The First Scientific Paper on Robots: On Intelligent Mobile Robots
Abstract: With the progress of science and technology, the performance of intelligent robots has been continuously improved, and the application scope of mobile robots has become wider and wider, which is widely used in military, danger elimination, agriculture, rescue and marine development. This paper introduces the basic system composition and related technologies of common intelligent mobile robots, puts forward an obstacle-crossing mechanism which can be applied to intelligent mobile robots, and briefly expounds its working principle. Based on a certain understanding of intelligent robots, the research status and development trend of intelligent mobile robots are discussed.
Keywords: intelligent mobile robot obstacle-crossing and obstacle-avoidance expansion
1 Introduction
The appearance of intelligent robots in 1960s opened up a new era of intelligent production automation. Today, more than 50 years after the advent of industrial robots, robots have been regarded as indispensable production tools. Due to the technical progress in the fields of sensors, control, drive and materials, a new field of robot application has been opened up. Intelligent mobile robot is an important branch of robotics.
2 Basic system composition and related technologies of intelligent mobile robot
Because intelligent mobile robot has broad application prospects in dangerous and harsh environment and civil use, countries all over the world attach great importance to its development. The five systems are: (1) The mechanical unit is the skeleton of the intelligent mobile robot, and all modules of the robot depend on it. The structure, performance and strength of mechanical unit directly affect the stability of the whole robot. With the development of science and technology and the research and development of new materials, the structural performance of intelligent robot products has been greatly improved, and the process and size design of mechanical mechanism is developing in the direction of being more reasonable and efficient, lighter and more beautiful, more environmentally friendly and energy-saving, and more safe and reliable. (2) The power supply and the driving unit provide the power source for the intelligent mobile robot. (3) The environment sensing unit is equivalent to the five senses of the intelligent mobile robot. The robot senses and recognizes the surrounding environment through the sensing unit and collects various parameters, which are then converted into photoelectric signals that can be recognized by the control module and input to the control unit for data processing. (4) The executive mechanism unit is the executive part of the intelligent mobile robot, which can execute commands and complete tasks according to the commands of the control center. Different robots have different actuators, and the design of actuators affects the efficiency, accuracy, stability and reliability of actions to be performed. (5) As the core part of the whole mechanical system, the information processing and control unit, like the human brain, regulates and controls the whole system, and all activities are commanded by it. Collect and store information collected from sensors, analyze all information, plan and make decisions, and output commands. Let the robot run purposefully.
Intelligent mobile robot is a mechatronics system integrating environmental awareness, dynamic decision-making and planning, behavior control and execution. It is an important research achievement of sensor technology, control technology, mobile technology, information processing, artificial intelligence, electronic engineering, computer engineering and other disciplines. In a sense, it is the product of machine development and evolution, and it is one of the most active fields of scientific and technological development at present.
3 An obstacle-crossing robot
The mobile robot we designed (Figure 1) has good maneuverability, and the front guide wheel, front wheel and rear wheel can move independently. The front guide wheel (as shown in figure 1) controls the swing angle of the rocker through the rotation angle of the crank plate, and drives the related planar linkage mechanism to move, thus realizing the expansion and climbing of the front guide wheel. The side drive mechanisms on both sides of the robot are planar linkage-slider obstacle-crossing mechanisms, and the front and rear wheels (as shown in figure 1) respectively drive the planar linkage mechanism to move through the movement of the guide rods in the grooves, so as to realize the telescopic and obstacle-crossing functions of the front and rear wheels. The robot can achieve greater obstacle-crossing height through size design, and can also climb various obstacles by reasonably controlling the swing angle of wheels.
4 application of intelligent mobile robot
With the progress of science and technology, the functions of robots are constantly improved, and the application scope of intelligent mobile robots is also greatly broadened. They are not only widely used in industries such as industry, agriculture, medical care and service industry, but also in hazardous and dangerous situations such as radiation, disaster areas and toxicity, etc. ).
4. 1 land intelligent mobile robot
In the late 1960s, in order to occupy the space and complete the lunar exploration program, the Soviet Union and the United States independently developed and applied mobile robots, which realized various tasks such as alien soil sample collection and soil analysis. The emergence of land intelligent mobile robots is to help human beings complete tasks that cannot be completed. Land mobile robots are also widely used in the military, which can explode, mine, detect and remove obstacles. In recent years, intelligent mobile robots have gradually integrated into people's daily lives.
4.2 Underwater Intelligent Mobile Robot
In recent years, people's thirst for resources has increased, and they have begun to develop atomic energy and marine resources. In addition, the underwater environment is very complicated (poor visibility, difficult positioning, fluid changes, etc.). ), and the advantages of underwater intelligent mobile robots in seabed resource exploration have attracted much attention. In recent years, scientists from Kiel University in Germany have developed a new type of deep-water robot? RovKiel 6000? This deep-water robot can dive to 6000 meters deep to find mysterious deep-water creatures and? Platinum? Combustible ice.
4.3 Bionic Intelligent Mobile Robot
In recent years, many robot research institutions in the world have paid more and more attention to the research work of bionics and institutions. In some cases, bionic robots have special advantages. For example, the snake-shaped robot has a low center of gravity, can imitate the actions of snakes, and can help humans complete various tasks by shuttling through disaster sites and other complex terrain. In addition, there are bionic dogs, bionic fish, bionic insects and so on.
5 Development direction and prospect of intelligent mobile robot
The main factors affecting the development of mobile robots are navigation and positioning technology, multi-sensor information fusion technology and multi-robot coordinated control technology. Therefore, the development trend of mobile robot technology mainly includes:
(1) highly intelligent emotional robot. With the development of science and technology, people have higher and higher requirements for human-computer interaction technology. Emotional mobile robots with human intelligence are the future development trend of mobile robots. At present, mobile robots can only be said to be partially intelligent, and people are eager to have safe, reliable, intelligent and communicative robots. Although it is still difficult to realize intelligent emotional robot, it will become a reality one day with the breakthrough of science and technology.
(2) Multifunctional robots with strong adaptability. Robots appear to serve human beings. There are still many unknown worlds in nature waiting for us to explore. People can't set foot in all kinds of dangerous, complex and changeable environments, so people are eager to have robots that can replace human beings, and robots with strong adaptability and multi-functions are bound to be one of the development directions of robots.
(3) Universal service robot. With the development of science and technology, robots should be more and more easily integrated into people's daily life and serve people in daily life. For example, in the family, robots can help people do all kinds of housework, which is closely related to people's lives.
(4) Special intelligent mobile robot. According to different application fields and different uses, it is the future development direction to design various special intelligent mobile robots, such as nano-robots, space exploration robots, deep-sea exploration robots and entertainment robots.
6 concluding remarks
In a word, intelligent mobile robot involves sensor technology, control technology, mobile technology, information processing, artificial intelligence, control engineering and other multidisciplinary technologies. In the future, intelligent mobile robots will move towards life, which is safe, reliable and easy to operate. Although intelligent mobile robots are developing at an amazing speed, there is still a long way to go to realize mobile robots with strong adaptability, intelligence, emotion and multifunction.
References:
Xie Jin, Wan Chaoyan, Du. Principles of machinery (second edition) [M]. Beijing: Higher Education Press, 20 10.
[2] Chen Guohua. Mechanical mechanism and application [M]. Beijing: Machinery Industry Press, 2008.
Xu Guobao, Yin Yixin, Zhou Meijuan. Present situation and prospect of intelligent mobile robot technology [J]. Robot Technology and Application, 2007(2).
Xiao Shide, Tang Meng, Meng Xiangyin, et al. Monitoring of mechatronics system [M]. Sichuan: Southwest Jiaotong University Press, 20 1 1.
The second part of robot science and technology paper: the design method of robot
Robot is an important tool of human intelligence. With the development of the times, robots have been developed all over the world, and even many countries have applied robots to real life. The design method of robot is undoubtedly a problem that many people are very interested in, so this paper discusses the design method of robot in detail.
Robots; Design; way
1. Introduction
Throughout the history of human development, the progress of tools can promote human civilization. Nowadays, the design is developing in the direction of intelligence. Robot is an important product in the process of human intelligence development, so the common design methods of robot are necessary tools for designers.
2. Hardware design of control system
Under the background of the continuous development of modern science and technology, the heavy physical labor involved in the industrial field is increasing. It is difficult to achieve some of these tasks by relying solely on manpower. In order to complete the relevant production tasks in the industrial field well. It is necessary to realize that the hardware part of the robot control system is mainly composed of five modules: control module, tracking module, obstacle avoidance module, motor drive module and power supply module.
(1) control system module. ATmega 128 is an 8-bit low-power CMOS microprocessor based on AVR RISC structure. Fast operation speed and multi-channel PWM output. It can process the input signals generated by circuits such as speed measurement and obstacle avoidance, and output control signals to the driving amplifier circuit, thus controlling the motor speed. The PWM signal generated in this way is more real-time than the signal generated by timer interrupt, and will not occupy the timer resources of the system.
(2) Tracking module. Tracking refers to the car walking along the white guide line on the competition field. The schematic diagram of the tracking module is shown in Figure 2. The tracking module adopts a gray sensor, the transmitting tube is an ordinary LED lamp, and the receiving tube is a phototransistor 3DU33. The working principle is that different colors of objects reflect different brightness of light emitted by LED, and the phototransistor 3DU33 will present different voltages Vx when receiving light with different brightness. Vx is input to the noninverting terminal of the comparator LM339 and compared with the voltage V0 set by the potentiometer. When VX >: V0, the comparator outputs a high level. When the front and rear ends of Vx tracking robot are tracking modules composed of seven gray sensors. Among them, the three gray-scale sensors in the middle play the role of line patrol, the gray-scale sensors at both ends play the role of detecting curves, and the remaining two gray-scale sensors alternately patrol and detect curves. Experiments show that this gray sensor layout has a good robot tracking effect. Cost performance? Very high.
(3) Obstacle avoidance module. The obstacle avoidance module mainly uses infrared transmitting and receiving sensors. When the infrared induction obstacle avoidance module approaches the object, it outputs a low-level signal. When no object is sensed, a high-level signal is output. When the signal line is connected to the control port of the single chip microcomputer, the control program can play the role of detecting obstacles, and the robot can find obstacles in time to avoid detours when traveling.
(4) Drive module. Tracking and obstacle avoidance robot requires flexible walking and quick response, so the driving motor is required to have? Fast speed and timely braking? And other features. The robot designed and manufactured by us adopts JMP-BE-3508I drive board module of Zhongming Company, with input voltage of 1 1V to 24V and maximum output current of 20A, which meets the requirements of fast forward, braking and turning. And the motor speed reaches 500rpm, and the locked-rotor torque is 8 kg cm, which has a strong braking function. Four PWM output signals of single chip microcomputer are used to control the rotation speed of four wheels respectively. And adopt? Four-wheel drive 、? Differential turn? In this way, the robot can move forward, backward and turn.
(5) Power module. The power module of the tracking robot mainly realizes the following three functions: ① Stable output of 5V working voltage. Therefore, the power module we designed and manufactured is based on 7805 chip, and the input voltage is cut off to 5V. (2) Provide enough current. The maximum output current of 7805 chip is 1.5A, but the tracking robot needs a large current, so we use two 7805 chips to supply power to the control system and external equipment respectively. ③ filtration. The input and output terminals of the 7805 chip are respectively connected in parallel with 104 patch capacitor and 10? Electrolytic capacitor, filtering high frequency and low frequency signals.
3. Software and hardware module development process and interface program
(1) Image processing module: the camera captures the image in real time, compares the converted image with the initial image, finds out the difference position in the image, and transmits it through TCP.
(2)TCP communication module: the vision system is connected with the B&R controller through Ethernet, and the controller can be used as a client or server to transmit data in real time; This definition structure is used for the vision system to transmit attitude and feedback attitude and signal state data to the robot in real time.
(3) Position conversion module: convert the pose of the vision system into the pose of the robot and transmit it to the robot to control the operation of the robot.
(4) Trajectory planning module: Trajectory planning and velocity planning are carried out, and the optimal trajectory (straight line, arc, irregular curve, etc.) is selected. According to the current position and target position of the robot, then interpolate the trajectory and speed, call the robot kinematics algorithm to calculate the reliability of the trajectory, and then transmit the real-time interpolated position and speed to the motion control module.
(5) Motion control module: according to the real-time interpolation value, combine the control parameters such as acceleration and jerk to the driver.
(6) Servo module: According to the data sent by the controller, combined with various servo control parameters, drive the motor to run to various positions with the fastest response and speed.
4. Robot precision calibration and vision software processing.
4. 1 precision calibration
Accuracy calibration includes robot accuracy calibration and robot position calibration relative to the vision camera. Before the robot moves, it is necessary to calibrate the mechanical parameters such as the length, zero point, deceleration ratio and coupling ratio of each axis with a laser tracker, and hand them over to the kinematics and controller system to make the robot run accurately according to the theoretical trajectory. Straight line to the specified point. The three-point method and six-point method are used to calibrate the distance of the robot relative to the visual camera in X, Y and Z directions, and the position transformation module is given to determine the transformation relationship between the robot coordinate system and the camera coordinate system.
4.2 Visual processing software
Comprises a fixed vision system calibration module and a mobile vision system calibration module. Installing the vision system in a fixed position is equivalent to establishing a camera user coordinate system for the robot. This module is used to calculate the position and attitude conversion relationship between robot and fixed vision system. The pose of the vision system installed on the end flange of the robot is equivalent to establishing a tool coordinate system for the robot, and changing its position in real time as the robot moves. This module is used to calculate the relationship between the robot and the dynamic vision system. Real-time processing of communication status and error status of transmission robot, vision system and Ethernet.
4.3 Design and implementation of man-machine interface
When the robot fails to move automatically, such as hardware limitation or collision, you can enter the manual page and select robot operation to move the robot to the specified position. For the new palletizing production line, system parameters, position information, product parameters and other necessary information need to be configured. Palletizing data editing and creating functions, and the products cover bags, boxes and variable grabbing functions. You can add product quantity, change product direction, modify step quantity, move product position and rotate. In this page, 5 bags of products are generated on each floor, and the number ranges from 1 to 5. You can change the actual palletizing order of products by adjusting the numbering order.
5. Concluding remarks
In short, in the process of robot design, targeted design should be carried out according to the design purpose, and the above thinking methods should be adopted to solve the problems in the design process in time. With the popularization of machine intelligence, there is no doubt that robot design will have a broader sky in the future.
References:
Zhang Haiping, Chen Yan. Design and application of Wincc in man-machine interface of baler [J].HMI and industrial software, 20 12 (3): 70-72.
Zhu Huadong, Kong Yaguang. Design of embedded man-machine interface [J]. China Waterway, 2008 (11):125-126.
Jin Changxin, Li Wei. Realization of man-machine interface of vehicle-mounted computer system based on Windows CE [J]. Microcomputer Information, 2005 (21):132-134.
The third part of robot science and technology paper: Talking about the fault handling of igm welding robot.
Abstract: Robot technology is a high-tech integrating computer, control theory, mechanism, information and sensing technology, artificial intelligence and other disciplines. This paper introduces the working principle of igm welding robot and the common faults of the robot in practical work, analyzes the causes of the faults, and advances some corresponding maintenance methods.
[Keywords: ]igm welding robot working principle fault handling
Preface of 0
Robot technology is a high-tech integrating computer, control theory, mechanism, information and sensing technology, artificial intelligence and other disciplines. The intervention of this new technology puts forward higher requirements for maintenance technicians. How to ensure the reliability and stability of the welding robot and give full play to the robot's greatest advantages is particularly important for the fault maintenance and equipment maintenance of the robot.
Composition and working principle of 1 igm welding robot
Composition of 1. 1 igm welding robot
Igm welding robot is an industrial robot engaged in welding (including cutting and spraying), with fine machining, dexterous action, high welding accuracy and good weld formation. It has been widely used in machinery industry.
Working principle of 1.2 igm welding robot
Internal axis control principle of igm welding robot: Digital servo board DSE-IBS processes information such as current position calibration, position drive, speed drive, etc. The processed information is fed into the servo driver, modulated by the pulse width modulator inside the servo driver, and then amplified to drive the servo motor. While the servo motor is moving, the encoder runs synchronously, and the collected position and angle information is fed back to the RDW control board. The position information after incremental calculation and data setting of the RDW board is fed back to the DSE-IBS board for calculation and processing in the next cycle. Repeat this process, so as to realize the real-time position change process.
Fault diagnosis and analysis of 2 igm welding robot
2. 1 Fault type of welding robot
The fault types of welding robots can be divided into software faults and hardware faults, as well as faults caused by machine software, such as system shutdown; Faults caused by machine hardware, such as failures of driving devices and electrical component modules. Fault phenomena can be divided into three categories: man-made fault, natural fault and sudden fault. For maintenance, it is difficult to eliminate natural faults and sudden faults, because this kind of maintenance is not only aimed at the fault unit itself, but also to improve the system, which requires careful analysis, optimization and improvement of fault diagnosis to avoid the recurrence of the eliminated faults and make the system more stable and reliable.
Troubleshooting of 2.2 igm welding robot
2.2. 1 After the robot is turned on, the teaching device has no alarm information, but the manipulator can't arc normally. First, check whether the system sends wires and gas. It is found that the wire feeding system can't feed wire manually, and the protective gas cylinder has pressure, but there is no protective gas at the nozzle of the welding torch. Check the welding cable, arc striking plate and wire feeding plate of the manipulator again, and no fault is found. This shows that the manipulator functions normally, and the welding circuit may be blocked. Whether the welding circuit is normal or not can be judged by measuring the impedance of the welding circuit.
Test steps of loop impedance:
I connect the ground wire connecting the workpiece to ensure that the contact part between the ground wire clamp and the workpiece is clean and good;
Ii Turn on the power of the robot electric cabinet and turn the power switch of fornis welding machine to? Me? Location;
Select from the bonder's secondary menu? r？ Function.
Four. Remove the welding gun nozzle, screw on the conductive nozzle, and stick the conductive nozzle on the surface of the workpiece. It should be noted that the contact between the contact nozzle and the workpiece should be clean during the measurement. When measuring, the wire feeder and cooling system are not started;
Press the torch switch lightly or jog the wire feed key. The impedance measurement of welding loop is completed. During the measurement, the right display shows? Run? ;
Vi After the welding circuit is measured, the display screen shows the measured value. The measured welding loop impedance is 18? (The normal value is
2.2.2 In the welding process of IgM IgM robot, it is difficult to strike the arc, the welding current is extremely unstable, and the arc is often broken and appears repeatedly. Arc fault? Arc fault.
I checked the grounding cable and measured the loop resistance at 9.7? , normal
The value starts at
Check whether the welding wire diameter (Ф1.2) matches the nominal diameter of the wire feeder.
Three. Welding wire material (G2Si) is matched with welding method and welding base material.
After iv, it is observed that there are a lot of chips at the nozzle of the welding gun, and the hand-delivered welding wire is not smooth and flat, with a small amount of bending and wire loss, indicating that the wire feeding is not smooth.
Detect the incoming resistance. Open the wire feeding locking lever and the pressing lever, and retract the welding wire by hand. Found great resistance. Most of them are caused by the blockage of wire feeding hose or the excessive angle between hose and manipulator.
The intransitive verb is used to check the abrasion of the wire feeding wheel. V-shaped wire feeding groove is not easy to be too deep and too wide. It is best to put only one welding wire with the specification of Ф1.2. Excessive gap will affect the stability of wire feeding and welding current. When the wire feeding wheel is removed, it is found that the wire feeding wheel is seriously worn, the roundness error is large and the wire feeding groove is too deep. Once the wire feeding mechanism is out of control, it will feed wire at high speed, and the welding power supply can't get normal signal feedback (the feedback of wire feeding speed adopts photoelectric speed measurement), which can't provide stable current and voltage, resulting in abnormal welding. Replace the wire feeder and hose, and adjust the pressure. The fault is relieved and the welding is normal.
2.2.3 The zeroing parameters of IgM robot are automatically lost. When the igm robot is turned on next time, the zeroing parameters are automatically lost, and the zeroing, input parameters and saved parameters are repeatedly lost. Check whether the teaching cable, interface, program, shaft card and indicator light of RDW board are normal. Check the measured voltage values of the backup battery (buffer battery, which is used to provide short-term power supply and store information for the system when it is turned off or accidentally cut off), one is 8.9V, the other is 12 V, the total voltage is 2 1 V, and the normal value is 24V. After replacing a set of batteries,
2.3 Analysis and treatment of sudden failure
Faults are unpredictable and sudden. It most often appears in practical work. System failures are mostly affected by the environment, such as circuit board failure of welding robot control part, stabilized power supply failure, communication failure and so on. These are all reflected in the sudden alarm of the robot at work and cannot be eliminated. Restarted and returned to normal, but soon there was an alarm, which led to the instability of the whole system.
In order to further judge the quality of the driver and narrow the fault range,
Check the encoder. The encoders used in each axis of RCI series robots are absolute encoders. It is an electromagnetic element that can transmit the information of rotation angle. It consists of two fixed windings (sin winding and cos winding) and a reference winding. Its principle is basically similar to that of resolver. Unplug the plug of X 12, and measure the terminal resistances of112, 13-5 and 14-4 respectively. There is no resistance, indicating that the encoder is not normal.
Locate the 12 axis servo motor, and check whether the encoder plug is locked, whether the cover has been pulled out, and whether the plug connection is loose. Reinsert the plug, lock it in place, and measure the resistance of terminal 1 1- 12 again to 94? , 13-5 terminal resistance is 65? , 14-4 terminal resistance is 65? , 9- 10 terminal resistance is 600? , indicating that each winding is normal. After power-on, the driver can be turned on normally and the fault is relieved.
3 Conclusion
Maintenance work is an iterative process in which theory guides practice and practice promotes theory. The organic combination of theory and practice will enable maintenance personnel to judge and deal with various faults more deeply and accurately. Maintenance personnel at work must have the ability of independent thinking, analysis and judgment, pay attention to observation during operation, do not blindly change the settings of welding robots and jumpers, form a good habit of keeping good records, summarize various fault phenomena and treatment processes, accumulate experience in fault diagnosis and maintenance, and improve maintenance level.
refer to
[1] Dai Guangping. Fault diagnosis and maintenance technology of welding robot. Chongqing: China Jialing Industry Co., Ltd., 2003.
[2] Complete sets of equipment and professional machine tools branch of China Welding Association. Practical manual of welding robot. Machinery Industry Press, 20 14.
Li demin Fault maintenance of welding robot. Changchun: Changke Joint-stock Manufacturing Center, 20 1 1.
Guess you like:
1. Model essay on scientific papers
2.3000-word computer science paper
3.800-word mathematical science and technology paper
4. Title and model essay of automation scientific papers