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CN-121988842-A - Multi-sensor fusion positioning control system and device for six-axis industrial robot

CN121988842ACN 121988842 ACN121988842 ACN 121988842ACN-121988842-A

Abstract

The invention relates to the technical field of robots, in particular to a multi-sensor fusion positioning control system and device of a six-axis industrial robot, comprising a data acquisition module, a positioning module and a positioning module, wherein the data acquisition module is used for detecting joint rotation angle, angular speed and tail end gesture offset data and compensating motion track deviation; the control module is used for controlling the motor driver to drive the motor, taking the posture, stress, environment and position data acquired by the data acquisition module as the basis through the multi-sensor algorithm fusion module, preprocessing, noise reduction and time synchronization, carrying out layered fusion on the extracted characteristics through the neural network model, dynamically adjusting the data weight, combining the mechanical abrasion model to generate positioning and compensation instructions, and linking the joint execution mechanism to realize control. According to the invention, the high-precision IMU attitude sensor is additionally arranged in a targeted manner, the data such as the joint angular velocity and the tail end attitude offset are collected to form data complementation with the original sensor, a fusion sensing network is built, the problem of data isolation is solved fundamentally, and a core support is provided for full-closed-loop accurate control.

Inventors

  • WANG LONGXIANG
  • XIAO HAIFENG

Assignees

  • 海默机器人(黄石)有限公司

Dates

Publication Date
20260508
Application Date
20260116

Claims (10)

  1. 1. A multi-sensor fusion positioning control system of a six-axis industrial robot is characterized by comprising the following components: The data acquisition module is used for detecting the rotation angle, the angular speed and the tail end gesture offset data of the joint (2) and compensating the motion track deviation; The control module is used for controlling the motor driver to drive the motor, taking the posture, stress, environment and position data acquired by the data acquisition module as the basis through the multi-sensor algorithm fusion module, preprocessing, noise reduction and time synchronization, carrying out layered fusion on the extracted characteristics through the neural network model, dynamically adjusting the data weight, combining the mechanical abrasion model to generate positioning and compensation instructions, and linking the joint execution mechanism to realize control.
  2. 2. The multi-sensor fusion positioning control system of the six-axis industrial robot, as set forth in claim 1, wherein the data acquisition module comprises an attitude sensor (3), a force sensor (5) and an environmental monitor; the attitude sensor (3) is a high-precision Inertial Measurement Unit (IMU), is respectively arranged at the end effector of the robot (1) and each joint (2) and is used for collecting the rotation angle, the angular speed and the end attitude deviation data of the joints (2) in real time and compensating the deviation of the welding motion track; The force sensor (5) is arranged between the end effector of the robot (1) and the welding gun (4) and is used for collecting contact force and arc pressure data in the welding process, so that positioning drift caused by welding load change is avoided; The environmental monitor is configured to detect at least one environmental parameter including an operating temperature and an air dust content.
  3. 3. A multi-sensor fusion positioning control device of a six-axis industrial robot is characterized by comprising: A robot (1), the robot (1) being for automatic welding of a workpiece; The attitude sensor (3), the attitude sensor (3) is installed in the end effector of robot (1) and each joint (2) department respectively for gather the attitude skew data of corner, angular velocity and the end effector of joint (2) in real time, compensate welding motion track deviation.
  4. 4. The multi-sensor fusion positioning control device of the six-axis industrial robot, which is characterized in that a welding gun (4) is arranged on an end effector of the robot (1), and the robot (1) is used for driving the welding gun (4) to realize automatic welding; A force sensor (5) is arranged between an end effector of the robot (1) and a welding gun (4), and the force sensor (5) is used for collecting contact force and arc pressure data in a welding process, so that positioning drift caused by welding load change is avoided.
  5. 5. The multi-sensor fusion positioning control device of the six-axis industrial robot, as set forth in claim 4, is characterized in that a sensor mounting bracket (6) is mounted on an end effector of the robot (1), and the sensor mounting bracket (6) is positioned at one side close to a workpiece; the sensor mounting bracket (6) is provided with an environment monitor which is used for detecting at least one environment parameter including the working temperature and the dust content of the air.
  6. 6. The multi-sensor fusion positioning control device of the six-axis industrial robot, as set forth in claim 5, wherein the environmental monitor comprises a temperature sensor (7) and a dust concentration sensor (8); The temperature sensor (7) is provided with a plurality of shells, one of which is clung to the gesture sensor (3), one of which is clung to the shell of the force sensor (5), and one of which is located at one side of the sensor mounting bracket (6) close to the workpiece and is used for collecting the working temperature of the gesture sensor (3) and the force sensor (5) and the welding environment temperature of the workpiece in real time.
  7. 7. The multi-sensor fusion positioning control device of the six-axis industrial robot of claim 6, wherein the sensor mounting bracket (6) is internally provided with a mounting cavity (61), the environment monitor is positioned in the mounting cavity (61), and the dust content and the temperature change of air entering the cavity are detected through air holes (62) formed in the mounting cavity (61).
  8. 8. The multi-sensor fusion positioning control device of the six-axis industrial robot of claim 7, wherein the filter screen (63) is arranged on the ventilation holes (62) of the installation cavity (61), and the filter screen (63) is used for filtering large-particle welding slag and scraps generated by welding.
  9. 9. The multi-sensor fusion positioning control device of the six-axis industrial robot, as set forth in claim 5, is characterized in that a detection window (64) is provided on one side of the installation cavity (61) located on the workpiece, and a detachable transparent anti-splashing baffle (65) is installed in the detection window (64).
  10. 10. The multi-sensor fusion positioning control device of the six-axis industrial robot of claim 7, wherein a distance sensor (9), a visual sensor (10) and a synchronous sensor (11) are arranged in a mounting cavity (61) of the sensor mounting bracket (6), and the distance sensor (9) and the visual sensor (10) perform welding positioning detection through a transparent splash-proof baffle (65).

Description

Multi-sensor fusion positioning control system and device for six-axis industrial robot Technical Field The invention relates to the technical field of robots, in particular to a multi-sensor fusion positioning control system and device for a six-axis industrial robot. Background The core pain point of the positioning control system of the existing six-axis industrial robot in welding work is isolated sensor data, and each sensing device is in a fragmented working state, lacks a deep fusion mechanism and severely restricts positioning precision and environmental adaptability. The system relies on vision, a distance sensor and a synchronous sensor to collect basic data, but the three sensor data are not linked and independently transmitted, and redundancy-free backup and complementary calibration logic is realized, namely the vision sensor is easy to be subjected to strong light and dust interference to cause imaging distortion, no other sensor supplements positioning data at the moment, the positioning accuracy is suddenly reduced, the distance sensor can only monitor the distance, the gesture offset can not be sensed, the synchronous sensor only feeds back the basic position, and influence factors such as mechanical vibration, load change and the like are difficult to be associated. The data isolation also results in single control logic of the system, only can be roughly compensated based on the position data, and can not realize dynamic correction through multidimensional data linkage in the face of complex working conditions such as workpiece deformation, joint vibration, mechanical abrasion and the like, and the system has no self-adaptive adjustment capability and poor stability under environmental interference. In order to break the pain point, we propose a six-axis industrial robot multisensor fusion positioning control system and device. Disclosure of Invention Based on the technical problems in the background technology, the invention provides a multi-sensor fusion positioning control system and device for a six-axis industrial robot, which are characterized in that high-precision IMU gesture sensors are additionally arranged in a targeted manner, data complementation is formed between the high-precision IMU gesture sensors and the original sensors through collecting data such as joint angular speed, terminal gesture offset and the like, a fusion sensing network is built, the problem of data isolation is solved from the root, and core support is provided for full-closed-loop accurate control. The invention provides a multi-sensor fusion positioning control system of a six-axis industrial robot, which comprises the following technical scheme: The data acquisition module is used for detecting joint rotation angle, angular speed and tail end gesture offset data and compensating motion track deviation; The control module is used for controlling the motor driver to drive the motor, taking the posture, stress, environment and position data acquired by the data acquisition module as the basis through the multi-sensor algorithm fusion module, preprocessing, noise reduction and time synchronization, carrying out layered fusion on the extracted characteristics through the neural network model, dynamically adjusting the data weight, combining the mechanical abrasion model to generate positioning and compensation instructions, and linking the joint execution mechanism to realize control. Preferably, the data acquisition module comprises an attitude sensor, a force sensor and an environment monitor; The gesture sensor is used for collecting joint rotation angle, angular velocity and terminal gesture offset data in real time and compensating motion track deviation; the force sensor is used for collecting contact force and arc pressure data in the welding process, so that positioning drift caused by load change is avoided; The environmental monitor is configured to detect at least one environmental parameter including an operating temperature and an air dust content. A multi-sensor fusion positioning control device for a six-axis industrial robot, comprising: The robot is used for automatically welding the workpiece; The attitude sensor is used for installing high-precision Inertial Measurement Units (IMU) on the end effector and each joint of the robot, collecting joint rotation angle, angular velocity and end attitude deviation data in real time and compensating motion track deviation. Preferably, a welding gun is arranged on an end effector of the robot, and the robot is used for driving the welding gun to realize automatic welding; Wherein a force sensor is arranged between the end effector of the robot and the welding gun, the force sensor is used for collecting contact force and arc pressure data in the welding process, and positioning drift caused by load change is avoided. Preferably, a sensor mounting bracket is mounted on the end effector of the robot, and the sensor mounting bracket is positioned at o