CN111152183A - Composite robot and control method thereof - Google Patents
Composite robot and control method thereof Download PDFInfo
- Publication number
- CN111152183A CN111152183A CN202010039341.5A CN202010039341A CN111152183A CN 111152183 A CN111152183 A CN 111152183A CN 202010039341 A CN202010039341 A CN 202010039341A CN 111152183 A CN111152183 A CN 111152183A
- Authority
- CN
- China
- Prior art keywords
- robot
- agv
- supporting mechanism
- arm
- telescopic supporting
- 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.)
- Pending
Links
- 239000002131 composite material Substances 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000008093 supporting effect Effects 0.000 claims abstract description 87
- 230000007246 mechanism Effects 0.000 claims abstract description 70
- 230000008602 contraction Effects 0.000 claims abstract description 10
- 150000001875 compounds Chemical class 0.000 claims description 32
- 238000010586 diagram Methods 0.000 description 10
- 230000001276 controlling effect Effects 0.000 description 7
- 238000004590 computer program Methods 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 5
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a composite robot and a control method thereof, and relates to the technical field of intelligent robots. The composite robot comprises an AGV, a joint arm robot and a telescopic supporting mechanism, wherein a control unit and a power supply unit are arranged in the AGV; the AGV, the joint arm robot and the control unit are respectively electrically connected with the power supply unit; on joint arm robot located AGV's automobile body, AGV's automobile body chassis is equipped with drive wheel and flexible supporting mechanism, and during the AGV walking, flexible supporting mechanism is in the contraction state to embedded to automobile body chassis does not influence AGV's walking, and joint arm robot during operation, flexible supporting mechanism is in the support state, supports through flexible supporting mechanism, and then can increase the area of strong point, improves the antidumping ability and the stability of automobile body.
Description
Technical Field
The application relates to the technical field of intelligent robots, in particular to a composite robot and a control method thereof.
Background
Along with the development of intelligent robots, a composite robot formed by combining an Automatic Guided Vehicle (AGV) and a manipulator robot appears, the composite robot integrates working units such as intelligent mobile robots and general industrial robots, adopts technologies such as visual error compensation and the like, meets the rigorous requirement of an enterprise intelligent digital workshop on the motion precision of the whole mechanical structure, solves the problem that the precision does not reach the standard due to the accumulation of errors of a plurality of motion units, and greatly expands the application adaptability of the industrial robot.
The composite robot that AGV and manipulator robot combination formed is at the during operation, can go after the assigned position through the AGV robot is automatic, then can realize automatic unloading through the manipulator robot to place the assigned position.
However, the existing composite robot has poor anti-overturning capability and stability during working.
Disclosure of Invention
An object of the present application is to provide a composite robot and a control method thereof, which can solve the technical problems of poor anti-overturning capability and stability of a composite robot in the prior art.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a composite robot, including: AGV, joint arm robot and flexible supporting mechanism.
The AGV is internally provided with a control unit and a power supply unit; the articulated arm robot and the telescopic supporting mechanism are respectively and electrically connected with the control unit; the AGV, the joint arm robot and the control unit are respectively and electrically connected with the power supply unit; the joint arm robot is arranged on the AGV body; the AGV comprises an AGV body, a telescopic supporting mechanism and a driving wheel, wherein the AGV body is provided with the driving wheel and the telescopic supporting mechanism; when the articulated arm robot works, the telescopic supporting mechanism is in a supporting state.
Optionally, when the articulated arm robot works, the driving wheel is in a suspended state.
Optionally, the telescopic supporting mechanism includes: the vertical flexible support arm of at least three vertical direction, every vertical flexible support arm is located AGV's vehicle body chassis.
Optionally, the telescopic supporting mechanism further includes: and two ends of the horizontal telescopic arm are respectively connected with one vertical telescopic supporting arm.
Optionally, the bottom of the vertical telescopic support arm comprises a ground gripping panel for contacting the ground.
Optionally, the ground grabbing plate has a magnetic structure and is used for being matched with a preset ground induction supporting plate, and when the ground grabbing plate is in contact with the ground induction supporting plate and is powered on, the ground grabbing plate is adsorbed to the ground induction supporting plate.
Optionally, the power supply unit includes a battery.
Optionally, the power supply unit further includes: a charging and power supplying interface; the articulated arm robot and the storage battery are respectively electrically connected with the charging and power supplying interface.
Optionally, the power supply unit further includes: a non-contact charging device; the non-contact charging device is used for being matched with a preset charging belt to charge the storage battery.
Optionally, the AGVs are heavy-load AGVs; the articulated arm robot is a heavy-load articulated arm robot.
In a second aspect, an embodiment of the present application provides a control method for a compound robot, which is applied to the control unit in the compound robot in the first aspect, and the method includes:
receiving an input working instruction; if the working instruction indicates that the AGV walks, the AGV is controlled to walk, the telescopic supporting mechanism is controlled to be in a contraction state, and the telescopic supporting mechanism is embedded into a vehicle body chassis of the AGV; and if the working instruction indicates that the articulated arm robot works, controlling the articulated arm robot to work and controlling the telescopic supporting mechanism to be in a supporting state.
In a third aspect, an embodiment of the present application provides an electronic device, including: the composite robot control system comprises a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, when the electronic device runs, the processor and the storage medium are communicated through the bus, and the processor executes the machine-readable instructions to execute the steps of the composite robot control method of the second aspect.
In a fourth aspect, the present application provides a storage medium, on which a computer program is stored, where the computer program is executed by a processor to execute the steps of the control method of the compound robot in the second aspect.
The beneficial effect of this application is:
in the composite robot and the control method thereof provided by the embodiment of the application, the composite robot comprises an AGV, a joint arm robot and a telescopic supporting mechanism, wherein a control unit and a power supply unit are arranged in the AGV, and the joint arm robot and the telescopic supporting mechanism are respectively and electrically connected with the control unit; the AGV, the joint arm robot and the control unit are respectively electrically connected with the power supply unit; on joint arm robot located AGV's automobile body, AGV's automobile body chassis is equipped with drive wheel and flexible supporting mechanism, and during the AGV walking, flexible supporting mechanism is in the contraction state to embedded to automobile body chassis does not influence AGV's walking, and joint arm robot during operation, flexible supporting mechanism is in the support state, supports through flexible supporting mechanism, and then can increase the area of strong point, improves the antidumping ability and the stability of automobile body.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a compound robot provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of another compound robot provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of another composite robot provided in the embodiment of the present application;
fig. 4 is a schematic structural diagram of another compound robot provided in the embodiment of the present application;
fig. 5 is a schematic flowchart of a control method of a compound robot according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Icon: 110-AGV; 112-a drive wheel; 120-an articulated arm robot; 130-a telescopic support mechanism; 132-a vertically telescoping support arm; 134-horizontal telescopic arm; 135-grab floor panel; 136-a ground sensing support plate; 137-charging and power supplying interface; 138-external charging device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Fig. 1 is a schematic structural diagram of a composite robot according to an embodiment of the present application. As shown in fig. 1, the compound robot includes: an Automated Guided Vehicle (AGV) 110, an articulated arm robot 120, and a telescopic support mechanism 130.
The AGV110 may be a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions, and may also be referred to as a wheel-type mobile robot; the articulated arm robot 120, which may also be referred to as an articulated robot arm, may be a five-axis articulated robot, a six-axis articulated robot, a tray articulated robot, a plane articulated robot, or the like, according to different application scenarios, and the application is not limited thereto. Taking a six-axis joint robot as an example, the six-axis joint robot has six rotation axes, and can be used in loading, unloading, painting, packaging, assembling and other application scenarios similar to a robot with a human arm.
Wherein, a control unit (not shown in the figure) and a power supply unit are arranged in the AGV110, and the articulated arm robot 120 and the telescopic support mechanism 130 are respectively and electrically connected with the control unit; the AGV110, the articulated arm robot 120, and the control unit are electrically connected to a power supply unit, respectively.
The control unit can send corresponding control instructions during the operation of the composite robot to control the AGV110, the articulated arm robot 120 and the telescopic support mechanism 130 to perform corresponding actions, for example, the control unit can control the motion of the AGV110, control the articulated arm robot 120 to operate (for example, loading or unloading), and control the telescopic support mechanism 130 to extend or retract; and the power supply unit is used for supplying power to the AGV110, the articulated arm robot 120 and the control unit.
Articulated arm robot 120 locates on the automobile body of AGV110, and the automobile body chassis of AGV110 is equipped with drive wheel 112 and flexible supporting mechanism 130, and in the course of the work, can realize the walking of compound robot through AGV110 for compound robot need not fix and occupies the place, moves to assigned position (for example, the loading site) when compound robot, can carry out corresponding operation (for example, charge) through articulated arm robot 120.
When the AGV110 travels, the telescopic support mechanism 130 is in a contracted state and is embedded into the chassis of the vehicle body, that is, when the AGV110 travels, the telescopic support mechanism 130 does not affect the travel of the AGV 110; when the articulated arm robot 120 works, the telescopic supporting mechanism 130 is in a supporting state, and the composite robot is supported by the telescopic supporting mechanism 130 in contact with the ground, so that the area of a supporting point can be increased, and the anti-overturning capability and stability of a vehicle body are improved.
Alternatively, a larger panel may be disposed at a position of the telescopic support mechanism 130 for contacting the ground, so that the force application area of the telescopic support mechanism 130 may be increased to a certain extent, for example, the area of the panel may be larger than the contact area of the driving wheel 112 and the ground.
Of course, the present application is not limited to the supporting manner, and the AGV110 may be lifted to a certain height to lift the driving wheel 112 off the ground, and the hybrid robot is supported by the telescopic supporting mechanism 130 to avoid being supported by the driving wheel 112; or the telescopic supporting mechanism 130 can be extended to the position with the same height as the driving wheel 112, and the composite robot is supported by combining the telescopic supporting mechanism 130 and the driving wheel 112, so that the stress of the driving wheel 112 is reduced, the effect of protecting the driving wheel 112 can be achieved, the service life of the driving wheel 112 is prolonged, and the purpose of improving the stability of the vehicle body is achieved.
Optionally, when the compound robot provided in the embodiment of the present application works, the following processes may be performed: when the composite robot moves, the telescopic supporting mechanism 130 is in a contracted state and embedded into the chassis of the vehicle body, and the composite robot walks and moves through the driving wheels 112 of the AGVs 110; when the compound robot moves to a designated position and the articulated arm robot 120 works, the telescopic support mechanism 130 is in a support state, and then the compound robot is supported by the telescopic support mechanism 130, compared with the support by using the driving wheels 112, the area of the support point can be increased, and the anti-overturning capability and stability of the vehicle body are improved.
In summary, the composite robot provided by the embodiment of the application comprises an AGV, a knuckle arm robot and a telescopic supporting mechanism, wherein the AGV is provided with a control unit and a power supply unit, and the knuckle arm robot and the telescopic supporting mechanism are respectively and electrically connected with the control unit; the AGV, the joint arm robot and the control unit are respectively electrically connected with the power supply unit; on joint arm robot located AGV's automobile body, AGV's automobile body chassis is equipped with drive wheel and flexible supporting mechanism, and during the AGV walking, flexible supporting mechanism is in the contraction state to embedded to automobile body chassis does not influence AGV's walking, and joint arm robot during operation, flexible supporting mechanism is in the support state, supports through flexible supporting mechanism, and then can increase the area of strong point, improves the antidumping ability and the stability of automobile body.
Optionally, when the articulated arm robot 120 works, the driving wheel 112 is in a suspended state, so that when the articulated arm robot 120 works, the supporting through the driving wheel 112 can be avoided, the driving wheel 112 is protected, the service life of the driving wheel 112 is prolonged, in addition, the telescopic supporting mechanism 130 is used for supporting, the area of a supporting point can be increased, and the anti-overturning capability and the stability of the vehicle body are improved.
In addition, it should be noted that, when the articulated arm robot 120 works, the driving wheel 112 of the AGV110 may also be in a rotating state or a contracting state, and optionally, the driving wheel 112 may be embedded into the chassis of the vehicle body through rotating or contracting operation, so as to avoid being supported by the driving wheel 112, thereby playing a role in protecting the driving wheel 112 and prolonging the service life of the driving wheel 112.
Of course, it should be noted that the application does not limit the timing of the rotation or contraction operation of the driving wheel 112, and optionally, when the compound robot moves to a specific position, the controller may first control the telescopic support mechanism 130 to perform the extending and supporting operations, and when the compound robot is supported by the telescopic support mechanism 130, the driving wheel 112 may be controlled to perform the rotation or contraction operation and be embedded into the vehicle body chassis; of course, after the telescopic supporting mechanism 130 completes the supporting operation, the driving wheel 112 may be controlled to rotate or contract, and then the telescopic supporting mechanism may be embedded into the chassis of the vehicle body.
Fig. 2 is a schematic structural diagram of another composite robot provided in an embodiment of the present application. Alternatively, as shown in fig. 2, the telescopic supporting mechanism 130 includes: at least three vertically oriented vertically telescoping support arms 132, each vertically telescoping support arm 132 being provided to the body chassis of the AGV 110.
Wherein, according to the number of the vertical telescopic supporting arms 132, each vertical telescopic supporting arm 132 can be arranged at a corresponding position of the vehicle chassis, for example, when the number of the vertical telescopic supporting arms 132 is three, the three vertical telescopic supporting arms 132 can be arranged on the vehicle chassis of the AGV110 in a triangular layout; and if the quantity of vertical flexible support arm 132 is four-hour, can be the automobile body chassis that this four vertical flexible support arms 132 were the quadrangle overall arrangement and located AGV110, optionally, when AGV110 includes four drive wheels 112, can be close to each drive wheel 112 setting with each vertical flexible support arm 132, and then when making a plurality of vertical flexible support arms 132 cooperate and be used for supporting compound robot, can improve the anti-overturning ability and the stability of automobile body.
Alternatively, the extension and retraction of the vertically telescoping support arms 132 may be assisted by hydraulic rams, which are not limited herein.
Alternatively, as shown in fig. 2, the telescopic supporting mechanism 130 further includes: at least one horizontal telescopic arm 134, both ends of the horizontal telescopic arm 134 are respectively connected with a vertical telescopic supporting arm 132.
Of course, it should be noted that, this application does not limit the setting mode of horizontal telescopic arm 134 here, as shown in fig. 2, when AGV110 includes 4 vertical telescopic support arms 132, correspondingly, can be including two horizontal telescopic arms 134, the one end of a horizontal telescopic arm 134 can be connected with a vertical telescopic support arm 132, the other end can be connected to another vertical telescopic support arm 132, and then can adjust the span between these two vertical telescopic support arms 132 through this horizontal telescopic arm 134, improve the anti-overturning ability of AGV110 automobile body greatly, can make articulated arm robot 120's operation radius bigger, and simultaneously, the safety and reliability is better.
Of course, according to actual application, the one end of horizontal telescopic arm 134 can be connected with a vertical telescopic support arm 132, and the other end can set firmly on AGV 110's automobile body, so when including 4 vertical telescopic support arms 132 to AGV110, correspondingly, can be including four horizontal telescopic arms 134, according to actual needs, can adjust a certain horizontal telescopic arm 134 alone, and this application does not prescribe a limit to the setting of horizontal telescopic arm 134 here, can select by oneself according to actual application.
In addition, it should be noted that the telescopic distances of the horizontal telescopic arm 134 and the vertical telescopic support arm 132 provided in the embodiment of the present application may also be adjusted, and may be set by itself according to an actual application scenario, and the present application is not limited herein.
Fig. 3 is a schematic structural diagram of another composite robot provided in the embodiment of the present application, and optionally, as shown in fig. 3, the bottom of the vertical telescopic supporting arm 132 includes a ground grabbing plate 135 for contacting the ground. Alternatively, the ground engaging panel 135 may be a magnetic structure for cooperating with a predetermined ground sensing support plate 136, and when the ground engaging panel 135 contacts and is powered on the ground sensing support plate 136, the ground engaging panel 135 is attracted to the ground sensing support plate 136.
The ground grabbing plate 135 is used for the vertical telescopic supporting arm 132 to contact with the ground when supporting, optionally, the area of the ground grabbing plate 135 may be larger than the contact surface of the driving wheel 112 and the ground, and the shape of the ground grabbing plate 135 may be circular, quadrilateral, etc., so that when supporting, the area of a supporting point may be increased, a better supporting effect may be achieved, and the anti-overturning capability and stability of the vehicle body may be improved.
Optionally, grab ground board 135 and can set up to magnetic structure, correspondingly, the assigned position that joint arm robot 120 worked can be pre-buried predetermined ground response backup pad 136, also be when compound robot removes to the assigned position, grab ground board 135 and contact with predetermined ground response backup pad 136, can energize to both this moment, and then grab ground board 135 and can adsorb with ground response backup pad 136 mutually, increase the adsorption affinity of grabbing ground board 135, make joint arm robot 120 when working, can improve the stability and the security of automobile body, and when joint arm robot 120 operation was accomplished, when compound robot need remove, then the accessible outage release can.
In addition, it should be noted that, after the AGV110 body makes the composite robot reach the designated position by means of its own navigation positioning module, the control unit may further obtain the position information of each ground grasping panel 135, determine whether the position information of each ground grasping panel 135 matches (for example, whether the position information matches) with the position information of each ground sensing support plate 136, the accurate adjustment of the body position of the composite robot can be controlled by the detection of multiple position points, thereby realizing the accurate positioning, and after the accurate positioning is realized, the ground grasping panel 135 and the preset ground sensing support plate 136 can be powered on, thereby realizing the powerful adsorption between the two, and improving the stability and the safety of the body.
Optionally, the power supply unit includes a battery (not shown in the drawings), and of course, the present application does not limit the capacity of the battery, and according to an actual application scenario, a large-capacity battery (which can also be used as a counterweight of the vehicle body) may be selected, so that when the hybrid robot works, the AGV110 and the articulated arm robot 120 may be powered by the large-capacity battery.
Fig. 4 is a schematic structural diagram of another composite robot provided in the embodiment of the present application. Optionally, as shown in fig. 4, the power supply unit further includes: a charging and power supply interface 137; the articulated arm robot 120 and the battery are electrically connected to the charging and power supplying interface 137, respectively. The storage battery is electrically connected with the charging and power supplying interface 137, and the storage battery can be charged by connecting the charging and power supplying interface 137 with the external charging device 138 when the storage battery does not perform power supplying work or the electric quantity is insufficient; because articulated arm robot 120 generally will work in appointed place, therefore, articulated arm robot 120 is connected with charging and power supplying interface 137 electricity, make articulated arm robot 120 work in appointed place, be connected with external charging device 138 through charging and power supplying interface 137, can supply power for articulated arm robot 120, and because articulated arm robot 120 can supply power through charging and power supplying interface 137, consequently, can reduce the charge frequency of battery to a certain extent, the life of extension battery, and can guarantee the long-time uninterrupted operation of composite robot.
Optionally, the power supply unit further includes: a non-contact charging device (not shown in the drawings); the non-contact charging device is used for being matched with a preset charging belt to charge the storage battery.
Optionally, any mode such as electromagnetic induction, magnetic resonance, microwave can be selected to non-contact charging device and realize, and this application does not limit here, and this non-contact charging device need not be connected battery and power supply system with the cable, when the battery electric quantity is not enough, can make the battery be in the charging mode always through cooperateing with predetermineeing the charging belt, carries out quick charge to the battery, guarantees the long-time uninterrupted duty of compound robot. Wherein the predetermined charging belt may be predetermined in the traveling path of the AGV 110.
When the power supply unit includes the storage battery, the charging and power supplying interface 137 and the non-contact charging device, the following processes may be referred to supply power to the composite robot: the preset charging belt can be arranged on a path where the AGV110 travels, that is, the storage battery can be selected to supply power to the AGV110 during the travel of the AGV110, and on the path where the preset charging belt is arranged, the storage battery is charged in a mode that a non-contact charging device is matched with the preset charging belt, so that the electric quantity of the storage battery is timely supplied; and when the composite robot moves to the designated position, and the articulated arm robot 120 works, the external charging device 138 is connected through the charging and power supply interface 137 to supply power to the articulated arm robot 120, so that the loss of the electric quantity of the storage battery can be reduced, the charging frequency of the storage battery is reduced, and the service life of the storage battery is prolonged.
Optionally, the AGV110 is a heavy-load AGV; the articulated arm robot 120 is a heavy-duty articulated arm robot.
The heavy-load AGV can be an AGV110 with a load of 3T or more, so that a vehicle body of the heavy-load AGV can transfer and bear a larger load, and then the heavy-load knuckle arm robot can be selected to operate, so that the application under more scenes is realized, and the adaptability is improved; and this heavy load joint arm robot can be load 50KG and above joint arm robot 120, for example, 6 big load joint arm robots (165KG load), can select the heavy load joint arm robot of corresponding load according to the practical application scene, and this application does not limit here.
Fig. 5 is a schematic flowchart of a control method of a compound robot according to an embodiment of the present application, where the method may be applied to a control unit in the compound robot, and the method includes:
and S110, receiving the input work instruction.
The work instruction may be a work instruction input by a user in real time, or may be a work instruction imported in advance, and the present application is not limited herein.
S120, if the working instruction indicates that the AGV walks, controlling the AGV to walk, controlling the telescopic supporting mechanism to be in a contraction state, and embedding the telescopic supporting mechanism into a vehicle body chassis of the AGV; and if the work instruction indicates that the articulated arm robot works, controlling the articulated arm robot to work and controlling the telescopic supporting mechanism to be in a supporting state.
If the AGV travels, the telescopic supporting mechanism can be prevented from influencing the traveling of the AGV by controlling the telescopic supporting mechanism to be in a contraction state and embedding the telescopic supporting mechanism into a chassis of the AGV body; when the articulated arm robot works, the telescopic supporting mechanism is controlled to be in a supporting state, so that the composite robot can be supported by contacting the telescopic supporting mechanism with the ground, the area of a supporting point can be increased, and the anti-overturning capability and the stability of a vehicle body are improved.
In addition, it should be noted that, according to an actual application scenario, the control unit may further receive an extension instruction, and if the extension instruction indicates that the vertical telescopic support arm or the horizontal telescopic arm extends, the control unit controls the vertical telescopic support arm or the horizontal telescopic arm to extend; of course, the control unit can also receive a contraction instruction, and if the expansion instruction instructs the vertical telescopic support arm or the horizontal telescopic arm to contract, the vertical telescopic support arm or the horizontal telescopic arm is controlled to contract, so that the working states of the vertical telescopic support arm and the horizontal telescopic arm can be adjusted according to different application scenes. For the specific working mode of the compound robot, reference may be made to the foregoing contents, and further description is omitted here.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic device may include: a processor 210, a storage medium 220, and a bus 230, wherein the storage medium 220 stores machine-readable instructions executable by the processor 210, and when the electronic device is operated, the processor 210 communicates with the storage medium 220 via the bus 230, and the processor 210 executes the machine-readable instructions to perform the steps of the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program performs the steps of the above method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A compound robot, comprising:
the system comprises an AGV, a joint arm robot and a telescopic supporting mechanism;
the AGV is internally provided with a control unit and a power supply unit; the articulated arm robot and the telescopic supporting mechanism are respectively and electrically connected with the control unit;
the AGV, the joint arm robot and the control unit are respectively and electrically connected with the power supply unit;
the joint arm robot is arranged on the AGV body;
the AGV comprises an AGV body, a telescopic supporting mechanism and a driving wheel, wherein the AGV body is provided with the driving wheel and the telescopic supporting mechanism; when the articulated arm robot works, the telescopic supporting mechanism is in a supporting state.
2. The compound robot of claim 1, wherein the drive wheels are suspended while the articulated arm robot is in operation.
3. The compound robot of claim 1, wherein the telescoping support mechanism comprises: the vertical flexible support arm of at least three vertical direction, every vertical flexible support arm is located AGV's vehicle body chassis.
4. The compound robot of claim 3, wherein the telescoping support mechanism further comprises: and two ends of the horizontal telescopic arm are respectively connected with one vertical telescopic supporting arm.
5. The composite robot of claim 3, wherein a bottom portion of the vertically telescoping support arm includes a ground engaging panel for contacting the ground.
6. The composite robot as claimed in claim 5, wherein the ground grabbing board is of a magnetic structure and is adapted to be coupled to a predetermined ground sensing support board, and when the ground grabbing board is in contact with the ground sensing support board and is powered on, the ground grabbing board is attracted to the ground sensing support board.
7. The compound robot of claim 1, wherein the power supply unit comprises a battery.
8. The compound robot according to claim 7, wherein the power supply unit further comprises: a charging and power supplying interface;
the articulated arm robot and the storage battery are respectively electrically connected with the charging and power supplying interface.
9. The compound robot according to claim 7, wherein the power supply unit further comprises: a non-contact charging device;
the non-contact charging device is used for being matched with a preset charging belt to charge the storage battery.
10. A control method of a compound robot, applied to the control unit in the compound robot according to any one of claims 1 to 9, the method comprising:
receiving an input working instruction;
if the working instruction indicates that the AGV walks, the AGV is controlled to walk, the telescopic supporting mechanism is controlled to be in a contraction state, and the telescopic supporting mechanism is embedded into a vehicle body chassis of the AGV; and if the working instruction indicates that the articulated arm robot works, controlling the articulated arm robot to work and controlling the telescopic supporting mechanism to be in a supporting state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010039341.5A CN111152183A (en) | 2020-01-14 | 2020-01-14 | Composite robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010039341.5A CN111152183A (en) | 2020-01-14 | 2020-01-14 | Composite robot and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111152183A true CN111152183A (en) | 2020-05-15 |
Family
ID=70563465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010039341.5A Pending CN111152183A (en) | 2020-01-14 | 2020-01-14 | Composite robot and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111152183A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112338938A (en) * | 2020-11-18 | 2021-02-09 | 湖南智能云科技有限公司 | Self-safety nursing and alarming intelligent robot for nursing of old people |
| CN112792827A (en) * | 2021-02-24 | 2021-05-14 | 杭州图灵视频科技有限公司 | Electric power inspection robot |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0532383U (en) * | 1991-10-04 | 1993-04-27 | 株式会社タダノ | Mobile crane |
| JPH0632484U (en) * | 1992-09-25 | 1994-04-28 | 株式会社タダノ | Aerial work vehicle |
| JP2003276991A (en) * | 2002-03-25 | 2003-10-02 | Tadano Ltd | Safety device of crane vehicle |
| CN103010331A (en) * | 2012-12-27 | 2013-04-03 | 哈尔滨工业大学 | Electric-drive heavy-load wheel-foot composite mobile robot |
| CN204172024U (en) * | 2014-09-10 | 2015-02-25 | 山东鲁能智能技术有限公司 | Living water washing robot of wheeled transformer station |
| CN104772749A (en) * | 2015-04-24 | 2015-07-15 | 芜湖哈特机器人产业技术研究院有限公司 | X-ray film taking and placing robot system |
| CN105014674A (en) * | 2014-09-10 | 2015-11-04 | 国家电网公司 | Convertor station live washing robot system and method |
| CN105080013A (en) * | 2015-07-13 | 2015-11-25 | 李占平 | Multi-connecting-rod stable supporting structure of special robot and control method for multi-connecting-rod stable supporting structure |
| CN105598939A (en) * | 2016-03-14 | 2016-05-25 | 徐知非 | Intelligent parallel mechanism carrying robot based on Hall positioning system |
| CN106013816A (en) * | 2016-06-02 | 2016-10-12 | 济宁山云宇内机电科技有限公司 | Novel stand column robot |
| CN107243622A (en) * | 2017-08-10 | 2017-10-13 | 安徽理工大学 | The removable heavily loaded foundry robot of series parallel type |
| CN109048153A (en) * | 2018-09-27 | 2018-12-21 | 杨双军 | A kind of pipe welding robot |
| CN109732557A (en) * | 2019-02-28 | 2019-05-10 | 长安大学 | A kind of crawl lumbering Engineering Robot |
| CN110053061A (en) * | 2019-05-27 | 2019-07-26 | 宜兴市宜安电力工具制造有限公司 | Internet of Things hotline maintenance robot |
| CN110282319A (en) * | 2019-06-10 | 2019-09-27 | 潍坊海丰自动化科技有限公司 | Intelligent AGV logistics resource |
| CN110342246A (en) * | 2019-07-08 | 2019-10-18 | 南通大学 | A kind of movable type logistics Intelligent transfer robot |
| CN211466383U (en) * | 2020-01-14 | 2020-09-11 | 三一重工股份有限公司 | Composite robot |
-
2020
- 2020-01-14 CN CN202010039341.5A patent/CN111152183A/en active Pending
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0532383U (en) * | 1991-10-04 | 1993-04-27 | 株式会社タダノ | Mobile crane |
| JPH0632484U (en) * | 1992-09-25 | 1994-04-28 | 株式会社タダノ | Aerial work vehicle |
| JP2003276991A (en) * | 2002-03-25 | 2003-10-02 | Tadano Ltd | Safety device of crane vehicle |
| CN103010331A (en) * | 2012-12-27 | 2013-04-03 | 哈尔滨工业大学 | Electric-drive heavy-load wheel-foot composite mobile robot |
| CN204172024U (en) * | 2014-09-10 | 2015-02-25 | 山东鲁能智能技术有限公司 | Living water washing robot of wheeled transformer station |
| CN105014674A (en) * | 2014-09-10 | 2015-11-04 | 国家电网公司 | Convertor station live washing robot system and method |
| CN104772749A (en) * | 2015-04-24 | 2015-07-15 | 芜湖哈特机器人产业技术研究院有限公司 | X-ray film taking and placing robot system |
| CN105080013A (en) * | 2015-07-13 | 2015-11-25 | 李占平 | Multi-connecting-rod stable supporting structure of special robot and control method for multi-connecting-rod stable supporting structure |
| CN105598939A (en) * | 2016-03-14 | 2016-05-25 | 徐知非 | Intelligent parallel mechanism carrying robot based on Hall positioning system |
| CN106013816A (en) * | 2016-06-02 | 2016-10-12 | 济宁山云宇内机电科技有限公司 | Novel stand column robot |
| CN107243622A (en) * | 2017-08-10 | 2017-10-13 | 安徽理工大学 | The removable heavily loaded foundry robot of series parallel type |
| CN109048153A (en) * | 2018-09-27 | 2018-12-21 | 杨双军 | A kind of pipe welding robot |
| CN109732557A (en) * | 2019-02-28 | 2019-05-10 | 长安大学 | A kind of crawl lumbering Engineering Robot |
| CN110053061A (en) * | 2019-05-27 | 2019-07-26 | 宜兴市宜安电力工具制造有限公司 | Internet of Things hotline maintenance robot |
| CN110282319A (en) * | 2019-06-10 | 2019-09-27 | 潍坊海丰自动化科技有限公司 | Intelligent AGV logistics resource |
| CN110342246A (en) * | 2019-07-08 | 2019-10-18 | 南通大学 | A kind of movable type logistics Intelligent transfer robot |
| CN211466383U (en) * | 2020-01-14 | 2020-09-11 | 三一重工股份有限公司 | Composite robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112338938A (en) * | 2020-11-18 | 2021-02-09 | 湖南智能云科技有限公司 | Self-safety nursing and alarming intelligent robot for nursing of old people |
| CN112792827A (en) * | 2021-02-24 | 2021-05-14 | 杭州图灵视频科技有限公司 | Electric power inspection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20220258979A1 (en) | Modular multifunctional workcells for autonomous guided vehicle applications | |
| CN111152183A (en) | Composite robot and control method thereof | |
| KR20220098790A (en) | Robot systems and robot cells | |
| CN105128031A (en) | Centralized dispatching system and method for inspection robots in transformer substation | |
| CN214215525U (en) | Side position battery replacing equipment | |
| EP3931656B1 (en) | Unmanned ground-based transport vehicle and method for transporting items | |
| CN207718229U (en) | A kind of Omni-mobile AGV of independent navigation | |
| CN211466383U (en) | Composite robot | |
| JP3233367U (en) | Automatic tray transfer device | |
| CN110641576A (en) | Steering wheel AGV moving platform | |
| CN113733968A (en) | Electric vehicle battery replacing system, battery replacing station and battery replacing method | |
| CN107414893A (en) | A kind of universal chassis of heavily loaded two-wheeled differential mechanism people | |
| CN208150334U (en) | A kind of double lifting AGV trolleies | |
| CN111716359B (en) | Composite navigation type differential storage robot and working method thereof | |
| CN115476824A (en) | Heavy truck power exchanging station | |
| JP5754747B2 (en) | Work system using automatic guided vehicle with work support unit | |
| CN110666471A (en) | Six-freedom-degree attitude adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections | |
| CN113752895A (en) | Battery replacement robot, battery replacement system and working method of battery replacement system | |
| CN214028918U (en) | AGV intelligence protection dolly | |
| CN110562688A (en) | quick switching system of positioning fixture | |
| CN113427463A (en) | Movable obstacle-crossing live working robot | |
| CN111960099A (en) | Workpiece storage mechanism and workpiece taking and placing equipment | |
| CN211056032U (en) | Quick switching system of positioning fixture | |
| Bertelli et al. | Design of a Reconfigurable Mobile Collaborative Manipulator for Industrial Applications | |
| CN219601431U (en) | Shock attenuation of heavy load AGV dolly, prevent device that heels |
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 |