CN109676642A - A kind of multi-robot cooperation system and implementation method - Google Patents
A kind of multi-robot cooperation system and implementation method Download PDFInfo
- Publication number
- CN109676642A CN109676642A CN201710979145.4A CN201710979145A CN109676642A CN 109676642 A CN109676642 A CN 109676642A CN 201710979145 A CN201710979145 A CN 201710979145A CN 109676642 A CN109676642 A CN 109676642A
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- robot
- cooperation system
- posture
- positioner
- dynamometer
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The present invention provides a kind of multi-robot cooperation system and implementation methods, belong to robotic technology field.It solves the technical problems such as uncoordinated when the cooperation of existing multi-robot cooperation system.The multi-robot cooperation system includes several robots, end clamp is provided on the mechanical arm of each robot, it is additionally provided with posture/positioner in each robot, dynamometer is provided in each end clamp, each dynamometer is electrically connected with corresponding posture/positioner.The multi-robot cooperation system can adjust posture and the position of robot handling process in real time, promote multirobot and assist system coordination and stability.
Description
Technical field
The invention belongs to robotic technology field, it is related to a kind of multi-robot cooperation system and implementation method.
Background technique
In current industrial application, for the production task of flexible bulk loads, due to individual machine, people is unable to complete,
Consider system cost problem, it is impossible to manufacture and design the large machines people for being able to satisfy all kinds of bulk loads.Multirobot system
System has the characteristics that load capacity is strong, flexibility is big, high reliablity, therefore, occurs using multirobot work compound, jointly
Undertake the cooperative system of load.But in multirobot collaborative work, since the ability of each robot has differences, robot
Between load capacity also have a larger difference, therefore studying the assignment problem loaded between multirobot is multi-robot system
The primary study problem of coordination.
The load assignment problem of robot between high load multirobot, each joint of robot dynamic force moment problem,
The stability problem of moving process robot is all high load robot urgent problem at this stage.Many documents at this stage
Emphasis considers the coordination problem of Liang Ge robot, " master & slave control " theory is discussed, using one of robot as " main
Machine ", another robot are used as " servant's machine ", follow the movement of host, the delay that selective analysis " servant's machine " follows " host " to move
Property, however it does not account for robot under bulk loads, the ability of each robot is variant, is easy to appear load distribution not
Equal problem.
Summary of the invention
The present invention addresses the above problems in the prior art, provides a kind of multi-robot cooperation system, it can be real
When adjustment robot handling process posture and position, promoted multirobot assist system coordination.
Object of the invention can be realized by the following technical scheme:
A kind of multi-robot cooperation system, including several robots are provided with end folder on the mechanical arm of each robot
Tool, which is characterized in that be additionally provided with posture/positioner in each robot, dynamometer be provided in each end clamp, respectively
Dynamometer is electrically connected with corresponding posture/positioner.
The multi-robot cooperation system refers to the system including two or more robots, and robot can be carrying
The small machine people of low-load is also possible to carry the big robot of high load or the combination of small machine people and big robot,
It is provided with end clamp on the mechanical arm of each robot, when work, the end clamp in each robot is used to fixed load,
The dynamometer being arranged in each end clamp, the power born when can measure corresponding end clamp carry load respectively it is big
Small, the numerical value respectively measured is sent to posture/positioner respectively by each dynamometer, and posture/positioner is according to collection
The corresponding robot of the Numerical Control of each power arrived, adjusts posture and the position of each robot, and Shi Ge robot is in best
Working condition.The multi-robot cooperation system can adjust posture and the position of robot handling process in real time, promote multimachine
Device people assists system coordination and stability.
In a kind of above-mentioned multi-robot cooperation system, the end clamp includes pedestal, bottom plate and several damper rods,
One end of each damper rod is fixedly connected with pedestal, another end of each damper rod is fixedly connected with bottom plate, each damper rod
On be provided with the dynamometer.In the present embodiment, pedestal with the end flange on robot arm for connecting, bottom plate
For being connected with load.
In a kind of above-mentioned multi-robot cooperation system, each damper rod includes damp connecting lever, and the two of each damp connecting lever
A end is connected separately with the first universal joint and the second universal joint, and each first universal joint is fixedly connected with the pedestal, and each second
Universal joint is fixedly connected with the bottom plate.First universal joint and the second universal joint can rotate, which makes corresponding
Bottom plate can correspondingly adjust the position of bottom plate according to the position of stress condition and robot, which is fine tuning, energy
Gou Shige robot is in optimal working condition and improves the harmony between them.
In a kind of above-mentioned multi-robot cooperation system, dynamometry interface is provided on the damp connecting lever.Dynamometry interface
It is an interface, facilitates the transmission of data in dynamometer.
In a kind of above-mentioned multi-robot cooperation system, the multi-robot cooperation system further includes for installing machine
The rack of people.The installation that robot can be facilitated by rack, when robot is to carry the small machine people of low-load, small machine
People is mounted on the rack, and can increase the whole height of small machine people, enables it to preferably be cooperated with big robot, mention
High system coordination.
It is a further object of the invention to provide a kind of implementation method of multi-robot cooperation system, mesh of the invention
Can be realized by the following technical scheme:
A kind of implementation method of multi-robot cooperation system, which comprises the steps of:
A, load is fixed by the end clamp in each robot；
B, the dynamometry in each end clamp measures the numerical value of power suffered when respective ends fixture carry load, and respectively
The numerical value respectively measured is sent to posture/positioner；
C, posture/positioner adjusts each machine according to the corresponding robot of Numerical Control for each power being collected into
The posture of people and position.
Compared with prior art, advantages of the present invention is as follows:
1, the multi-robot cooperation system can adjust posture and the position of robot handling process in real time, promote multimachine device
People assists system coordination and stability.
2, the multi-robot cooperation system can well solve in multi-robot coordination movement when handling high load
The error problem of end.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the multi-robot cooperation system.
Fig. 2 is the structural schematic diagram of end clamp.
Fig. 3 is the structural schematic diagram of damper rod.
Fig. 4 is the working principle block diagram of the multi-robot cooperation system.
In figure, 1, robot；2, end clamp；2a, pedestal；2b, bottom plate；2c, damper rod；2c1, damp connecting lever；2c2,
First universal joint；2c3, the second universal joint；2c4, dynamometry interface；3, rack；4, it loads.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
As shown in Figure 1, the multi-robot cooperation system includes several robots 1, it is respectively provided on the mechanical arm of each robot 1
There is end clamp 2, posture/positioner is additionally provided in each robot 1, is provided with dynamometer in each end clamp 2, respectively
Dynamometer is electrically connected with corresponding posture/positioner.
As shown in Fig. 2, end clamp 2 includes pedestal 2a, bottom plate 2b and several damper rod 2c, each damping in the present embodiment
An end of bar 2c is fixedly connected with pedestal 2a, and another end of each damper rod 2c is fixedly connected with bottom plate 2b, each to damp
Dynamometer is provided on bar 2c.In the present embodiment, pedestal 2a is used to connect with the end flange on 1 mechanical arm of robot,
Bottom plate 2b with load 4 for connecting.
Alternatively, end clamp 2 can be changed to other connectors, such as spring, the end of mechanical arm makes
It being attached with spring, the internal force reduced between robot 1 caused by the error of end increases, the unstable of system is avoided,
Other dynamometry modes can certainly be used to detect end power.
As shown in Figure 3, it is preferred that each damper rod 2c includes damp connecting lever 2c1, two ends of each damp connecting lever 2c1
It is connected separately with the first universal joint 2c2 and the second universal joint 2c3, each first universal joint 2c2 is fixedly connected with pedestal 2a, and each second
Universal joint 2c3 is fixedly connected with bottom plate 2b.First universal joint 2c2 and the second universal joint 2c3 can rotate, which makes
Corresponding bottom plate 2b can correspondingly adjust the position of bottom plate 2b, the adjustment side according to the position of stress condition and robot 1
Formula be fine tuning, can Shi Ge robot 1 be in optimal working condition and improve the harmony between them.
As shown in figure 3, preferably, being provided with dynamometry interface 2c4 on damp connecting lever 2c1.Dynamometry interface 2c4 is one and inserts
Interface facilitates the transmission of data in dynamometer.
As shown in Figure 1, multi-robot cooperation system further includes the rack 3 for mounting robot 1 in the present embodiment.It is logical
The installation of robot 1 can be facilitated by crossing rack 3, and when robot 1 is to carry the small machine people 1 of low-load 4, small machine people 1 pacifies
In rack 3, the whole height of small machine people 1 can be increased, enable it to preferably be cooperated with big robot 1, mention
High system coordination.
As shown in figure 4, the implementation method of the multi-robot cooperation system, includes the following steps:
A, 4 will be loaded by the end clamp 2 in each robot 1 to fix；
B, the dynamometry in each end clamp 2 measures the numerical value of power suffered when respective ends 2 carry load 4 of fixture, and
The numerical value respectively measured is sent to posture/positioner respectively；
C, posture/positioner adjusts each machine according to the corresponding robot 1 of Numerical Control for each power being collected into
The posture of people 1 and position.
In the present embodiment, the quantity of robot 1 is two, and when work, the end clamp 2 in each robot 1 is used to solid
Fixed load 4, the dynamometer being arranged in each end clamp 2, can measure corresponding 2 carry load of end clamp, 4 Shi Suocheng respectively
The numerical value respectively measured is sent to posture/positioner, posture/position control respectively by the size for the power received, each dynamometer
Device adjusts posture and the position of each robot 1, makes each machine according to the corresponding robot 1 of Numerical Control for each power being collected into
Device people 1 is in optimal working condition.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (6)
1. a kind of multi-robot cooperation system, including several robots (1), end is provided on the mechanical arm of each robot (1)
It holds fixture (2), which is characterized in that be additionally provided with posture/positioner on each robot (1), be all provided on each end clamp (2)
It is equipped with dynamometer, each dynamometer is electrically connected with corresponding posture/positioner.
2. a kind of multi-robot cooperation system according to claim 1, which is characterized in that the end clamp (2) includes
One end of pedestal (2a), bottom plate (2b) and several damper rods (2c), each damper rod (2c) is fixedly connected with pedestal (2a), respectively
Another end of damper rod (2c) is fixedly connected with bottom plate (2b), is provided with the dynamometer on each damper rod (2c).
3. a kind of multi-robot cooperation system according to claim 2, which is characterized in that each damper rod (2c) includes resistance
Two ends of Buddhist nun's connecting rod (2c1), each damp connecting lever (2c1) are connected separately with the first universal joint (2c2) and the second universal joint
(2c3), each first universal joint (2c2) are fixedly connected with the pedestal (2a), each second universal joint (2c3) with the bottom plate
(2b) is fixedly connected with.
4. a kind of multi-robot cooperation system according to claim 2, which is characterized in that on the damp connecting lever (2c1)
It is provided with dynamometry interface (2c4).
5. a kind of multi-robot cooperation system according to claim 1, which is characterized in that multirobot (1) cooperation
System further includes the rack (3) for mounting robot (1).
6. a kind of implementation method using multi-robot cooperation system as described in any one in claim 1-5, which is characterized in that
Include the following steps:
A, load is fixed by the end clamp (2) on each robot (1)；
B, the dynamometry on each end clamp (2) measures the numerical value of power suffered when respective ends fixture (2) carry load, and divides
The numerical value respectively measured posture/positioner is not sent to；
C, posture/positioner adjusts each robot according to the corresponding robot of Numerical Control (1) for each power being collected into
(1) posture and position.
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| CN201710979145.4A CN109676642B (en) | 2017-10-19 | 2017-10-19 | Multi-robot collaboration system and implementation method |
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| CN201710979145.4A CN109676642B (en) | 2017-10-19 | 2017-10-19 | Multi-robot collaboration system and implementation method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111399509A (en) * | 2020-03-24 | 2020-07-10 | 华中科技大学 | Multi-mobile-robot cooperative transfer control method and system |
| CN111844045A (en) * | 2020-08-03 | 2020-10-30 | 许昌学院 | Double-machine collaborative heavy-load palletizing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111399509A (en) * | 2020-03-24 | 2020-07-10 | 华中科技大学 | Multi-mobile-robot cooperative transfer control method and system |
| CN111399509B (en) * | 2020-03-24 | 2021-04-20 | 华中科技大学 | Multi-mobile-robot cooperative transfer control method and system |
| CN111844045A (en) * | 2020-08-03 | 2020-10-30 | 许昌学院 | Double-machine collaborative heavy-load palletizing robot |
| CN111844045B (en) * | 2020-08-03 | 2023-01-24 | 许昌学院 | Double-machine collaborative heavy-load palletizing robot |
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