CN108724237B

CN108724237B - Industrial robot

Info

Publication number: CN108724237B
Application number: CN201810560058.XA
Authority: CN
Inventors: 韩培良; 林贤伟; 周海涛
Original assignee: Ningbo Yinuowei Information Technology Co ltd
Current assignee: Dongguan Maike Microoptoelectronics Technology Co ltd
Priority date: 2016-12-24
Filing date: 2016-12-24
Publication date: 2021-10-29
Anticipated expiration: 2036-12-24
Also published as: CN106426188A; CN108724237A; CN106426188B

Abstract

An industrial robot for a transport comprising a workpiece, comprising: the clamping part is used for clamping a workpiece; a control section for controlling an operation of the gripping section; the clamping part is provided with an abutting component, and when the clamping part clamps the workpiece, the abutting component is contacted with the workpiece and generates deformation consistent with the shape of the workpiece; a workpiece data input unit capable of inputting three-dimensional shape data of a clamped workpiece; a clamping surface determining part which determines a clamping surface for clamping the workpiece; a force-receiving region determining unit that determines a force-receiving region of the contact member; the control section determines a changing operation of the gripping member to minimize an overlapping area of a force receiving region of a contact position of the contact member with the workpiece after the changing and the force receiving region of the contact member determined by the force receiving region determining section, thereby reducing a wear of the contact member and extending a working life thereof.

Description

Industrial robot

Technical Field

The invention relates to a robot, in particular to a program control robot in the industrial field.

Background

An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom robot oriented to the industrial field, is a machine device for automatically executing work, and is a machine for realizing various functions by means of self power and control capacity; after receiving the instruction of human, it will execute the movement path and operation according to the set program.

As a typical mechatronic digital equipment in advanced manufacturing industry, industrial robots have become an important mark for measuring the state of manufacturing industry and the state of technology. Typical applications for industrial robots include welding, painting, assembly, pick and place, packaging and palletizing, product inspection and testing, and the like. In industrially developed countries, industrial robots and automatic production line complete equipment become important components of high-end equipment and develop trends in the future, and the consistency of processing efficiency and products is improved.

With the increasing of the labor cost in China year by year and the coming of an aging society, a front-line worker capable of carrying out the traditional processing and manufacturing industry keeps the trend of reducing year by year, meanwhile, the cost of social service is increased, and the requirements of China on industrial robots and automatic processing equipment are gradually increased. The industrial robot is one of basic equipment for manufacturing high-end equipment in China, is an important component of a strategic emerging industry of the high-end manufacturing equipment in China, and is also important basic equipment for developing other strategic emerging industries.

The transfer robot is an important direction of the industrial robot, and with the development of technology, the previous transfer work of parts or finished products completed by manpower is gradually replaced and completed by the transfer robot, so that the production efficiency of enterprises is improved. In the loading and unloading operation of an automatic production line, the transfer robot is widely applied in particularly toxic, harmful, flammable and explosive severe environments and the like.

In the prior art, when a transfer robot transfers workpieces of different types, corresponding clamping parts need to be replaced so as to adapt to the workpieces of different types. To solve this problem, JP2008528408A and JP hei 9-123082A each propose a transfer robot having an adaptive gripping member which can change its shape by itself to adapt to different types of workpieces when gripping workpieces of different shapes. However, in the above invention, when the clamping member repeatedly clamps the workpiece, the contact position with the workpiece is always the same, and the specific portion may be damaged, which may affect the use of the clamping member.

In order to solve the above problem, JP2012152860A patent by toyota automotives proposes an improved clamping member in which the contact position of the clamping member with the workpiece is changed in the vertical direction, thereby changing the clamping position and increasing the service life of the clamping member. However, the invention has the following disadvantages that (1) the change of the contact part is only changed in the left-right direction or the up-down direction by a specific length such as tens of millimeters, the contact part after the change and the contact part before the change can have a large part of overlap, and the change operation can cause part of the area to continuously receive the action of the workpiece, thereby influencing the service life of the clamping part; (2) the change of the clamping position may cause the contact area between the workpiece and the clamping member to decrease, thereby increasing the pressure in the force-bearing area of the clamping member to cause damage thereof, or the friction force applied to the workpiece to decrease due to the decrease of the contact area to cause the workpiece not to be clamped.

Disclosure of Invention

The invention provides an improved program-controlled industrial transfer robot which can solve the problems in the prior art.

As an aspect of the present invention, there is provided a programmed robot including: the clamping part is used for clamping a workpiece; a control section for controlling an operation of the gripping section; a contact member is provided in the clamping portion, and when the clamping portion clamps the workpiece, the contact member is in contact with the workpiece to generate deformation in accordance with the shape of the workpiece, and the deformation is maintained so that the workpiece can be clamped; a workpiece data input unit capable of inputting three-dimensional shape data of a clamped workpiece; a clamping surface determining part which determines a clamping surface for clamping the workpiece according to the input three-dimensional shape data of the workpiece; a force-receiving-region determining section that determines a force-receiving region of the corresponding abutment member based on the workpiece clamping position and the three-dimensional shape of the workpiece; the control unit determines a change operation of the gripping member based on the force receiving area of the abutment member determined by the force receiving area determining unit and the shape data of the gripping surface determined by the gripping surface determining unit, so that the force receiving area of the contact position between the abutment member and the workpiece after the change does not overlap the force receiving area of the abutment member determined by the force receiving area determining unit.

Preferably, the clamping surface determining unit determines the clamping surface by counting the number of single-connection regions of each of the opposed clamping side surfaces and selecting the opposed clamping side surface having the largest number of single-connection regions as the clamping surface.

Preferably, if the control section cannot specify an operation capable of making the force receiving region of the contact position of the contact member with the workpiece after the change have no overlapping area with the force receiving region of the contact member specified by the force receiving region specifying section, based on the shape data of the force receiving region of the contact member specified by the force receiving region specifying section and the clamping surface specified by the clamping surface specifying section, the control section specifies the change operation of the clamping member so as to minimize the overlapping area of the force receiving region of the contact position of the contact member with the workpiece after the change and the force receiving region of the contact member specified by the force receiving region specifying section.

Preferably, the workpiece data input unit is further capable of inputting the weight and material data of the clamped workpiece; the workpiece clamping device further comprises a minimum contact area determining part which determines the minimum contact area of the workpiece clamping surface according to the weight of the workpiece, the static friction coefficient between the surface of the workpiece and the material surface of the abutting part, the maximum pressure which can be born by the abutting part and a preset redundancy coefficient; the control unit, when determining a change operation of the clamping member, causes the area of the force receiving region of the contact position of the contact member with the workpiece after the change to be larger than the minimum contact area of the workpiece clamping surface.

Preferably, the minimum contact area s is calculated as follows: and s is mg/epsilon mu P, wherein m is the mass of the workpiece, g is the gravity acceleration, epsilon is a preset redundancy coefficient, mu is the static friction coefficient between the surface of the workpiece and the material surface of the abutting part, and P is the maximum pressure which can be borne by the abutting part.

Preferably, the workpiece is symmetrical on two opposite sides.

Preferably, the workpiece is an I-shaped workpiece.

Preferably, the apparatus further includes a counter, and the control unit counts a single operation of the gripping unit, and when the number of times of the operation reaches a threshold value, the control unit determines a change operation of the gripping member and changes the operation of the gripping member.

Preferably, the abutting part is a bagged part, and the inside of the bagged part is filled with particles.

Preferably, the contact member is depressurized by a vacuum pump during clamping to be cured so as to conform to the outer shape of the workpiece.

Preferably, the force receiving area determining portion determines a contact area of the clamping surface and the abutment member as the force receiving area.

Preferably, the control unit determines the operation of changing the gripping member according to: 1) determining all single connected areas in the stress area; 2) selecting the single communication area with the minimum area in all the single communication areas, and determining the longest longitudinal distance of the single communication area; 3) sequentially judging whether the operation causes that the stress area of the contact position of the changed abutting part and the workpiece does not have the overlapping area with the stress area of the abutting part determined by the stress area determining part when the clamping part is downwards deviated by the step length n times by taking the longitudinal longest distance as a step length; if the operation is such that the force receiving region of the contact position of the contact member with the workpiece after the change does not have an overlapping area with the force receiving region of the contact member determined by the force receiving region determining section when N is equal to N, the control section determines the operation as a next change operation of the clamping member.

Optionally, in the step 3), if the operation is such that the force receiving area of the contact position between the contact member and the workpiece after the change is smaller than the minimum contact area s when n is m, the control unit determines the operation when n is m-1 as the next change operation.

Optionally, in the step 3), if the operation is performed such that the force receiving area of the contact position between the contact member and the workpiece after the change is smaller than the minimum contact area s when n is equal to m, the control unit determines, as the next changing operation, an operation in which the overlapping area between the force receiving area of the contact position between the contact member and the workpiece after the change and the force receiving area of the contact member determined by the force receiving area determining unit is the minimum among the operations performed such that n is 1 to n is equal to m-1.

Preferably, the workpiece clamping device further includes an initial position determining section that determines an initial position of the clamping section so that the top of the workpiece coincides with the top of the abutment member.

Drawings

FIG. 1 is a schematic diagram of a programmed robot of an embodiment of the present invention.

FIG. 2 is a side view of a workpiece according to an embodiment of the invention; wherein fig. 2 (a) and 2 (b) are front and rear views, respectively; fig. 2 (c) and 2 (d) are a left side view and a right side view, respectively.

Detailed Description

In order to more clearly illustrate the technical solutions of the present invention, the present invention will be briefly described below by using embodiments, and it is obvious that the following description is only one embodiment of the present invention, and for those skilled in the art, other technical solutions can be obtained according to the embodiments without inventive labor, and also fall within the disclosure of the present invention.

The programmed robot system of the embodiment of the invention, referring to fig. 1, comprises a workpiece data input part 10 and a clamping surface determining part

20, a force-receiving area determination section 30, a minimum contact area determination section 40, a control section 50, a counting section 60, and a clamping section 70.

The following will describe the composition and function of each component in this embodiment by taking an i-shaped workpiece 80 as an example. The workpiece data input unit 10 is used to input three-dimensional shape, weight, and material data of a clamped workpiece. Such data may be entered using conventional human-machine interaction means such as a keyboard, screen, mouse, etc., or may be stored in a particular format on a removable storage device, read in via a removable storage device, or transmitted over a wired or wireless network, for example.

The clamping portion 70 is for clamping a workpiece, and an abutment member 71 is provided thereon. When the clamping portion 70 clamps the workpiece 80, the contact member 71 is in contact with the workpiece 80, and deforms in accordance with the shape of the workpiece 80, and the workpiece can be clamped by holding the deformation. The clamping portion 70 and the abutment member 71 may be provided using techniques known in the art, for example the arrangement of clamping portion and abutment member as used in the JP2012152860A solution. The abutment member 71 is a bag-shaped member, and the inside thereof is filled with particulate matter, and the abutment member 71 is depressurized by a vacuum pump during clamping to be cured so as to conform to the outer shape of the workpiece.

And a clamping surface determining unit 20 for determining a clamping surface to be clamped on the workpiece based on the three-dimensional shape data of the workpiece input by the workpiece data input unit 10. In order to make the clamping surface have only a small overlapping clamping area when the clamping position is changed, the clamping surface determining part 20 counts the single communication areas of the opposite clamping side surfaces of the workpiece, and selects the opposite clamping side surface with the largest number of single communication areas as the clamping surface. For example, for the I-shaped workpiece 80 of FIG. 2, it has opposing front 81 and back 82 sides, and opposing left 83 and right 84 sides; the clamping surface determining portion 20 determines that the single communication areas of the opposite front and

rear sides

81 and 82 are 1, respectively, and the single communication areas of the opposite left and

right sides

83 and 84 are 2, respectively. The clamping surface determining section 20 determines the left side surface 83 and the right side surface 84 opposed to each other as a clamped clamping surface.

The force receiving area specifying unit 30 specifies the force receiving area of the corresponding abutment member 71 based on the clamping position of the workpiece 80 on the clamping surface and the three-dimensional shape of the workpiece 80. Specifically, the force-receiving-region determining unit 30 determines a contact region between the clamping surface and the contact member 80 as a force-receiving region. For example, with respect to the workpiece 80 in fig. 1, the force-receiving-region determining section 30 determines

regions

801, 802, 803, 804 of the clamping faces 83 and 84 as force-receiving regions.

A minimum contact area determination section 40 that determines a minimum contact area of the clamping surface of the workpiece 80 based on the weight of the workpiece 80, the static friction coefficient between the surface of the workpiece 80 and the material surface of the abutment member 71, the maximum pressure that the abutment member 71 can bear, and a preset redundancy coefficient; wherein the minimum contact area s is calculated as follows: where m is the mass of the workpiece, g is the acceleration of gravity, and e is a preset redundancy coefficient, which may be set to 0.6 to 0.8, for example, where μ is the coefficient of static friction between the surface of the workpiece and the surface of the material of the abutment member, and P is the maximum pressure that the abutment member can withstand.

When the workpiece is clamped, the initial position of the clamping portion is determined by the initial position determining portion so that the top of the workpiece 80 and the top of the abutment member 71 are on the same horizontal line. The force-receiving-area determining section 30 determines the force-receiving area of the present gripping operation. The counting unit 60 counts the current pinching operation, and when the number of times of the current pinching operation reaches a threshold value, the control unit 50 specifies the operation of changing the pinching member 70 and changes the operation of the pinching member 70. The threshold value may be set by an operator, and may be set to 500 to 1000 times, for example.

Specifically, the control unit 50 determines the changing operation of the gripping member 70 as follows: 1) determining all single connected areas in the stress area; 2) selecting the single communication area with the minimum area in all the single communication areas, and determining the longest longitudinal distance of the single communication area; 3) sequentially judging whether or not the operation causes the force receiving area of the contact position of the changed abutment member 71 and the workpiece 80 to have no overlapping area with the force receiving area of the abutment member 71 determined by the force receiving area determining section 30 when the gripping member 70 is shifted downward by the step length n times with the longest longitudinal distance as a step length; if the operation is such that the force receiving region of the contact position of the post-change abutment member 71 with the workpiece 80 does not overlap the force receiving region of the abutment member 71 determined by the force receiving region determining section 30 when N is equal to N, the control section 50 determines the operation as the next change operation of the gripping member 70.

With the arrangement of the above-described aspect of the embodiment of the present invention, the contact portion of the contact member 71 after the change does not overlap with the contact portion 71 before the change or overlaps with only a small amount of the contact portion 71 before the change, thereby reducing the overlapped contact area, reducing the wear of the contact member 71, and extending the operating life thereof.

Preferably, in order to avoid damage due to a decrease in the contact area between the workpiece and the clamping member or the inability to clamp the workpiece, in step 3) above, if the operation is such that the force receiving area of the contact position between the contact member and the workpiece after the change is smaller than the minimum contact area s when n is m, the control unit determines the operation when n is m-1 as the next change operation. Further preferably, in the step 3), if the operation is performed such that the force receiving area of the contact position between the contact member and the workpiece after the change is smaller than the minimum contact area s when n is equal to m, the control unit determines that the operation in which the overlap area between the force receiving area of the contact position between the contact member and the workpiece after the change and the force receiving area of the contact member determined by the force receiving area determining unit is the smallest among the operations performed such that n is 1 to n-1, is the next changing operation.

The embodiments of the invention are all described in a progressive mode, the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

All documents referred to herein are incorporated by reference into this application as if each were individually incorporated by reference. Furthermore, it should be understood that after reading the above disclosure of the present invention, the scope of the present invention is not limited to the above embodiments, and those skilled in the art can make various changes or modifications to the present invention without departing from the principle of the present invention, and these equivalents also fall within the scope of the present invention as defined by the appended claims.

Claims

1. A programmed robot, comprising: the clamping part is used for clamping a workpiece; a control section for controlling an operation of the gripping section; a contact member is provided in the clamping portion, and when the clamping portion clamps the workpiece, the contact member is in contact with the workpiece to generate deformation in accordance with the shape of the workpiece, and the deformation is maintained so that the workpiece can be clamped; the method is characterized in that: the clamping device further comprises a workpiece data input part which can input three-dimensional shape data of the clamped workpiece; a clamping surface determining part which determines a clamping surface for clamping the workpiece according to the input three-dimensional shape data of the workpiece; a force-receiving-region determining section that determines a force-receiving region of the corresponding abutment member based on the workpiece clamping position and the three-dimensional shape of the workpiece; if the control section cannot determine an operation capable of making the force receiving area of the contact position of the contact member with the workpiece after the change have no overlapping area with the force receiving area of the contact member determined by the force receiving area determining section based on the force receiving area of the contact member determined by the force receiving area determining section and the shape data of the clamping surface determined by the clamping surface determining section, the control section determines the change operation of the clamping member to minimize the overlapping area of the force receiving area of the contact position of the contact member with the workpiece after the change and the force receiving area of the contact member determined by the force receiving area determining section.

2. The programmed robot of claim 1, wherein: the workpiece is symmetrical on two opposite sides.

3. The programmed robot of claim 2, wherein: the workpiece is an I-shaped workpiece.

4. The programmed robot of claim 3, wherein: the abutting part is a bagged part, and particles are filled in the abutting part.

5. The programmed robot of claim 4, wherein: the abutment member is depressurized by a vacuum pump during clamping to be cured so as to conform to the outer shape of the workpiece.