CN109676642B - Multi-robot collaboration system and implementation method - Google Patents
Multi-robot collaboration system and implementation method Download PDFInfo
- Publication number
- CN109676642B CN109676642B CN201710979145.4A CN201710979145A CN109676642B CN 109676642 B CN109676642 B CN 109676642B CN 201710979145 A CN201710979145 A CN 201710979145A CN 109676642 B CN109676642 B CN 109676642B
- Authority
- CN
- China
- Prior art keywords
- robot
- robots
- load
- damping
- tail end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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 invention provides a multi-robot cooperation system and an implementation method, and belongs to the technical field of robots. The technical problems that the existing multi-robot cooperation system is uncoordinated in cooperation and the like are solved. The multi-robot cooperation system comprises a plurality of robots, wherein the mechanical arms of the robots are respectively provided with a tail end clamp, each robot is also provided with a gesture/position controller, each tail end clamp is respectively provided with a dynamometer, and each dynamometer is electrically connected with the corresponding gesture/position controller. The multi-robot cooperation system can adjust the gesture and the position of the robot in the carrying process in real time, and the coordination and the stability of the multi-robot assistance system are improved.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a multi-robot cooperation system and an implementation method.
Background
In the current industrial application, for the production task of flexible large-scale loads, as a single robot cannot complete, the system cost problem is considered, and the design and manufacture of a large-scale robot capable of meeting various large-scale loads are impossible. The multi-robot system has the characteristics of strong load capacity, high flexibility, high reliability and the like, so that a cooperative system which uses multiple robots to cooperatively work and jointly bear load is provided. However, in the cooperative work of multiple robots, the capacity of each robot has a large difference, so that the problem of load distribution among the multiple robots is an important research problem of the coordination of the multiple robot systems.
The problem of load distribution of robots among high-load robots, the problem of dynamic moment of joints of each robot and the problem of stability of a moving process robot are all problems which are urgently needed to be solved at the present stage of the high-load robots. In the prior art, a plurality of documents focus on the coordination problem of two robots, discuss a master-slave control theory, take one robot as a master machine, the other robot as a slave machine, follow the motion of the master machine, focus on analyzing the delay of the slave machine following the motion of the master machine, but do not consider the problem that the capability of each robot is different under a large load, and the load distribution is uneven easily.
Disclosure of Invention
The invention aims at the problems existing in the prior art, and provides a multi-robot cooperation system which can adjust the posture and the position of a robot in the carrying process in real time and improve the coordination of a multi-robot assistance system.
The aim of the invention can be achieved by the following technical scheme:
the multi-robot cooperation system comprises a plurality of robots, wherein each robot is provided with a tail end clamp, and the multi-robot cooperation system is characterized in that each robot is also provided with a gesture/position controller, each tail end clamp is provided with a dynamometer, and each dynamometer is electrically connected with the corresponding gesture/position controller.
The multi-robot cooperation system is a system comprising two or more robots, wherein the robots can be small robots bearing low load, large robots bearing high load or the combination of the small robots and the large robots, end clamps are arranged on mechanical arms of the robots, when the multi-robot cooperation system works, the end clamps on the robots are used for fixing loads, dynamometers are arranged on the end clamps, the force born by the corresponding end clamps when the corresponding end clamps bear the loads can be measured, the measured values of the dynamometers are sent to gesture/position controllers, the gesture/position controllers control the corresponding robots according to the collected values of the forces, and the gesture/position controllers adjust the gesture and the position of the robots to enable the robots to be in an optimal working state. The multi-robot cooperation system can adjust the gesture and the position of the robot in the carrying process in real time, and the coordination and the stability of the multi-robot assistance system are improved.
In the multi-robot cooperation system, the terminal clamp comprises a base, a bottom plate and a plurality of damping rods, one end of each damping rod is fixedly connected with the base, the other end of each damping rod is fixedly connected with the bottom plate, and each damping rod is provided with the dynamometer. In this embodiment, the base is used for being connected with the terminal ring flange on the robot arm, and the bottom plate is used for being connected with the load.
In the multi-robot cooperation system, each damping rod comprises a damping connecting rod, two end parts of each damping connecting rod are respectively connected with a first universal joint and a second universal joint, each first universal joint is fixedly connected with the base, and each second universal joint is fixedly connected with the bottom plate. The first universal joint and the second universal joint can rotate, the corresponding bottom plate can be correspondingly adjusted in position according to the stress condition and the positions of the robots through the structure, the adjustment mode is fine adjustment, and all the robots can be in the optimal working state and the coordination among the robots is improved.
In the multi-robot cooperative system, a force measuring interface is arranged on the damping connecting rod. The force measuring interface is a plug interface, so that data in the force measuring meter can be conveniently transmitted.
In the multi-robot cooperation system, the multi-robot cooperation system further comprises a frame for mounting the robots. The robot can be conveniently installed through the frame, when the robot is a small robot bearing a low load, the small robot is installed on the frame, the overall height of the small robot can be increased, the robot can be matched with the large robot better, and the coordination of a system is improved.
Another object of the present invention is to provide a method for implementing a multi-robot collaboration system, where the purpose of the present invention can be achieved by the following technical scheme:
the method for realizing the multi-robot collaboration system is characterized by comprising the following steps:
A. fixing the load through the tail end clamp on each robot;
B. the force measuring meters on the end clamps measure the force values born by the corresponding end clamps when carrying the load, and respectively send the measured values to the gesture/position controller;
C. the posture/position controller controls the corresponding robot according to the collected numerical value of each force, and adjusts the posture and position of each robot.
Compared with the prior art, the invention has the following advantages:
1. the multi-robot cooperation system can adjust the gesture and the position of the robot in the carrying process in real time, and the coordination and the stability of the multi-robot assistance system are improved.
2. The multi-robot cooperation system can well solve the problem of errors of the tail ends in the coordinated movement of the multiple robots when processing high load.
Drawings
Fig. 1 is a schematic structural view of the multi-robot collaboration system.
Fig. 2 is a schematic structural view of the end clamp.
Fig. 3 is a schematic structural view of the damper rod.
Fig. 4 is a functional block diagram of the multi-robot collaboration system.
In the figure, 1, a robot; 2. an end clamp; 2a, a base; 2b, a bottom plate; 2c, a damping rod; 2c1, a damping connecting rod; 2c2, a first universal joint; 2c3, a second universal joint; 2c4, a force measuring interface; 3. a frame; 4. and (3) loading.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, the multi-robot cooperation system includes a plurality of robots 1, wherein each robot 1 is provided with a terminal fixture 2 on a mechanical arm, each robot 1 is further provided with a gesture/position controller, each terminal fixture 2 is provided with a dynamometer, and each dynamometer is electrically connected with a corresponding gesture/position controller.
As shown in fig. 2, in this embodiment, the end fixture 2 includes a base 2a, a bottom plate 2b, and a plurality of damping rods 2c, one end of each damping rod 2c is fixedly connected to the base 2a, the other end of each damping rod 2c is fixedly connected to the bottom plate 2b, and each damping rod 2c is provided with a load cell. In this embodiment, the base 2a is used for connecting with a terminal flange on a mechanical arm of the robot 1, and the bottom plate 2b is used for connecting with the load 4.
As another solution, the end fixture 2 may be replaced by another connecting piece, such as a spring, and the end of the mechanical arm is connected by using the spring, so as to reduce the increase of internal force between the robots 1 caused by the error of the end, avoid the instability of the system, and certainly use other force measuring modes to detect the end force.
As shown in fig. 3, preferably, each damping rod 2c includes a damping connecting rod 2c1, two end portions of each damping connecting rod 2c1 are respectively connected with a first universal joint 2c2 and a second universal joint 2c3, each first universal joint 2c2 is fixedly connected with the base 2a, and each second universal joint 2c3 is fixedly connected with the base plate 2 b. The first universal joint 2c2 and the second universal joint 2c3 can rotate, the corresponding base plate 2b can correspondingly adjust the position of the base plate 2b according to the stress condition and the position of the robot 1, the adjustment mode is fine adjustment, and each robot 1 can be in the optimal working state and the coordination between the two robots is improved.
As shown in fig. 3, the damper link 2c1 is preferably provided with a load port 2c4. The force measuring interface 2c4 is a plug interface, which is convenient for the data transmission in the force measuring meter.
As shown in fig. 1, in the present embodiment, the multi-robot cooperation system further includes a frame 3 for mounting the robot 1. Can make things convenient for the installation of robot 1 through frame 3, when robot 1 is the little robot 1 of bearing low load 4, little robot 1 installs in frame 3, can increase little robot 1's overall height, makes it can cooperate with big robot 1 better, improves the harmony of system.
As shown in fig. 4, the implementation method of the multi-robot collaboration system includes the following steps:
A. fixing the load 4 by the end clamps 2 on each robot 1;
B. the force measuring meter on each end clamp 2 measures the value of the force applied when the corresponding end clamp 2 bears the load 4, and sends the measured value to the gesture/position controller respectively;
C. the posture/position controller controls the corresponding robot 1 based on the values of the collected forces, and adjusts the posture and position of each robot 1.
In this embodiment, the number of robots 1 is two, during operation, the end jigs 2 on each robot 1 are used to fix the load 4, the load gauges provided on each end jig 2 can measure the force received by the corresponding end jigs 2 when carrying the load 4, each load gauge sends the measured values to the posture/position controller, and the posture/position controller controls the corresponding robot 1 according to the collected values of the forces, and adjusts the posture and position of each robot 1 so that each robot 1 is in an optimal operation state.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (5)
1. A multi-robot cooperation system comprises a plurality of robots (1), wherein a tail end clamp (2) is arranged on a mechanical arm of each robot (1), and each tail end clamp (2) is used for grabbing the same load (4); the robot is characterized in that each robot (1) is also provided with a gesture/position controller, each tail end clamp (2) is provided with a dynamometer, and each dynamometer is electrically connected with the corresponding gesture/position controller; the tail end clamp (2) comprises a base (2 a), a bottom plate (2 b) and a plurality of damping rods (2 c), one end part of each damping rod (2 c) is fixedly connected with the base (2 a), the other end part of each damping rod (2 c) is fixedly connected with the bottom plate (2 b), and each damping rod (2 c) is provided with the dynamometer; the base (2 a) is used for being connected with a tail end flange plate on a mechanical arm of the robot (1), and the bottom plate (2 b) is used for being connected with the load (4).
2. A multi-robot collaboration system according to claim 1, wherein each damping rod (2 c) comprises a damping link (2 c 1), each damping link (2 c 1) has a first universal joint (2 c 2) and a second universal joint (2 c 3) connected to each end, each first universal joint (2 c 2) being fixedly connected to the base (2 a), each second universal joint (2 c 3) being fixedly connected to the base plate (2 b).
3. A multi-robot collaboration system according to claim 2, characterized in that the damping link (2 c 1) is provided with a force measuring interface (2 c 4).
4. A multi-robot collaboration system according to claim 1, characterized in that the multi-robot (1) collaboration system further comprises a frame (3) for mounting a robot (1).
5. A method of implementing a multi-robot collaboration system as claimed in any one of claims 1 to 4, comprising the steps of:
A. fixing the load through the tail end clamp (2) on each robot (1);
B. the force measuring meters on the end clamps (2) measure the force values born by the corresponding end clamps (2) when carrying the load, and respectively send the measured values to the gesture/position controller;
C. the posture/position controller controls the corresponding robot (1) based on the values of the collected forces, and adjusts the posture and position of each robot (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710979145.4A CN109676642B (en) | 2017-10-19 | 2017-10-19 | Multi-robot collaboration system and implementation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710979145.4A CN109676642B (en) | 2017-10-19 | 2017-10-19 | Multi-robot collaboration system and implementation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109676642A CN109676642A (en) | 2019-04-26 |
| CN109676642B true CN109676642B (en) | 2023-05-02 |
Family
ID=66184120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710979145.4A Active CN109676642B (en) | 2017-10-19 | 2017-10-19 | Multi-robot collaboration system and implementation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109676642B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111399509B (en) * | 2020-03-24 | 2021-04-20 | 华中科技大学 | Multi-mobile-robot cooperative transfer control method and system |
| CN111844045B (en) * | 2020-08-03 | 2023-01-24 | 许昌学院 | Double-machine collaborative heavy-load palletizing robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4826392A (en) * | 1986-03-31 | 1989-05-02 | California Institute Of Technology | Method and apparatus for hybrid position/force control of multi-arm cooperating robots |
| JPH07205072A (en) * | 1994-01-26 | 1995-08-08 | Mazda Motor Corp | Cooperation controller of plural robot |
| JPH07256580A (en) * | 1994-03-18 | 1995-10-09 | Fujitsu Ltd | Plural arm cooperative controller |
| JPH08141951A (en) * | 1994-11-17 | 1996-06-04 | Kawasaki Heavy Ind Ltd | Cooperative control method of robot and cooperative control device thereof |
| CN102431033A (en) * | 2010-08-31 | 2012-05-02 | 株式会社安川电机 | Robot, robot system, robot control device, and state determining method |
| CN103722549A (en) * | 2013-12-31 | 2014-04-16 | 重庆交通大学 | Heavy-load precise double-arm manipulator with arms cooperating with each other in space |
| CN104476550A (en) * | 2014-12-05 | 2015-04-01 | 济南鲁智电子科技有限公司 | All-hydraulic autonomous moving manipulator and moving method thereof |
| CN104647379A (en) * | 2015-01-19 | 2015-05-27 | 广东工业大学 | Dual-arm robot movement control method under non-linear condition of driver |
-
2017
- 2017-10-19 CN CN201710979145.4A patent/CN109676642B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4826392A (en) * | 1986-03-31 | 1989-05-02 | California Institute Of Technology | Method and apparatus for hybrid position/force control of multi-arm cooperating robots |
| JPH07205072A (en) * | 1994-01-26 | 1995-08-08 | Mazda Motor Corp | Cooperation controller of plural robot |
| JPH07256580A (en) * | 1994-03-18 | 1995-10-09 | Fujitsu Ltd | Plural arm cooperative controller |
| JPH08141951A (en) * | 1994-11-17 | 1996-06-04 | Kawasaki Heavy Ind Ltd | Cooperative control method of robot and cooperative control device thereof |
| CN102431033A (en) * | 2010-08-31 | 2012-05-02 | 株式会社安川电机 | Robot, robot system, robot control device, and state determining method |
| CN103722549A (en) * | 2013-12-31 | 2014-04-16 | 重庆交通大学 | Heavy-load precise double-arm manipulator with arms cooperating with each other in space |
| CN104476550A (en) * | 2014-12-05 | 2015-04-01 | 济南鲁智电子科技有限公司 | All-hydraulic autonomous moving manipulator and moving method thereof |
| CN104647379A (en) * | 2015-01-19 | 2015-05-27 | 广东工业大学 | Dual-arm robot movement control method under non-linear condition of driver |
Non-Patent Citations (1)
| Title |
|---|
| 赵志刚等.多机器人协同吊运系统的协调动态载荷分配.机器人.2012,第34卷(第1期),第114-119页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109676642A (en) | 2019-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111618857B (en) | Multi-load self-adaptive gravity compensation method for mechanical arm | |
| CN203981405U (en) | A kind of servomotor and harmonic wave speed reducing machine comprehensive test platform | |
| CN109676642B (en) | Multi-robot collaboration system and implementation method | |
| CN103447988B (en) | Detent mechanism is held up in self-adapting flexible holder | |
| CN105583824A (en) | Force control traction and swinging multi-degree-of-freedom mechanical arm control device and method | |
| CN104374569A (en) | RV reducer transmission feature test system | |
| CN110605709B (en) | Digital twin and precise filtering drive robot integration system and use method thereof | |
| CN101122791A (en) | Digital control machine tool positioning error real-time compensation device | |
| CN104582867A (en) | Bending press having an angle-measuring device and method for determining the bending angle | |
| JP2012013537A (en) | Method of calibrating force sensor | |
| CN109333530B (en) | Six-joint mechanical arm contact force control method based on series elastic actuator | |
| Zhang et al. | A structure and control design of constant force polishing end actuator based on polishing robot | |
| CN110802585A (en) | Mechanical arm tail end sensor compensation method and contact force/moment measurement method | |
| CN204422200U (en) | A kind of precise planetary reducer proving installation | |
| CN109580094B (en) | Fan generator set axis of rotation moment balance calibration system | |
| CN111168717A (en) | Industrial robot based rigidity measurement loading device and joint rigidity identification method | |
| CN104551592A (en) | Passive smoothening device for automatic assembly or butt joint | |
| CN102478820A (en) | Novel device for compensating positioning error of numerical control machine tool in real time | |
| CN105203342A (en) | Spatial transportation piping static test displacement load realizing device | |
| CN111615437B (en) | Method and device for robotic machining | |
| CN210893006U (en) | Robot joint module precision measuring device | |
| CN114905431B (en) | Positioning device, positioning method and detection method for white car body damping tower | |
| CN103506891B (en) | A kind of preliminary tension digital detecting device for NC machine tool feed system | |
| CN203459999U (en) | Digital pretightening force detecting device for numerical control machine tool feed system | |
| Zen et al. | Mimo model free adaptive control of two degree of freedom manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210818 Address after: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Applicant after: SHENZHEN CAS DERUI INTELLIGENT TECH Co.,Ltd. Address before: 511458 Nansha District seashore road, Guangzhou, Guangzhou, Guangdong Applicant before: GUANGZHOU INSTITUTE OF ADVANCED TECHNOLOGY, CHINESE ACADEMY OF SCIENCES Applicant before: SHENZHEN CAS DERUI INTELLIGENT TECH Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |