanisms are arranged on the front side and the rear side of the rack; an obstacle recognition unit for recognizing an obstacle; the adjusting mechanisms are arranged in parallel and are arranged below the rack; the adjusting mechanism is used for enabling the walking mechanism to avoid obstacles. The obstacle identification unit identifies obstacles on a traveling road, calculates coordinate information of the obstacles and compares the coordinate information with a traveling range of wheels; if the obstacle is in the proceeding range of the wheel, the wheel is lifted through the adjusting mechanism, and the wheel avoids the obstacle.)
1. The utility model provides a keep away barrier welding robot that complex environment used, includes the frame, its characterized in that still includes:
the at least two groups of travelling mechanisms are arranged on the front side and the rear side of the rack;
an obstacle recognition unit for recognizing an obstacle;
the adjusting mechanisms are arranged in parallel and are arranged below the rack; the adjusting mechanism is set to enable the walking mechanism to stably avoid the obstacles according to road conditions.
2. The obstacle avoidance welding robot for the complex environment as claimed in claim 1, wherein:
the adjustment mechanism includes: the lifting seat plate is characterized by comprising two groups of rollers, a roller shaft arranged between the two groups of rollers, a hydraulic jack vertically arranged on the roller shaft, a lifting seat plate penetrating through the hydraulic jack and arranged at one end of the hydraulic jack, a bearing arranged above the lifting seat plate and a gasket arranged above the bearing.
3. The obstacle avoidance welding robot for the complex environment as claimed in claim 2, wherein:
a gap is reserved between every two adjacent adjusting mechanisms, a supporting mechanism is arranged in the gap, and the supporting mechanism is used for keeping the stability of the robot after the adjusting mechanisms are lifted;
the support mechanism includes: the mounting base is connected with the frame, the shell is connected with the mounting base, the telescopic piece is arranged in the shell, the fixing part is connected with the telescopic piece, and the telescopic piece is connected with the driving unit.
4. The obstacle avoidance welding robot for the complex environment as claimed in claim 3, wherein:
the downward moving distance of the fixing part is equal to the lifting distance of the adjacent hydraulic pressure.
5. The obstacle avoidance welding robot for the complex environment as claimed in claim 2, wherein:
the device also comprises a vertical component arranged on the surface of the rack and two groups of slide rail components arranged in a mirror image manner;
the slide rail assembly comprises a group of linear slide rails and two groups of arc slide rails arranged in a mirror image manner;
the vertical assembly is in transmission connection with the slide rail assembly, and the linear slide rail and the tail end of the arc-shaped slide rail are connected with the vertical slide rail through elastic belts.
6. The obstacle avoidance welding robot for the complex environment as claimed in claim 5, wherein:
the vertical assembly is set to have an initial state and an intermediate state; the initial state is that the vertical assembly is positioned at an initial point, and the elastic belt is in an original long state; the middle state is that the vertical component moves along the linear slide rail or the arc slide rail, and part of the elastic belt is stretched.
7. The obstacle avoidance welding robot for the complex environment as claimed in claim 6, wherein:
when the vertical assembly is in the intermediate state, the following equation is satisfied:
wherein, theta is the inclination of frame bottom surface after the wheel is raised, k is the elastic coefficient of elastic webbing, m is the original length of elastic webbing, h is the distance of the tie point of elastic webbing and vertical post and D point, L is the distance of vertical post slip back D point and E point, G is vertical assembly's gravity.
8. An obstacle avoidance method using the obstacle avoidance welding robot for a complex environment according to any one of claims 1 to 7, comprising:
the method comprises the following steps: the obstacle identification unit identifies the outline of the obstacle and judges whether the obstacle is in the walking range of the walking mechanism;
step two: the height of the adjusting mechanism is adjusted according to the height of the barrier, and the walking mechanism can avoid the barrier.
9. An obstacle avoidance method according to claim 8, wherein:
setting a coordinate system by a plane U perpendicular to a horizontal plane, and setting a plurality of groups of projection points P of observation points projected to the plane U j(j is the number of observation points), an ultrasonic sensor is arranged at the observation point, and a projection point P is arranged jCoordinate point information of (X)P j,YP j) The coordinate point information of the obstacle R is (X)R,YR），ZjThe distance between the obstacle and the projection point of the observation point is taken as the distance; selecting three observation points, the coordinate point information (X) of the barrier RR,YR) Comprises the following steps:
zj is obtained by triangularization, and Zj is obtained by Pythagorean theorem, using the distance between the observation point and the obstacle as a hypotenuse, the distance between the observation point and the projection point, and Zj as a straight edge.
Technical Field
The invention relates to the technical field of welding, in particular to an obstacle avoidance welding robot for a complex environment and an obstacle avoidance method thereof.
Background
Welding is a work that is labor intensive and creates a significant potential hazard to the operator. With the development of the technology, the appearance of the welding robot greatly helps welding, and the danger is reduced. And the welding robot can improve welding efficiency, improves welding precision.
Under some complex environments such as manufacturing the cabin of the ship or when welding the metal pipeline in a narrow space, because the environment is complicated, the welding robot hardly keeps going forward steadily in the welding process, especially when having an obstacle on the road surface, when the welding robot passes through the obstacle, because the unevenness of the obstacle can lead to the welding robot to jolt, influence the stability of the welding robot.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems, the invention provides an obstacle avoidance welding robot for a complex environment and an avoidance method thereof.
The technical scheme is as follows: the utility model provides a keep away barrier welding robot that complex environment used, includes the frame, still includes:
the at least two groups of travelling mechanisms are arranged on the front side and the rear side of the rack;
an obstacle recognition unit for recognizing an obstacle;
the adjusting mechanisms are arranged in parallel and are arranged below the rack; the adjusting mechanism is used for enabling the walking mechanism to avoid obstacles.
In a further embodiment, the adjustment mechanism comprises: the lifting seat plate is characterized by comprising two groups of rollers, a roller shaft arranged between the two groups of rollers, a hydraulic jack vertically arranged on the roller shaft, a lifting seat plate penetrating through the hydraulic jack and arranged at one end of the hydraulic jack, a bearing arranged above the lifting seat plate and a gasket arranged above the bearing.
Through adopting above-mentioned technical scheme, the hydraulic ram risees and has realized raising the wheel for the wheel dodges the barrier.
In a further embodiment, a gap is reserved between adjacent adjusting mechanisms, and a supporting mechanism is arranged in the gap and used for maintaining the stability of the robot after the adjusting mechanisms are lifted;
the support mechanism includes: the mounting base is connected with the frame, the shell is connected with the mounting base, the telescopic piece is arranged in the shell, the fixing part is connected with the telescopic piece, and the telescopic piece is connected with the driving unit.
Through adopting above-mentioned technical scheme, after wheel and casing are raised, fixed part downstream and ground contact, the increase and the frictional area on ground, increase static friction power realize welding robot's stability.
In a further embodiment, the distance that the fixed part moves downwards is equal to the distance that the adjacent hydraulic jack is raised.
Through adopting above-mentioned technical scheme, avoid the fixed part to last the extrusion to ground to cause the effect that causes the bounce-back to the casing.
In a further embodiment, the device further comprises a vertical assembly arranged on the surface of the rack and two groups of slide rail assemblies arranged in a mirror image manner;
the slide rail assembly comprises a group of linear slide rails and two groups of arc slide rails arranged in a mirror image manner;
the vertical assembly is in transmission connection with the slide rail assembly, and the linear slide rail and the tail end of the arc-shaped slide rail are connected with the vertical slide rail through elastic belts.
Through adopting above-mentioned technical scheme, vertical subassembly slides according to predetermined route on the frame surface, realizes welding robot's focus keep balance, prevents that welding robot from taking place to turn on one's side.
In a further embodiment, the vertical assembly is set to have an initial state and an intermediate state; the initial state is that the vertical assembly is positioned at an initial point, and the elastic belt is in an original long state; the middle state is that the vertical component moves along the linear slide rail or the arc slide rail, and part of the elastic belt is stretched.
Through adopting above-mentioned technical scheme, when vertical subassembly is in the intermediate condition, the elastic band that is stretched has elasticity to vertical subassembly, realizes that vertical subassembly keeps balanced state.
In a further embodiment, the following equation is satisfied when the vertical assembly is in the neutral state:
wherein, theta is the inclination of frame bottom surface after the wheel is raised, k is the elastic coefficient of elastic webbing, m is the original length of elastic webbing, h is the distance of the tie point of elastic webbing and vertical post and D point, L is the distance of vertical post slip back D point and E point, G is vertical assembly's gravity.
The obstacle avoiding method of the obstacle avoiding welding robot for the complex environment comprises the following steps:
the method comprises the following steps: the obstacle identification unit identifies the outline of the obstacle and judges whether the obstacle is in the walking range of the walking mechanism;
step two: the height of the adjusting mechanism is adjusted according to the height of the barrier, and the walking mechanism can avoid the barrier.
In a further embodiment, a coordinate system is set by a plane U perpendicular to a horizontal plane, and a plurality of groups of projection points P of observation points projected to the plane U are set j(j is the number of observation points), an ultrasonic sensor is arranged at the observation point, and a projection point P is arranged jCoordinate point information of (X)P j,YP j) The coordinate point information of the obstacle R is (X)R,YR），ZjThe distance between the obstacle and the projection point of the observation point is taken as the distance; selecting three observation points, the coordinate point information (X) of the barrier RR,YR) Comprises the following steps:
zj is obtained by triangularization, and Zj is obtained by Pythagorean theorem, using the distance between the observation point and the obstacle as a hypotenuse, the distance between the observation point and the projection point, and Zj as a straight edge.
Has the advantages that: the obstacle identification unit identifies obstacles on a traveling road, calculates coordinate information of the obstacles and compares the coordinate information with a traveling range of wheels; if the obstacle is in the proceeding range of the wheel, the wheel is lifted through the adjusting mechanism, the obstacle is avoided by the wheel, and the stability of the welding robot is kept.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the adjustment mechanism.
Fig. 3 is a schematic structural view of the support mechanism.
Fig. 4 is a schematic structural view of the slide rail assembly.
Fig. 5 is a schematic diagram of obstacle recognition unit coordinate calculation.
In fig. 1 to 5, each reference is: the device comprises a frame 1, wheels 2, an obstacle recognition unit 3, a vertical column 4, a rotating seat 5, a mechanical arm 6, a welding head 7, a roller 8, a roller shaft 9, a hydraulic jack 10, a lifting seat plate 11, a bearing 12, a gasket 13, a mounting seat 14, a shell 15, a telescopic piece 16, a fixing part 17, an arc-shaped slide rail 18, a linear slide rail 19 and an initial point 20.
Detailed Description
In order to solve the problems in the prior art, the applicant has conducted in-depth analysis on various existing schemes, which are specifically as follows:
when the welding robot works in a complex environment, the welding robot is in a welding machine state and is in a walking state. Because the environment is complicated, the road conditions is not particularly ideal, and welding robot is difficult to keep steady marching in the in-process of marcing, especially when having the barrier on the road surface, when welding robot passes through the barrier, because the unevenness of barrier can lead to welding robot to take place to jolt, influences welding machine robot's stability.
For this purpose, the applicant proposes the following solution, and as shown in fig. 1 to 5, the present embodiment provides an obstacle avoidance welding robot (hereinafter referred to as a welding robot) for a complex environment, which includes a frame 1, a welding mechanism, at least two sets of traveling mechanisms, an obstacle area identification unit, and an adjustment mechanism. The welding mechanism comprises a vertical assembly, a rotating assembly, a mechanical arm 6 and a welding head 7; the vertical assembly comprises a vertical column 4 arranged on the upper surface of the rack 1, a slide rail arranged on one side surface of the vertical column 4, a driving wheel arranged at the upper end of the vertical column 4, a driven wheel connected with the driving wheel through a belt and a servo motor connected with the driving wheel, and is used for realizing vertical sliding, not only limited to the structure, but also a vertical electric screw rod sliding module; the rotating assembly is arranged on the vertical assembly through the mounting plate, the rotating assembly at least comprises a rotating shaft, a rotating power unit connected with the rotating shaft and a rotating seat 5, and the rotating assembly is used for realizing rotation in the circumferential direction; the mechanical arm 6 is arranged on the rotating assembly, the mechanical arm 6 comprises two joints, the two joints are movably connected, and a welding head 7 is arranged on the joint at the tail end; the above structure enables the height and angle of the bonding head 7 to be adjusted.
The two groups of travelling mechanisms have the same structure, are respectively arranged at the front side and the rear side of the frame 1 and are arranged as a front travelling mechanism and a rear travelling mechanism; the running gear comprises two wheels 2 and a wheel 2 shaft connected with the wheels 2. And the obstacle identification unit 3 is arranged at the top end of the vertical column 4 and comprises a camera, an ultrasonic sensor and a computer processing module, and the obstacle identification unit 3 is used for identifying the position information of the obstacle.
Setting a coordinate system by a plane U perpendicular to a horizontal plane, and setting a plurality of groups of projection points P of observation points projected to the plane U j(j is the number of observation points), an ultrasonic sensor is arranged at the observation point, and a projection point P is arranged jCoordinate point information of (X)P j,YP j) The coordinate point information of the obstacle R is (X)R,YR），ZjThe distance between the obstacle and the projection point of the observation point is obtained. In the present embodiment, three observation points are selected, and the coordinate point information (X) of the obstacle R is obtainedR,YR) Comprises the following steps:
Zjthe distance between the observation point and the barrier is taken as a hypotenuse, the distance between the observation point and the projection point and the distance Z are obtained by triangulationjFor straight edges, Z is found by the Pythagorean theoremj. The distance between the observation point and the obstacle and the distance between the observation point and the projection point are measured using the characteristics of the ultrasonic sensor.
The method comprises the steps of setting a welding robot, converting a traveling range of a wheel 2 into a traveling coordinate range according to a specific path form, recognizing an obstacle through an obstacle recognition unit 3, calculating coordinates of the obstacle, judging whether the coordinates of the obstacle fall in the traveling coordinate range, starting an adjusting mechanism if the coordinates of the obstacle fall in the traveling coordinate range, adjusting the height of the wheel 2, enabling the wheel 2 to cross the obstacle, and otherwise, continuing traveling of the welding robot. In practical situations, the obstacle is an object with a length, a width and a height, and is not a mass point, so that the obstacle is subjected to image acquisition through a camera, then image information is transmitted to a computer processing module, the computer processes the image information, edge feature acquisition is carried out on the obstacle, key edge point coordinates such as the highest point of the obstacle and the widest point of the obstacle are calculated, and the computer module compares the calculation result with a travel coordinate range to finally determine whether the adjusting mechanism is lifted and the lifted height.
The multiple groups of adjusting mechanisms are arranged in parallel along the direction from front to back of the rack 1, the multiple groups of adjusting mechanisms are arranged below the rack 1, and the adjusting mechanisms are used for enabling the wheels 2 of the travelling mechanism to avoid obstacles.
In a further embodiment, when the obstacle recognition unit 3 recognizes that the obstacle is in the walking range, if the robot directly walks through the obstacle, the obstacle will generate resistance on the wheels 2, the wheels 2 will bump through the obstacle, the electronic components in the rack 1 will be damaged, and the service life of the robot will be reduced. Therefore, the following technical scheme is proposed:
in a further embodiment the adjustment mechanism comprises two sets of rollers 8, roller 8 shafts, hydraulic rams 10, lift saddle 11, bearings 12 and washers 13. The both ends of 8 axles of gyro wheel are connected with 8 centers of gyro wheel respectively, and the vertical mid point position of fixing at 8 axles of gyro wheel 10, when during operation or other states, 8 axles of gyro wheel can not take place to rotate, realize that hydraulic ram 10 remains vertical state throughout, lift bedplate 11 passes hydraulic ram 10 and installs the one end at hydraulic ram 10, and bearing 12 passes hydraulic ram 10 and installs the top at lift bedplate 11, and packing ring 13 is established on bearing 12 to contact with bearing 12. When the obstacle moves within the range, the hydraulic ram 10 works and rises to lift the frame 1 and the wheels 2, so that the wheels 2 pass the obstacle without contact, and the walking stability of the robot is kept. The adjustment mechanism that multiunit parallel was arranged can not only realize that running gear dodges the barrier, can also compensate because of wheel 2 is raised and reduces the walking ability.
Under some operating conditions, because guiding mechanism's gyro wheel 8 is less than running gear's wheel 2, and a plurality of guiding mechanism's gyro wheel 8 are dispersed, not a whole, so after wheel 2 is whole or partly lifted, the area of contact with ground diminishes, frictional force has been reduced, when welding, because the energy transformation of soldered connection 7 and welding point, there is the impact force to the automobile body, the phenomenon that the welding robot can take place "swift current car", thereby reduced the welding accuracy, for this reason, the following technical scheme has been proposed:
in a further embodiment, a gap is reserved between two adjacent adjusting mechanisms, and a supporting mechanism is arranged between the gaps and used for keeping the stability of the robot after the adjusting mechanisms are lifted; the support mechanism comprises a mounting 14, a housing 15, a telescopic member 16, a fixing portion 17 and a connecting drive unit with the telescopic member 16. The supporting mechanism is not contacted with the ground before the hydraulic jack 10 is not lifted, after the hydraulic jack 10 is lifted, the rack 1 and the wheels 2 are lifted by a certain height, the telescopic piece 16 is extended to realize that the fixing part 17 is contacted with the ground, and the telescopic piece 16 is a telescopic rod. Or a threaded rod is connected with the fixing part 17, and the fixing part 17 and the threaded rod are in threaded transmission to realize downward movement of the fixing part 17. After fixed part 17 contacted with ground, increased the frictional area on whole welding robot and ground, increased static friction for the welding robot can keep static, prevents the slip phenomenon.
When the fixing part 17 contacts the ground, the fixing part continues to move downwards to apply pressure to the ground, the ground provides a reaction force for the fixing part 17, so that the thread shaft moves upwards, the roller 8 of the adjusting mechanism is separated from the ground, the rack 1 moves upwards, the welding head 7 is separated from the welding point, and great errors occur;
in a further embodiment, the fixing part 17 is arranged to move downwards by the same distance as the adjacent hydraulic ram 10 is lifted, so that the fixing part 17 does not move downwards continuously, and welding errors are reduced.
Under some working conditions, the road surface is inclined downwards, and the wheels 2 and the rollers 8 are in contact with the ground; because road surface inclination, the speed of welding robot can be faster than on the level ground, because welding mechanism's structure, when welding robot possess higher speed, it turns on one's side to take place easily, in order to overcome this condition, start supporting mechanism, fixed part 17 downstream, with ground contact, increase the whole friction area on welding robot and ground, increase dynamic friction power, thereby reduce welding robot's speed, reduce welding robot's the risk of turning on one's side and realize welding robot in time braking.
As shown in fig. 1, due to the mechanism of the welding mechanism, after the wheels 2 and the frame 1 are lifted, the welding robot is prone to rollover due to the gravity of the vertical column 4 and the mechanical arm 6. Therefore, the following technical scheme is proposed:
in the further embodiment, set up two sets of slide rail set spares that are the mirror image and arrange in the subregion of frame 1 upper surface, slide rail set spare includes a set of linear slide rail 19 and two sets of arc slide rail 18 that are the mirror image and set up, and vertical subassembly is connected with the slide rail set spare transmission, and vertical subassembly is connected through the elastic webbing with every linear slide rail 19 and arc slide rail 18 end, and at initial state, vertical subassembly is located regional central point and puts and the elastic webbing does not take place deformation. In one set of slide rail assemblies, the distribution of the linear slide rail 19 and the two sets of arcuate slide rails 18 changes the direction of travel of the train with reference to the train track. The vertical assembly has two states including an initial state and an intermediate state. The initial state is that the vertical assembly is positioned at an initial point 20, and the elastic belt is in an original long state; the middle state is that the vertical component moves along the linear slide rail 19 or the arc slide rail 18, and part of the elastic belt is stretched.
Through the state of adjustment slide rail for welding robot keeps the focus in preset position, and the elastic webbing takes place deformation, makes vertical subassembly atress balanced, realizes welding robot keep balance, avoids taking place to turn on one's side. The contact area of the vertical column 4 and the slide rail is set to be mass point D, the tail end of the slide rail is set to be mass point E, an elastic band is connected between DE, and in an initial state, the elastic band is in an original length state.
The situation that the wheel 2 is raised is adjusted according to the actual obstacle situation and the demand, as follows:
in the first state: only one wheel 2 is raised, i.e. a corner of the frame 1 is tilted away from the ground. The position of the wheel 2 is set to be A, the vertical assembly slides along the arc-shaped sliding rail 18 extending to the opposite direction of the position A, part of the elastic belt deforms, the vertical assembly is subjected to elastic force towards the position A, the gravity center of the welding robot is balanced by changing the position of the vertical assembly, and the welding robot is prevented from turning on the side.
In the second state: the left or right two wheels 2 are raised, i.e. the corners of one side of the frame 1 are off the ground. This side direction is B, and vertical assembly slides along the linear slide rail 19 that extends to the opposite direction of B direction, and deformation takes place for some elastic webbing, and vertical assembly has received the elasticity to the B direction, makes welding robot's focus reach the balance through the position that changes vertical assembly, prevents that welding robot from turning on one's side.
When the vertical assembly slides, part of the elastic belt deforms, and when the vertical assembly is built, part of the elastic belt is set as an elastic part, so that the following equation is satisfied when the vertical assembly is balanced:
wherein, theta is the inclination angle of the bottom surface of the frame 1 after the wheel 2 is raised, k is the elastic coefficient of the elastic band, m is the original length of the elastic band, h is the distance between the connecting point of the elastic band and the vertical column 4 and the point D, L is the distance between the point D and the point E after the vertical column 4 slides, and G is the gravity of the vertical assembly.
The working principle is as follows:
the obstacle recognition unit 3 recognizes the outline of the obstacle and judges that the obstacle is in the walking range of the walking mechanism; if the obstacle influences the walking of the welding robot, the adjusting mechanism continues to rise according to the height of the obstacle, so that the height of the wheel 2 is adjusted, the walking mechanism avoids the obstacle, and the welding robot continues to move.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.