CN101209552A - Positioning device and positioning method between robot and workstation - Google Patents
Positioning device and positioning method between robot and workstation Download PDFInfo
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- CN101209552A CN101209552A CNA2006101723198A CN200610172319A CN101209552A CN 101209552 A CN101209552 A CN 101209552A CN A2006101723198 A CNA2006101723198 A CN A2006101723198A CN 200610172319 A CN200610172319 A CN 200610172319A CN 101209552 A CN101209552 A CN 101209552A
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Abstract
The invention provides a positioning device and a positioning method between a robot and a workstation. The positioning device mainly comprises a horizontal omnidirectional moving carrier, at least a positioning mechanism and at least a matching structure. The horizontal omnidirectional moving carrier is used for bearing the workstation; the positioning mechanism is arranged on the horizontal omnidirectional moving carrier or on the robot. Furthermore, the matching structure is arranged on the robot or the horizontal omnidirectional moving carrier and adaptive for being matched with the positioning mechanism mutually, thus positioning the workstation and the robot.
Description
Technical field
The present invention relates to positioner and localization method between a kind of robot and the work station, and be particularly related to a kind of making and reach accurate positioning means for positioning and localization method between robot and the work station.
Background technology
In recent years, the exploitation of robot comes into one's own gradually, and wherein robot is often because of task needs, and for example automatically replacing battery, article transmission, moulding are changed, fixed point is charged or robot function change or expansion or the like, and need combine with particular station.
For example, the supply of electric power of robot is a key factor of keeping the long-time running of robot.Robot uses battery that power supply is provided more at present, if will make robot have long endurance, then needs to carry relatively large battery, so will make the volume of robot become big and need bigger horsepower output.Relatively, if use battery more small-sized and that electric weight is lower, though can improve above-mentioned shortcoming, can't provide robot permanent supply of electric power, and must increase charging times, to keep the operating condition of robot the best to robot.
With regard to above-mentioned example,, promote operating efficiency if can just can make robot reach long continuous operations by work station automatically to the robot charging.On the other hand, also can solve the existing manpower that adopts and change increase in man-hour and cost problem that battery causes.Because at present the homing guidance accuracy of robot still can't be reached automatic alignment work station,, how to make therefore that precisely to locate between robot and the work station be the primary technical bottleneck that solves to change the requirement of battery.
As shown in Figure 1, Japan Patent JP2003170747 just proposes a kind of battery swap device.The disclosed localization method of this patent mainly is to utilize a pair of symmetrical stretching arm 4, hooks the engaging part A of robot X both sides after it is stretched out, and utilizes drawing portion 3 that the X of robot is pulled to device body 2 again.Simultaneously, because location division J and base portion 7 cooperatively interact,, cooperate fully with base portion 7 up to location division J, to reach the purpose of location so during near device body 2, device body 2 is slided by drawing to the left or to the right along location usefulness slide rail 9 at the X of robot.
The locate mode of the robot of case is the purpose that reaches the location in the mode of pulling robot before above-mentioned.Yet, the design complexity of this kind positioner, and if the robot preponderance or or have braking system, just can't reach the purpose of robot location.In addition,, bigger deviation is arranged on the angle,, and cause the location to be failed just the stretching arm that then stretches out might hook robot simultaneously if when robot arrives the precalculated position.
Except the above-mentioned problem of mentioning, if robot only carries a battery, then when when carrying out battery altering, just can cause the robot outage.So, after battery altering finishes, must restart the robot formula, feasible whole operating process is the shape complexity more.
Summary of the invention
The present invention relates to the positioner between a kind of robot and the work station, can make reach precisely between robot and the work station and fast the location.
The invention still further relates to the positioner between a kind of robot and the work station, it can help robot to carry out accurately and battery altering operation fast.
The present invention relates to the positioner between a kind of robot and the work station in addition, and it can continue to provide robot power supply when robot changes battery.
The present invention relates to the localization method between a kind of robot and the work station again, adopts above-mentioned positioner to make and reaches location accurately between robot and the work station.
For specifically describing content of the present invention, at this positioner between a kind of robot and the work station is proposed, it mainly comprises horizontal omnidirectional mobile carrier, at least one detent mechanism and at least one fit structure.The horizontal omnidirectional mobile carrier is used to carry work station, and detent mechanism is disposed at horizontal omnidirectional mobile carrier and robot on one of them.In addition, fit structure is disposed on another of horizontal omnidirectional mobile carrier and robot, and is suitable for cooperatively interacting with detent mechanism, so that work station and robot reach the location.
The present invention more proposes localization method between a kind of robot and the work station according to above-mentioned positioner.This localization method at first driven machine people arrives the precalculated position; Then, drive the horizontal omnidirectional mobile carrier and cooperate with fit structure, wherein force the horizontal omnidirectional mobile carrier to move, so that work station and robot reach the location with respect to robot with detent mechanism in the robot.
Because usage level of the present invention omnidirectional mobile carrier carries work station, to position with robot.Therefore, after robot arrived the precalculated position, though have deviation on position and the angle between robot and the work station, robot did not need mobile again, but is moved with respect to robot by work station, to reach final accurate location.Therefore, positioner of the present invention can be avoided the aforementioned existing relevant issues of mentioning, further reach precisely and fast the location.
What deserves to be mentioned is, more can dispose a power supply output module and a power supply in horizontal omnidirectional mobile carrier of the present invention and the robot respectively and receive module, make power supply output module and power supply reception module after work station and robot reach the location, to interconnect, to provide power supply by the horizontal omnidirectional mobile carrier to robot or to charge.So, just can when work station is changed battery or other operations to robot, guarantee that robot does not cut off the power supply, make robot keep normal operating state.
For above-mentioned and other purposes, feature and advantage of the present invention can be become apparent, embodiment cited below particularly, and conjunction with figs. are described in detail below.
Description of drawings
Fig. 1 illustrates existing a kind of battery swap device.
Fig. 2 illustrates the framework that a kind of positioner of one embodiment of the invention combines with robot.
Fig. 3 A and 3B illustrate the process that robot is positioned by positioner of the present invention in regular turn.
Fig. 4 is the flow chart of the position fixing process of Fig. 3 A and 3B.
Fig. 5 A and 5B and Fig. 6 A and 6B illustrate the present invention respectively, and other have the detent mechanism of different configurations and the embodiment of fit structure.
Fig. 7 A and 7B illustrate positioner of the present invention are integrated in a embodiment between robot and the work station.
Fig. 8-11 illustrates respectively positioner of the present invention is integrated in other embodiment between robot and the work station.
Description of reference numerals
2: device body 3: drawing portion
4: stretching arm 7: base portion
9: slide rail A: engaging part
J: location division X: robot
200: positioner 210: the horizontal omnidirectional mobile carrier
212: movable wheel 214: berthing space
216: air pipe line 216a: spray orifice
220: detent mechanism 222: keeper
222a: abutting end 224: brake
230: fit structure 230a: composition surface
240: sensor 300: robot
302: driving wheel 304: movable wheel
310: battery 320: reserve battery
400: work station 402: battery changing mechanism
410: power supply receives module 420: power supply output module
422: power output terminal 510: suspension bracket
520: cable wire D: distance
G: ground
The specific embodiment
Fig. 2 illustrates the framework that a kind of positioner of one embodiment of the invention combines with robot.As shown in Figure 2, positioner 200 mainly comprises horizontal omnidirectional mobile carrier 210, detent mechanism 220 and fit structure 230.Horizontal omnidirectional mobile carrier 210 for example can carry all types of work stations, and in order to make horizontal omnidirectional mobile carrier 210 have the effect that horizontal omnidirectional moves, present embodiment is for example at a plurality of movable wheels 212 of the bottom of horizontal omnidirectional mobile carrier 210 configuration, and wherein movable wheel 212 is enough to the weight that carry support level omnidirectional mobile carrier 210 and top thereof.In addition, horizontal omnidirectional mobile carrier 210 is ㄇ shape, and crosses berthing space 214, for stopping robot 300.In the present embodiment, two detent mechanisms 220 are configured in respectively on the horizontal omnidirectional mobile carrier 210 of 214 both sides, berthing space, and fit structure 230 correspondences are disposed at the relative both sides of robot 300, in order to cooperatively interact with detent mechanism 220, so that robot 300 is positioned.
Refer again to Fig. 2, the detent mechanism 220 of present embodiment is made of keeper 222 and brake 224, and wherein keeper 222 has abutting end 222a, cooperatively interacts in order to the composition surface 230a with fit structure 230.In addition, brake 224 is connected between keeper 222 and the horizontal omnidirectional mobile carrier 210, moves in order to drive keeper 222.The brake 224 of present embodiment for example has the straight line actuation mechanism, moves along rectilinear direction to drive keeper 222.For example, brake 224 can be the drive unit that pneumatic cylinder, oil hydraulic cylinder or other can reach identical straight line start effect.
In addition, the shape complementarity of the abutting end 222a of the keeper 222 of present embodiment and the composition surface 230a of fit structure 230 is closely to agree with mutually when locating.More specifically, the composition surface 230a of abutting end 222a and fit structure 230 for example is respectively taper external form and the depression that is made of a plurality of inclined-plane.Certainly, in other embodiments, abutting end 222a also can be different external forms with the composition surface 230a of fit structure 230, and for example curved surface or the complementary structure of other various kenels are to reach similar locating effect.
In addition, robot 300 bottoms for example dispose a plurality of driving wheels 302 and movable wheel 304, the power that driving wheel 302 provides robot 300 to move, and movable wheel 304 can make robot 300 turn to, and moves horizontally to reach.In order to confirm the relative position of robot 300 and horizontal omnidirectional mobile carrier 210, present embodiment is at least one sensor 240 of configuration on horizontal omnidirectional mobile carrier 210 for example.When robot 300 enters berthing space 214 and when arriving the precalculated position, sensor 240 can be sent sensing signal, reporting system carries out next step location action.The sensor 240 that the present invention can adopt comprises the optical profile type sensor, and as optoelectronic switch, mechanical type sensor, as limit switch or ultrasonic sensing method etc., visual actual demand change is not limited at this.
Please in the lump with reference to Fig. 3 A and 3B, it illustrates the process that positions by 200 pairs of robots 300 of positioner in regular turn.In addition, Fig. 4 flow chart of position fixing process for this reason.
At first, as shown in Figure 3A, robot 300 enters berthing space 214 and arrives precalculated position (step S1).More specifically, robot 300 has driving wheel 302 and movable wheel 304, and can control according to formula, independently walks in the FX.When the power shortage of robot 300 sensings own, then drive and independently move into berthing space 214 by driving wheel 302.Just send sensing signal when sensor 240 senses after robot 300 arrives the precalculated position, reporting system carries out next step location action.
Then, shown in Fig. 3 B, system receives after the sensing signal, the detent mechanism 220 of driving horizontal omnidirectional mobile carrier 210 cooperates with the fit structure 230 in the robot 300, wherein force horizontal omnidirectional mobile carrier 210 to move, so that horizontal omnidirectional mobile carrier 210 is reached location (step S2) with robot 300 with respect to robot 300.More specifically, the brake 224 that is arranged in the detent mechanism 220 of 214 both sides, berthing space can move towards robot 300 straight lines by driving keeper 222.Because horizontal omnidirectional mobile carrier 210 has the effect that horizontal omnidirectional moves, and robot 300 is no longer mobile, remain static, therefore when the positioning end 222a of keeper 222 cooperates with the composition surface 230a of fit structure 230, horizontal omnidirectional mobile carrier 210 can be adjusted position and angle thereupon, so that arrive correct relative between robot 300 and the horizontal omnidirectional mobile carrier 210, finish the location.
The abutting end 222a of the keeper 222 of present embodiment and the composition surface 230a of fit structure 230 have complementary taper external form and depression, therefore can closely agree with when the location, reach location accurately.In other embodiments of the invention, also can reach identical locating effect by the curved surface or the complementary structure of other various kenels.
What deserves to be mentioned is that the present invention does not limit the quantity and the position of detent mechanism and fit structure, for example also can change into detent mechanism is disposed in the robot, and fit structure is disposed on the horizontal omnidirectional mobile carrier, to obtain similar effects.In addition, the quantity of detent mechanism and fit structure also can be different with actual state, and Fig. 5 A and 5B and Fig. 6 A and 6B promptly illustrate the present invention other have the detent mechanism of different configurations and the embodiment of fit structure.Because most of member is similar to the above embodiments among the figure, therefore adopt identical label to represent similar member, related description also please refer to the foregoing description, repeats no more herein.
Shown in Fig. 5 A and 5B, present embodiment is at the complete detent mechanism 220 of side configuration of the berthing space 214 that horizontal omnidirectional mobile carrier 210 is crossed, and the opposite side of berthing space 214 then only disposes the object of keeper 222 or other tool locating effects.The relative both sides of robot 300 dispose the fit structure 230 that can cooperatively interact with keeper 222 equally.When the detent mechanism 220 of horizontal omnidirectional mobile carrier 210 when fit structure 230 in the robot 300 cooperates, the detent mechanism 220 of one side of berthing space 214 can stretch out keeper 222 towards robot 300, so that the positioning end 222a of keeper 222 cooperates with the composition surface 230a of fit structure 230.On the other hand, the keeper 222 of another side of berthing space 214 also can be reached with the fit structure 230 of another side of robot 300 and cooperate, so that horizontal omnidirectional mobile carrier 210 is along with adjusting position and angle, and can arrive correct relative between final robot 300 and the horizontal omnidirectional mobile carrier 210, finish the location.
In addition, shown in Fig. 6 A and 6B, present embodiment is only in the complete location mechanism 220 of a side of the berthing space 214 that horizontal omnidirectional mobile carrier 210 is crossed configuration, and robot 300 also only one-sided configuration fit structure 230 is arranged.When the detent mechanism 220 of horizontal omnidirectional mobile carrier 210 when fit structure 230 in the robot 300 cooperates, the detent mechanism 220 of one side of berthing space 214 can stretch out keeper 222 towards robot 300, so that the positioning end 222a of keeper 222 cooperates with the composition surface 230a of fit structure 230.Simultaneously, the robot 300 of berthing space 214 opposite sides can mutual breasting slippage with horizontal omnidirectional mobile carrier 210.Similarly, horizontal omnidirectional mobile carrier 210 also can make and reach the location between robot 300 and the horizontal omnidirectional mobile carrier 210 along with adjusting position and angle.
The battery altering operation of robot of hereinafter will arranging in pairs or groups comes positioner between robot of the present invention and the work station and localization method are further described.What deserves to be mentioned is, though be that battery altering operation with robot is as embodiment herein, but the application of positioner of the present invention and localization method is not limited thereto, other such as article transmit, moulding is changed, fixed point charging or robot function change or to expand or the like the job content that need precisely locate robot and work station all be positioner of the present invention and the adaptable scope of localization method.In addition, most of member is similar to the above embodiments among the following embodiment, therefore adopts identical label to represent similar member, and related description also please refer to the foregoing description, below repeats no more.
Fig. 7 A illustrates above-mentioned positioner 210 is integrated in embodiment between robot 300 and the work station, and Fig. 7 B illustrates the side view of the system architecture of Fig. 7 A.Shown in Fig. 7 A and 7B, work station 400 is suitable for robot 300 is carried out the operation of automatically replacing battery, in order to the battery in the robot 300 310 is replaced by the battery of another electric power abundance.Horizontal omnidirectional mobile carrier 210 carrying work stations 400, and disposed battery changing mechanism 402 and reserve battery 320 on the work station 400.After reaching above-mentioned location action between robot 300 and the work station 400, work station 400 just can carry out the operation of battery altering, by battery changing mechanism 402 battery in the robot 300 310 is replaced by reserve battery 320.
In addition, work station of the present invention except as the above-mentioned form that can change single battery, also can change a plurality of batteries in the robot simultaneously.As shown in Figure 8, other both sides of work station 400 also dispose battery changing mechanism 402 and reserve battery 320, so just can change the battery 310 that is positioned at diverse location in the robot 300 simultaneously.So when robot has the battery of a plurality of dissimilar (as different voltages), cell apparatus must all can be reached the purpose of changing battery by the work station and the positioner of present embodiment in diverse location when different time is changed different battery.
In addition, if robot only by single battery power supply, then can cause the robot outage when changing battery, must restart robot system after battery altering is finished, feasible whole operating process is the shape complexity more.Therefore, the present invention more can be as shown in Figure 9, and the configuration power supply receives module 410 in robot 300, and the configuration power supply is exported module 420 on horizontal omnidirectional mobile carrier 210.When robot 300 be positioned finish after, power output terminal 422 on the power supply output module 420 just can receive module 410 electrodes with power supply and be connected, power supply is inputed to robot 300 inside,, robot 300 do not take place so when changing battery 310, not having the situation of power interruptions.What deserves to be mentioned is, power supply receives module 410 and exports module 420 except having above-mentioned application with power supply, can also be directly via power supply output module 420 output charge power supplies, charge with battery 310 to robot 300 inside, and need not replace battery 310, just can make robot 300 store enough power supplys.
The mentioned horizontal omnidirectional mobile carrier of the foregoing description all is to take turns the effect that the omnidirectional that is up to the standard moves by activity, yet the present invention is not limited to use this kind locomotory mechanism, below will enumerate several horizontal omnidirectional mobile carrier omnidirectionals that are up to the standard that make again and move the mode of effect.
Figure 10 promptly illustrates the horizontal omnidirectional mobile carrier is up to the standard the effect that omnidirectional moves of being used for by air pressure.As shown in figure 10, have a plurality of air pipe lines 216 in the horizontal omnidirectional mobile carrier 210, and pressure-air enters horizontal omnidirectional mobile carrier 210 via air pipe line 216, and blow to ground G by the spray orifice 216a of horizontal omnidirectional mobile carrier 210 bottom surfaces.So, just can become unsteady state by air pressure so that horizontal omnidirectional mobile carrier 210 breaks away from ground.In other words, when the pressure-air start, horizontal omnidirectional mobile carrier 210 just has the effect that horizontal omnidirectional moves.In addition, similarly mechanism of action more comprises by magnetic force, and for example the same sex of permanent magnet or the electromagnet principle of repelling each other makes horizontal omnidirectional mobile carrier 210 break away from ground and produce unsteady state.Relevant embodiment is because of similar with present embodiment, so repeat no more.
It should be noted that, move the horizontal omnidirectional mobile carrier 210 of effect by modes such as above-mentioned air pressure or the magnetic force omnidirectional that is up to the standard, under general state, contact with ground, therefore when positioning between will be to robot 300 and horizontal omnidirectional mobile carrier 210, must make horizontal omnidirectional mobile carrier 210 break away from ground, the just action that can position smoothly earlier.More specifically, after robot 300 enters the precalculated position, can rise by air pressure or magnetically-actuated horizontal omnidirectional mobile carrier 210, and after work station 400 is reached the location with robot 300, remove air pressure or magnetic force, horizontal omnidirectional mobile carrier 210 is descended.
Except aforesaid way, other for example also have by the effect of liquid buoyancy, and omnidirectional moves the mechanism of effect so that the horizontal omnidirectional mobile carrier is up to the standard.Or, can the horizontal omnidirectional mobile carrier is up to the standard by the mode of suspention effect that omnidirectional moves.Figure 11 just illustrates mode by the suspention horizontal omnidirectional mobile carrier is up to the standard effect that omnidirectional moves.As shown in figure 11, present embodiment promptly is a mode of utilizing suspention, suspension bracket 510 is provided, and by cable wire 520 connection horizontal omnidirectional mobile carriers 210, make horizontal omnidirectional mobile carrier 210 and ground G produce distance D, so horizontal omnidirectional mobile carrier 210 can utilize the swing of cable wire 520, and move in the horizontal direction and rotate.
Though the foregoing description describes with the battery altering operation of robot, right its is not in order to limiting the purposes of positioner of the present invention and localization method, and other all are positioner of the present invention and the adaptable scope of localization method such as the job content that article transmit, moulding is changed, fixed point charging or robot function change or expansion or the like need precisely be located robot and work station.For example, finish after the location by positioner of the present invention and localization method, also can carry out the article between robot and the work station and the transmission or the replacing of equipment, for example carrying out the moulding of robot changes, make robot have different variation in moulding at different time, and the performance more function.Perhaps, easy detection equipment is only born by robot when general work, when taking place as special statuss such as fire, installs equipment such as fire-fighting again additional to work station, carries out special duty, the purpose that reaches the general situation lightweight of robot and save the robot electric quantity consumption.
In sum, because usage level of the present invention omnidirectional mobile carrier carries work station, to position with robot.Therefore, after robot arrives the precalculated position, though have the deviation on position and the angle between robot and the work station, but robot does not need to move again, but move with respect to robot by work station, therefore can reach final accurate location, and for the robot that has the brake function or can't be easily move with manual mode, also can position smoothly.In addition; more can dispose power supply output module and power supply in horizontal omnidirectional mobile carrier of the present invention and the robot respectively and receive module; to provide power supply by the horizontal omnidirectional mobile carrier to robot or to charge; therefore when work station is changed battery or other operations to robot; can guarantee that robot does not cut off the power supply, make robot keep normal operating state.
Though the present invention discloses as above with preferred embodiment; right its is not in order to qualification the present invention, any those skilled in the art, without departing from the spirit and scope of the present invention; when can doing a little change and retouching, so protection scope of the present invention is when by being as the criterion that claim defined.
Claims (13)
1. the positioner between robot and the work station comprises:
The horizontal omnidirectional mobile carrier carries this work station;
At least one detent mechanism is disposed at this horizontal omnidirectional mobile carrier and this robot on one of them; And
At least one fit structure is disposed on another of this horizontal omnidirectional mobile carrier and this robot, is suitable for cooperatively interacting with this detent mechanism, so that this work station and this robot reach the location.
2. the positioner between robot as claimed in claim 1 and the work station, wherein this horizontal omnidirectional mobile carrier is ㄇ shape, and this positioner has two detent mechanisms and two corresponding fit structures, it is disposed at one of them relative both sides of this ㄇ shape horizontal omnidirectional mobile carrier and this robot respectively, and another relative both sides of this ㄇ shape horizontal omnidirectional mobile carrier and this robot.
3. the positioner between robot as claimed in claim 1 and the work station, wherein this detent mechanism comprises:
Keeper has abutting end, in order to cooperatively interact with this fit structure; And
Brake is connected between this keeper and this horizontal omnidirectional mobile carrier or this robot, moves in order to drive this keeper.
4. the positioner between robot as claimed in claim 3 and the work station, wherein the composition surface of this abutting end and this fit structure is shaped as complementation.
5. the positioner between robot as claimed in claim 3 and the work station, wherein this brake comprises the straight line actuation mechanism.
6. the positioner between robot as claimed in claim 1 and the work station, wherein this horizontal omnidirectional mobile carrier is by disposing a plurality of movable wheels, or the effect by air pressure, magnetic force or liquid buoyancy, or the mode by suspention, the effect that moves with the omnidirectional that is up to the standard.
7. the positioner between robot as claimed in claim 1 and the work station more comprises sensor, is disposed in this horizontal omnidirectional mobile carrier or this robot, in order to the relative position between this horizontal omnidirectional mobile carrier of sensing and this robot.
8. the positioner between robot as claimed in claim 1 and the work station more comprises:
Power supply output module is disposed on this horizontal omnidirectional mobile carrier; And
Power supply receives module, is disposed in this robot, after reaching the location at this work station with this robot, connects this power supply and exports module.
9. the localization method between robot and the work station, be applicable to positioner, this positioner comprises horizontal omnidirectional mobile carrier, at least one detent mechanism and at least one fit structure, wherein this horizontal omnidirectional mobile carrier carries this work station, this detent mechanism is disposed at this horizontal omnidirectional mobile carrier and this robot on one of them, and this fit structure is disposed on another of this horizontal omnidirectional mobile carrier and this robot, and be suitable for cooperatively interacting with this detent mechanism, this localization method comprises:
Drive this robot and arrive the precalculated position; And
Drive this detent mechanism and cooperate, wherein force this horizontal omnidirectional mobile carrier to move, so that this work station and this robot reach the location with respect to this robot with this fit structure.
10. the localization method between robot as claimed in claim 9 and the work station, wherein this detent mechanism comprises keeper and brake, this keeper has abutting end, and this brake is connected between this keeper and this horizontal omnidirectional mobile carrier or this robot, then drives this detent mechanism and comprises with the step that this fit structure cooperates:
Drive this keeper by this brake, so that the abutting end of this keeper cooperates with this fit structure; And
In the abutting end of this keeper and process that this fit structure cooperates, force this horizontal omnidirectional mobile carrier to move, so that this work station and this robot reach the location with respect to this robot.
11. the localization method between robot as claimed in claim 9 and the work station, more being included in this robot enters after this precalculated position, drive this horizontal omnidirectional mobile carrier and rise, and after this work station is reached the location with this robot, make this horizontal omnidirectional mobile carrier decline.
12. the localization method between robot as claimed in claim 9 and the work station more comprises by sensor coming this robot of sensing whether to arrive this precalculated position.
13. the localization method between robot as claimed in claim 9 and the work station more is included in after this work station and this robot reach the location, comes this robot is provided power supply or charges by this work station.
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| CNB2006101723198A CN100534733C (en) | 2006-12-30 | 2006-12-30 | Positioning device and positioning method between robot and workstation |
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| CN102069498A (en) * | 2010-11-29 | 2011-05-25 | 楚天科技股份有限公司 | Manipulator positioning mechanism used in sealing machine |
| CN102176626A (en) * | 2011-01-18 | 2011-09-07 | 东南大学 | Automatic battery replacement device for indoor security-maintaining robot |
| CN101745919B (en) * | 2008-11-28 | 2012-04-25 | 财团法人工业技术研究院 | Floating device with return mechanism and work station thereof |
| CN103192688A (en) * | 2013-04-11 | 2013-07-10 | 杭州大清智能技术开发有限公司 | Stereoscopic-vision-based location method for electric vehicle batteries |
| CN108927804A (en) * | 2018-07-25 | 2018-12-04 | 中科新松有限公司 | Compound robot control system and robot |
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| CN110253552A (en) * | 2019-07-15 | 2019-09-20 | 昆山瑞航自动化设备科技有限公司 | Three axis multipoint positioning methods of one kind and mechanism |
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| CN101745919B (en) * | 2008-11-28 | 2012-04-25 | 财团法人工业技术研究院 | Floating device with return mechanism and work station thereof |
| CN102069498B (en) * | 2010-11-29 | 2012-09-05 | 楚天科技股份有限公司 | Manipulator positioning mechanism used in sealing machine |
| CN102069498A (en) * | 2010-11-29 | 2011-05-25 | 楚天科技股份有限公司 | Manipulator positioning mechanism used in sealing machine |
| CN102176626A (en) * | 2011-01-18 | 2011-09-07 | 东南大学 | Automatic battery replacement device for indoor security-maintaining robot |
| CN103192688A (en) * | 2013-04-11 | 2013-07-10 | 杭州大清智能技术开发有限公司 | Stereoscopic-vision-based location method for electric vehicle batteries |
| CN103192688B (en) * | 2013-04-11 | 2016-05-04 | 杭州大清智能技术开发有限公司 | A kind of batteries of electric automobile localization method based on stereoscopic vision |
| CN109758342B (en) * | 2017-11-09 | 2021-12-03 | 福宝科技股份有限公司 | Exoskeleton robot and control method thereof |
| CN109758342A (en) * | 2017-11-09 | 2019-05-17 | 福宝科技股份有限公司 | Exoskeleton robot and its control method |
| CN108927804A (en) * | 2018-07-25 | 2018-12-04 | 中科新松有限公司 | Compound robot control system and robot |
| CN113454002A (en) * | 2019-02-19 | 2021-09-28 | 自动存储科技股份有限公司 | Storage system |
| CN113454002B (en) * | 2019-02-19 | 2023-03-07 | 自动存储科技股份有限公司 | Storage system |
| CN110253552A (en) * | 2019-07-15 | 2019-09-20 | 昆山瑞航自动化设备科技有限公司 | Three axis multipoint positioning methods of one kind and mechanism |
| CN115519534A (en) * | 2022-06-28 | 2022-12-27 | 广东梅隆科技股份有限公司 | Automatic feeding device is used in belt pulley production |
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| CN100534733C (en) | 2009-09-02 |
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