CN105835029A - Collaborative robot with area moving capacity and working method of collaborative robot - Google Patents
Collaborative robot with area moving capacity and working method of collaborative robot Download PDFInfo
- Publication number
- CN105835029A CN105835029A CN201610370805.4A CN201610370805A CN105835029A CN 105835029 A CN105835029 A CN 105835029A CN 201610370805 A CN201610370805 A CN 201610370805A CN 105835029 A CN105835029 A CN 105835029A
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- China
- Prior art keywords
- robot
- region
- locomotivity
- robot arm
- dolly
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a collaborative robot with the area moving capacity and a working method of the collaborative robot. A battery and a power inverter for power inversion are arranged in an area moving trolley, and an industrial camera is mounted on a paw of a robot arm; the power inverter inverts a direct-current power source output by the battery into an alternating-current power source and transmits the alternating-current power source to a robot control cabinet; through the battery and the power inverter, the problem that in the running process of the trolley, continuous direct-current electricity and alternating-current electricity needed by robot motion need to be provided is solved; through an optical automatic guide device, the driving path of the trolley is guided, and the hidden danger of the trolley under the unmanned condition to personal safety of workers is avoided; due to use of the collaborative robot, the threads of the moving process of the robot to the personal injury are removed, and safety of the workers is ensured; and finally, through photographing of the industrial camera to an object to be grabbed, the deviation value between the grabbed to-be-grabbed object and the original position of the object is calculated, and the precision of relocating grabbing and carrying of the trolley is improved.
Description
Technical field
The present invention relates to the technical field of robot device, in particular for the association with region locomotivity
Make robot and method of work thereof.
Background technology
The mobile operation of robot at present can only rely on walking guide rail to move linearly, and walking axis rail is by machine
Device people's controller centralized Control, it is impossible to depart from the constraint of cable, therefore can not realize the most mobile,
The most guide tracked movement can only be moved in the straight direction, it is impossible to makees the movement in region.
Industrial robot is due to secure context simultaneously, needs to arrange the safeguard procedures such as safe fence,
Can only one close safe space in operation, therefore can not be arranged on region move on trolley platform
One unlimited space is run.
It addition, dolly is moved after movement in region, the positioning precision relocated typically can only arrive Centimeter Level,
The carrying grabbing requirement of robot cannot be met.
Summary of the invention
In order to solve the moving range of existing robot and be restricted, dolly is moved at driving process in region
In the safety brought, region move dolly and carry out after movement relocating the problem that precision is low, the present invention carries
Supply cooperation robot and the method for work thereof with region locomotivity.
For reaching above-mentioned purpose, the present invention provides a kind of cooperation robot with region locomotivity, bag
Include,
Dolly is moved in region, and described region is moved and is provided with battery in dolly and carries out the electricity of power inverter
Source inventer, described battery is connected with described power inverter；
Robot control cabinet, described robot control cabinet is installed on described region and moves car top, and position
In described power inverter front, described robot control cabinet and described power inverter UNICOM, described electricity
The DC source that described battery exports is reverse into alternating current power supply and transmits to the control of described robot by source inventer
Cabinet processed, it is characterised in that also include,
Robot arm, described robot arm is installed on described region and moves on the platform of car top,
Mounting industrial camera on the paw of described robot arm, described industrial camera is used for treating crawl object and enters
Row shooting, and image transmitting to background controller is carried out image procossing.
The above-mentioned cooperation robot with region locomotivity, wherein, described robot control cabinet and backstage
Controller communication connects, and described background controller controls described robot control cabinet to described robot arm
Operate.
The above-mentioned cooperation robot with region locomotivity, wherein, described battery is installed on described region
The battery of mobile dolly is installed in storehouse.
The above-mentioned cooperation robot with region locomotivity, wherein, described region is also pacified in moving dolly
Being loaded on optical target sounding device, described optical target sounding device is connected with described background controller communication,
Described background controller controls described optics homing device and travels by the guide path of regulation.
The above-mentioned cooperation robot with region locomotivity, wherein, described industrial camera treats crawl thing
Body is taken pictures, and calculates the deviation between object to be captured and its home position, and must deviate value, and
Carry out deviation value complement by described robot arm to repay, make described robot arm wait to capture follow-up crawl
Relative position consistency during object.
The above-mentioned cooperation robot with region locomotivity, wherein, the driving of dolly is moved in described region
Structure is in-wheel driving structure.
The above-mentioned cooperation robot with region locomotivity, wherein, described robot arm is also installed
Several force transducers, some described force transducers is had all to be connected with background controller communication.
Also include the method for work of a kind of cooperation robot with region locomotivity, wherein, described work
Make method as follows:
Background controller controls described region and moves and little reach at object to be captured, the control of described robot
The cabinet described robot arm of control is treated crawl object and is captured, and before crawl, described industrial camera is treated
Capturing object to take pictures, after crawl, described industrial camera is treated crawl object and is taken pictures again,
And the image content in the photo of shooting is analyzed, draw between object to be captured and its home position
Deviation, must deviate value, and carry out deviation value complement by described robot arm and repay, and makes described machine
Human arm is in the follow-up relative position consistency captured in time capturing object；Finally, described robot arm will
Object to be captured moves to default placement location；When described robot arm encounters work in the course of the work
During personnel, described force transducer receives touching signal, and robot control cabinet controls described robot immediately
Arm quits work, it is ensured that the personal safety of staff.
The invention has the beneficial effects as follows:
The region of the present invention is moved dolly and is solved dolly at running by battery and power inverter
Middle need to provide the problem of alternating current required for continuous direct current and robot motion.Certainly by optics simultaneously
The travel route of dolly guides by dynamic guiding device, it is to avoid dolly is right in the case of unmanned
Staff brings the hidden danger of personal safety.Treat finally by industrial camera and capture taking pictures of object, meter
Calculate the deviation value of the object to be captured after picking up and its home position so that dolly relocates grasp handling
Precision be significantly improved.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings:
Fig. 1 is the structural representation of the cooperation robot in the present embodiment with region locomotivity；
Fig. 2 is the circuit relationships schematic diagram of the cooperation robot in the present embodiment with region locomotivity.
Detailed description of the invention:
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as the present invention's
Limit.
Embodiment
Refer to shown in Fig. 1 and Fig. 2, it is shown that a kind of preferred embodiment there is region locomotivity
Cooperation robot, wherein, including:
Dolly 1 is moved in region, and region is moved and is provided with battery 2 in dolly 1 and carries out power inverter
Power inverter 3, battery 2 is connected with power inverter 3；
Robot control cabinet 7, robot control cabinet 7 is installed on region and moves dolly 1 top, and is positioned at
Power inverter 3 front, robot control cabinet 7 and power inverter 3 UNICOM, power inverter 3 will
The DC source of battery 2 output is reverse into alternating current power supply and transmits to robot control cabinet 7.
Also including a robot arm 4, robot arm 4 is installed on region and moves dolly 1 top
On platform, mounting industrial camera 6 on the paw 5 of robot arm 4, industrial camera 6 is used for treating grabs
Take object (not shown) to shoot, and image transmitting to background controller is carried out image procossing；
The present invention the most also has implementation below, continuing with seeing shown in Fig. 1 and Fig. 2,
The above-mentioned cooperation robot with region locomotivity, wherein, robot control cabinet 7 is controlled with backstage
Device 10 communication processed connects, and background controller 10 controls robot control cabinet 7 and carries out robot arm 4
Operation.
The above-mentioned cooperation robot with region locomotivity, wherein, battery 2 is installed on region and moves little
The battery of car 1 is installed in storehouse 8.
The above-mentioned cooperation robot with region locomotivity, wherein, region is also installed in moving dolly 1
In optical target sounding device 11, optical target sounding device 11 is connected with background controller 10 communication,
Background controller 10 controls optics homing device 11 and travels by the guide path of regulation.
The above-mentioned cooperation robot with region locomotivity, wherein, industrial camera 6 treats crawl object
Taking pictures, and calculate the deviation between object to be captured and its home position, must deviate value, and leads to
Cross robot arm 4 to carry out deviation value complement and repay, make robot arm 4 capture in time capturing object follow-up
Relative position consistency.
The above-mentioned cooperation robot with region locomotivity, wherein, the driving knot of dolly 1 is moved in region
Structure is in-wheel driving structure, and region is moved has wheel 9 bottom dolly 1.
The above-mentioned cooperation robot with region locomotivity, wherein, robot arm 4 is also equipped with
Several force transducer (not shown), some force transducers are all connected with background controller communication.
User can according to the characteristic of the following description further insight present invention and function,
In the present embodiment, also include the method for work of a kind of cooperation robot with region locomotivity,
Wherein, method of work is as follows:
Background controller 10 control area is moved dolly 1 and is walked at object to be captured, robot control cabinet 7
Control robot arm 4 is treated crawl object and is captured, and before crawl, industrial camera 6 treats crawl thing
Body is taken pictures, and after crawl, industrial camera 6 is treated crawl object and taken pictures again, and will shooting
Photo in image content be analyzed, draw the deviation between object to be captured and its home position,
Must be deviated value, and carried out deviation value complement repaid by robot arm 4, makes robot arm 4 follow-up
Capture the relative position consistency in time capturing object；Finally, object to be captured is moved by robot arm 4
To presetting placement location；When robot arm meets staff in the course of the work, force transducer connects
Receiving touching signal, robot control cabinet controls robot arm immediately and quits work, it is ensured that staff
Personal safety.
Explain in detail as follows continuing with seeing, further appreciate that the present embodiment has region locomotivity
The method of work of cooperation robot,
Moving dolly 1 with region as mobile platform, the robot arm 4 that cooperated by safety is installed on movement
Region is moved on dolly 1 platform, moves dolly battery 2 by the chargeable region of Large Copacity and is connected to electricity
On source inventer 3, the DC source that 2 groups of battery exports is reverse into alternating current power supply by power inverter 3,
Thus adapt to the AC-powered requirement of robot control cabinet 7.Vision positioning system (industrial camera 6)
Being installed on robot arm 4, after dolly stops at target job position, robot arm 4 carries
Visual system moves to above target (object to be captured) job position, job position carries out vision fixed
Position.
Region has electricity and magnetically or optically waits in homing guidance device, preferably the present embodiment in moving dolly 1
For optical target sounding device 11, it is possible to the guide path along regulation travels, there is safeguard protection and each
Plant the transport vehicle of transfer function, commercial Application is not required to the mover of driver, with chargeable accumulator
For its power resources.Typically can pass through computer (background controller 10) and control its course and row
For, or electromagnetic path can be utilized in another embodiment to set up its course, electromagnetic path sticks
On patch what floor, the message that automatic guided vehicle then follows electromagnetic path to be brought moves and action.
Region is moved dolly 1 and is characterized with wheel type mobile, has wheel 9 bottom dolly, than walking,
Creep or other non-wheeled mobile robot has that action is quick, work efficiency height, simple in construction, can
The advantages such as control property is strong, safety is good.Compared with other equipment conventional in carrying with material, region is moved little
The zone of action of car is without laying the fixing device such as track, support saddle frame, not by place, road and space
Limit.Therefore, in automatic Material Handling System, its automaticity and flexibility can be embodied fully, it is achieved
Efficiently, economy, flexibly manless production.
Region Mobile trolley control system is divided into ground control system (background controller 10), vehicle-mounted control
System (robot control cabinet 7) and navigation/guidance system (optical target sounding device 11), wherein,
Ground control system refers to that the fixing equipment of cart system is moved in region, and main task of being responsible for is distributed, and vehicle is adjusted
Degree, the functions such as path (line) manages, traffic administration, automatic charging；Vehicle control syetem is on receiving
After the instruction of position system, responsible region is moved the navigation of dolly and is calculated, and guides and realizes, vehicle to run, dress
Unload the functions such as operation；Navigation/guidance system moves dolly unit for region provides system absolute or relative position
And course.
In sum, present invention seek to address that the movement needing robot in Nei Bu fixed position, a region
Shop problem.Cooperating robot is installed on region and moves on trolley platform, move dolly by region
Being moved by robot to target job position, cooperating robot uses visual system to carry out operative goals
Taking pictures location, thus realize the flexible location to manipulating object, robot is transported to next mesh after capturing
Cursor position.
Owing to using the region without cable constraint to move trolley platform, it is achieved that robot is in certain area
Flexible mobile, cooperating robot can ensure will not be to people in the working environment protected without security protection
Body produces safely threat, and visual system can ensure to move, in region, the precision problem relocated after dolly moves,
Thus build a region and move flexible cooperation robot manipulating task platform.
It should be noted that the cooperating robot in the present embodiment can with people's work compound, with people it
Between need not arrange safe fence or other safety measure, people is not had the robot of security threat.Cooperation
On the robot arm of humanoid robot, force transducer is installed, after touching people, can be by power sensing
System induces the interference receiving external force, and robot controller can automatically control machine people's stop motion, from
And avoid people is produced injury.
Crawled object, for utilizing industrial camera 6, is taken pictures by the operation principle of robotic vision system,
By the image objects content photographed is analyzed, draw the deviation between home position, by deviation
After value passes to robot, robot can compensate for this deviation, when capturing just with original capture time phase
To position consistency thus ensure that and capture accurately.
The foregoing is only preferred embodiment of the present invention, not thereby limit embodiments of the present invention and
Protection domain, to those skilled in the art, it should can appreciate that all utilization description of the invention
And the equivalent done by diagramatic content and the side obtained by obvious change press, all should comprise
Within the scope of the present invention.
Claims (8)
1. there is a cooperation robot for region locomotivity, including,
Dolly is moved in region, and described region is moved and is provided with battery in dolly and carries out the electricity of power inverter
Source inventer, described battery is connected with described power inverter；
Robot control cabinet, described robot control cabinet is installed on described region and moves car top, and position
In described power inverter front, described robot control cabinet and described power inverter UNICOM, described electricity
The DC source that described battery exports is reverse into alternating current power supply and transmits to the control of described robot by source inventer
Cabinet processed, it is characterised in that also include,
Robot arm, described robot arm is installed on described region and moves on the platform of car top,
Mounting industrial camera on the paw of described robot arm, described industrial camera is used for treating crawl object and enters
Row shooting, and image transmitting to background controller is carried out image procossing.
The cooperation robot with region locomotivity the most according to claim 1, it is characterised in that
Described robot control cabinet is connected with background controller communication, and described background controller controls described robot
Described robot arm is operated by switch board.
The cooperation robot with region locomotivity the most according to claim 1, it is characterised in that
Described battery is installed in the battery installation storehouse that dolly is moved in described region.
The cooperation robot with region locomotivity the most according to claim 1, it is characterised in that
Optical target sounding device, described optical target sounding device and institute are also installed in described region in moving dolly
Stating background controller communication to connect, described background controller controls described optics homing device by regulation
Guide path travel.
The cooperation robot with region locomotivity the most according to claim 1, it is characterised in that
Described industrial camera is treated crawl object and is taken pictures, and calculates between object to be captured and its home position
Deviation, must deviate value, and carry out deviation value complement by described robot arm and repay, and makes described machine
Human arm is in the follow-up relative position consistency captured in time capturing object.
The cooperation robot with region locomotivity the most according to claim 1, it is characterised in that
It is in-wheel driving structure that the driving structure of dolly is moved in described region.
The cooperation robot with region locomotivity the most according to claim 1, it is characterised in that
Being also equipped with several force transducers on described robot arm, some described force transducers are all controlled with backstage
Device communication processed connects.
8. one kind according to the cooperation machine with region locomotivity described in any one in claim 1-7
The method of work of device people, it is characterised in that described method of work is as follows:
Background controller controls described region and moves and little reach at object to be captured, the control of described robot
The cabinet described robot arm of control is treated crawl object and is captured, and before crawl, described industrial camera is treated
Capturing object to take pictures, after crawl, described industrial camera is treated crawl object and is taken pictures again,
And the image content in the photo of shooting is analyzed, draw between object to be captured and its home position
Deviation, must deviate value, and carry out deviation value complement by described robot arm and repay, and makes described machine
Human arm is in the follow-up relative position consistency captured in time capturing object；Finally, described robot arm will
Object to be captured moves to default placement location；When described robot arm encounters work in the course of the work
During personnel, described force transducer receives touching signal, and robot control cabinet controls described robot immediately
Arm quits work, it is ensured that the personal safety of staff.
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| CN201610370805.4A CN105835029A (en) | 2016-05-30 | 2016-05-30 | Collaborative robot with area moving capacity and working method of collaborative robot |
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| CN201610370805.4A CN105835029A (en) | 2016-05-30 | 2016-05-30 | Collaborative robot with area moving capacity and working method of collaborative robot |
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Cited By (13)
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| CN107030716A (en) * | 2017-06-13 | 2017-08-11 | 吉林风云图灵机器人制造有限公司 | A kind of new energy vehicle-mounted removable paint-spray robot system |
| CN107745960A (en) * | 2017-09-11 | 2018-03-02 | 大族激光科技产业集团股份有限公司 | Material transfer equipment and material conveying method |
| CN107891414A (en) * | 2016-10-04 | 2018-04-10 | 发那科株式会社 | Robot system |
| CN107975243A (en) * | 2017-11-30 | 2018-05-01 | 郑州三迪建筑科技有限公司 | A kind of construction robot |
| CN108068095A (en) * | 2017-12-27 | 2018-05-25 | 安徽嘉熠智能科技有限公司 | A kind of Intelligent walking robot |
| CN109591051A (en) * | 2018-12-06 | 2019-04-09 | 英华达（上海）科技有限公司 | The compensation method of composite machine people's homework precision, system and storage medium |
| CN109760007A (en) * | 2019-01-24 | 2019-05-17 | 杭州中为光电技术有限公司 | The positioning device of cooperation robot automatic positioning |
| CN109927009A (en) * | 2019-03-05 | 2019-06-25 | 广东博智林机器人有限公司 | Carry the control method of aluminum alloy pattern plate and the system of device, carrying aluminum alloy pattern plate |
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| CN111469112A (en) * | 2020-05-21 | 2020-07-31 | 哈尔滨市科佳通用机电股份有限公司 | Warehouse inspection robot and position compensation method thereof |
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| CN107891414A (en) * | 2016-10-04 | 2018-04-10 | 发那科株式会社 | Robot system |
| CN107891414B (en) * | 2016-10-04 | 2020-04-17 | 发那科株式会社 | Robot system |
| CN106378794A (en) * | 2016-10-19 | 2017-02-08 | 上海发那科机器人有限公司 | Robot movement uninterrupted power supply device |
| CN107030716A (en) * | 2017-06-13 | 2017-08-11 | 吉林风云图灵机器人制造有限公司 | A kind of new energy vehicle-mounted removable paint-spray robot system |
| CN107745960A (en) * | 2017-09-11 | 2018-03-02 | 大族激光科技产业集团股份有限公司 | Material transfer equipment and material conveying method |
| CN107975243A (en) * | 2017-11-30 | 2018-05-01 | 郑州三迪建筑科技有限公司 | A kind of construction robot |
| CN108068095A (en) * | 2017-12-27 | 2018-05-25 | 安徽嘉熠智能科技有限公司 | A kind of Intelligent walking robot |
| CN109591051B (en) * | 2018-12-06 | 2021-08-10 | 英华达（上海）科技有限公司 | Method and system for compensating operation precision of composite robot and storage medium |
| CN109591051A (en) * | 2018-12-06 | 2019-04-09 | 英华达（上海）科技有限公司 | The compensation method of composite machine people's homework precision, system and storage medium |
| CN109760007A (en) * | 2019-01-24 | 2019-05-17 | 杭州中为光电技术有限公司 | The positioning device of cooperation robot automatic positioning |
| CN109760007B (en) * | 2019-01-24 | 2024-02-09 | 杭州中为光电技术有限公司 | Positioning device for automatic positioning of cooperative robot |
| CN109927009A (en) * | 2019-03-05 | 2019-06-25 | 广东博智林机器人有限公司 | Carry the control method of aluminum alloy pattern plate and the system of device, carrying aluminum alloy pattern plate |
| CN110647103B (en) * | 2019-08-20 | 2023-03-07 | 辽宁成大生物股份有限公司 | Method for controlling operation of cell factory |
| CN110647103A (en) * | 2019-08-20 | 2020-01-03 | 辽宁成大生物股份有限公司 | Method for controlling operation of cell factory |
| CN111469112A (en) * | 2020-05-21 | 2020-07-31 | 哈尔滨市科佳通用机电股份有限公司 | Warehouse inspection robot and position compensation method thereof |
| CN111674817A (en) * | 2020-06-12 | 2020-09-18 | 深圳市海柔创新科技有限公司 | Storage robot control method, device, equipment and readable storage medium |
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Application publication date: 20160810 |