CN111673738A - Automatic guide intelligence both arms transfer robot - Google Patents
Automatic guide intelligence both arms transfer robot Download PDFInfo
- Publication number
- CN111673738A CN111673738A CN202010410736.1A CN202010410736A CN111673738A CN 111673738 A CN111673738 A CN 111673738A CN 202010410736 A CN202010410736 A CN 202010410736A CN 111673738 A CN111673738 A CN 111673738A
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- China
- Prior art keywords
- tool hand
- arm
- automatic guide
- mechanical arm
- quick
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention belongs to the technical field of automobiles, and particularly relates to an automatic-guiding intelligent double-arm carrying robot. The automatic guide device comprises a first mechanical arm, a second mechanical arm, an automatic guide platform, a first quick-change device, a second quick-change device, a first tool hand, a second tool hand, a tool hand storage library, a hopper and a machine vision system; the automatic guide platform is placed on the horizontal ground; one ends of the first mechanical arm and the second mechanical arm are symmetrically fixed at two ends of the automatic guide platform; the other end of the first mechanical arm is connected with a first tool hand through a first quick-change device; the other end of the second mechanical arm is connected with a second tool hand through a second quick-change device; tool hand storage bins are arranged at two ends of the automatic guide platform; the hopper is arranged in the middle of the automatic guide platform; the automatic guide platform is connected with the central control system; the central control system is connected with the machine vision system. The invention can realize the autonomous movement of the robot in the working area and meet the flexible conveying requirement of workpieces with various shapes and sizes.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to an automatic-guiding intelligent double-arm carrying robot.
Background
The application of the transfer robot in the welding workshop is common, but the form that the mechanical arm is fixed by a base or a walking shaft is used is mostly adopted. The two use forms limit the working space of the robot, and the carrying route is not flexible enough. Furthermore, the robot is dependent on the gripper for gripping the work piece, and the overall flexibility is not high due to the limited flexibility of the gripper. Even if the gripping apparatus is switched, the gripping apparatus occupies a large space due to the large volume of the gripping apparatus, and the gripping apparatus is difficult to achieve high flexibility under the condition of limited space. The automobile industry also has the case of adding a mechanical arm to an automatic guide trolley, which can realize a flexible carrying route, but only can grab small workpieces such as studs and the like due to the adoption of a single mechanical arm. With the coming of the customized requirements of the automobile market, the intelligent and flexible level of the welding production of the automobile body is urgently needed to be improved. The invention adopts a form of combining an automatic guide platform, two mechanical arms and machine vision. The automatic guiding platform can realize the free walking of the robot, and ensure the flexibility and the intellectualization of the route. The double mechanical arms can simulate workers to grip workpieces by using two hands, and intelligent and flexible carrying of vehicle body workpieces or production and maintenance tools and the like can be realized under the guidance of a machine vision system.
Disclosure of Invention
The invention provides an automatic-guiding intelligent double-arm transfer robot with a simple structure, which can realize the autonomous movement of the robot in a working area, meets the flexible transfer requirements of workpieces with various shapes and sizes, and solves the problems of the existing transfer robot.
The technical scheme of the invention is described as follows by combining the attached drawings:
an automatic-guiding intelligent double-arm carrying robot comprises a first mechanical arm 1, a second mechanical arm 2, an automatic guiding platform 3, a first quick-change device 4, a second quick-change device 5, a first tool hand 6, a second tool hand 7, a tool hand storage 8, a hopper 9 and a machine vision system 10; the automatic guiding platform 3 is placed on the horizontal ground; one ends of the first mechanical arm 1 and the second mechanical arm 2 are symmetrically fixed at two ends of the automatic guide platform 3; the other end of the first mechanical arm 1 is connected with a first tool hand 6 through a first quick-change device 4; the other end of the second mechanical arm 2 is connected with a second tool hand 7 through a second quick-change device 5; four tool hand storage bins 8 are arranged at two ends of the automatic guide platform 3; the hopper 9 is arranged in the middle of the automatic guide platform 3; the automatic guide platform 3 is connected with a central control system; the central control system is connected with a machine vision system 10.
The first mechanical arm 1 adopts a four-axis mechanical arm.
The second mechanical arm 2 adopts a four-axis mechanical arm.
The first tool hand 6 is a gripper.
The first tool hand 6 is an electromagnetic chuck.
The second tool hand 7 is a gripper.
The second tool hand 7 is an electromagnetic chuck.
The automatic guide platform 3 comprises an automatic guide trolley; the automatic guide trolley is provided with a magnetic navigation device; the magnetic navigation is connected with a central control system; and a balancing weight is arranged at the bottom of the automatic guide trolley.
The invention has the beneficial effects that:
the invention can realize the autonomous movement of the robot in the working area and meet the flexible conveying requirement of workpieces with various shapes and sizes.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of the present invention.
In the figure: 1. a first robot arm; 2. a second mechanical arm; 3. an automated guided platform; 4. a first quick-change device; 5. a second quick-change device; 6. a first tool hand; 7. a second tool hand; 8. a tool hand storage; 9. a hopper; 10. a machine vision system; 11. and (5) a workpiece.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Referring to fig. 1, the automatic-guiding intelligent double-arm carrying robot comprises a first mechanical arm 1, a second mechanical arm 2, an automatic guiding platform 3, a first quick-change device 4, a second quick-change device 5, a first tool hand 6, a second tool hand 7, a tool hand storage 8, a hopper 9 and a machine vision system 10.
The automated guided platform 3 is placed on a level ground.
One ends of the first mechanical arm 1 and the second mechanical arm 2 are symmetrically fixed at two ends of the automatic guide platform 3; the other end of the first mechanical arm 1 is connected with a first tool hand 6 through a first quick-change device 4; the other end of the second mechanical arm 2 is connected with a second tool hand 7 through a second quick-change device 5. The first mechanical arm 1 and the second mechanical arm 2 adopt four-axis mechanical arms.
Four tool hand storage bins 8 are arranged at two ends of the automatic guide platform 3; the hopper 9 is arranged in the middle of the automatic guide platform 3; the automatic guide platform 3 is connected with a central control system; the central control system is connected with a machine vision system 10.
The machine vision system 10 is external, and the first tool hand 6 and the second tool hand 7 can independently or mutually cooperate to realize the grabbing and the carrying of the workpiece 11 or other tools under the guidance of the machine vision.
The two mechanical arms adopt linkage control; the mechanical arm can be switched through the quick-change device, and the switched tool hand is stored in the tool hand storage 8 and is installed again when needed; the machine vision system 10 is arranged on the periphery of a workpiece appliance and is used for guiding a robot to automatically grab and place a workpiece; the magazine 9 may be used to store work pieces or tools, etc. from the robotic arm.
The working principle of the invention is as follows:
the automatic guide platform 3 can automatically walk to a position to be operated under the instruction of the central control system, the operation position of the robot can be any position in a working area, the most convenient walking route can be selected according to the requirement of integral logistics during moving, and the moving mode of the robot is more flexible compared with the moving mode of an external shaft of the robot.
After the robot reaches the designated position, the first mechanical arm 1 and the second mechanical arm 2 automatically select a first tool hand 6 and a second tool hand 7 which are suitable according to the difference of workpieces or tools to be grabbed, and the tool hands are quickly replaced through the first quick-change device 4 and the second quick-change device 5.
According to the grabbing requirements of workpieces or tools with different shapes and sizes, the tool hand can be designed to store various tools, such as a clamp, an electromagnetic chuck and the like, and the tool hand storage 8 is used for storing the replaced tool hand. After obtaining the proper tool hands, the two mechanical arms can be matched with each other under the indication of the linkage control system to act, the process that a worker grabs the workpiece 11 by using two hands is simulated, two proper grabbing points are selected, and the enough grabbing strength is ensured on the premise that the workpiece to be grabbed is not damaged.
The external machine vision system 10 is used to correct the relative position between the robot and the workpiece storage device and to guide the robot arm to complete the grasping. According to the production condition of welding workshop at present, the work of snatching that the operation workman can accomplish can both realize through the robot to because the instrument hand of robot is changeable, the scope of snatching of robot is stronger than mankind, can adapt to the needs of snatching of the middle-size and small-size work piece of all automobile bodies like this.
In order to ensure the balance of the robot in the working process, an auxiliary stabilizing mechanism of the robot can be added at the operation position if necessary, so as to expand the arm extension range of the robot, further widen the reach range of the robot and strengthen the grabbing capacity of the robot. The workpieces taken by the robot arm can be placed on the magazine 9, which helps to free the robot arm, so that the robot can simultaneously carry a plurality of workpieces at a time or perform different jobs in sequence.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. An automatic-guiding intelligent double-arm carrying robot is characterized by comprising a first mechanical arm (1), a second mechanical arm (2), an automatic guiding platform (3), a first quick-change device (4), a second quick-change device (5), a first tool hand (6), a second tool hand (7), a tool hand storage warehouse (8), a hopper (9) and a machine vision system (10); the automatic guide platform (3) is placed on the horizontal ground; one ends of the first mechanical arm (1) and the second mechanical arm (2) are symmetrically fixed at two ends of the automatic guide platform (3); the other end of the first mechanical arm (1) is connected with a first tool hand (6) through a first quick-change device (4); the other end of the second mechanical arm (2) is connected with a second tool hand (7) through a second quick-change device (5); four tool hand storage storehouses (8) are arranged at two ends of the automatic guide platform (3); the hopper (9) is arranged in the middle of the automatic guide platform (3); the automatic guide platform (3) is connected with a central control system; the central control system is connected with a machine vision system (10).
2. An automated guided intelligent dual-arm handling robot according to claim 1, wherein the first robot arm (1) is a four-axis robot arm.
3. An automated guided intelligent two-arm handling robot according to claim 1, wherein the second robot arm (2) is a four-axis robot arm.
4. An automated guided intelligent dual-arm handling robot according to claim 1, wherein the first tool hand (6) is a gripper.
5. An automated guided intelligent two-arm handling robot according to claim 1, wherein the first tool hand (6) is an electromagnetic chuck.
6. An automated guided intelligent dual-arm handling robot according to claim 1, wherein the second tool hand (7) is a gripper.
7. An automated guided intelligent two-arm handling robot according to claim 1, characterized in that the second tool hand (7) is an electromagnetic chuck.
8. An automated guided intelligent dual-arm handling robot according to claim 1, wherein the automated guided platform (3) comprises an automated guided vehicle; the automatic guide trolley is provided with a magnetic navigation device; the magnetic navigation is connected with a central control system; and a balancing weight is arranged at the bottom of the automatic guide trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010410736.1A CN111673738A (en) | 2020-05-15 | 2020-05-15 | Automatic guide intelligence both arms transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010410736.1A CN111673738A (en) | 2020-05-15 | 2020-05-15 | Automatic guide intelligence both arms transfer robot |
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| CN111673738A true CN111673738A (en) | 2020-09-18 |
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| CN202010410736.1A Pending CN111673738A (en) | 2020-05-15 | 2020-05-15 | Automatic guide intelligence both arms transfer robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3167803B2 (en) * | 1991-08-19 | 2001-05-21 | ウエスチングハウス・エレクトリック・コーポレイション | Inspection method and device |
| CN1695906A (en) * | 2005-06-16 | 2005-11-16 | 武汉大学 | Detection robot |
| CN205549266U (en) * | 2016-03-11 | 2016-09-07 | 武汉科技大学 | Search for and rescue humanoid robot |
| CN106363612A (en) * | 2016-10-18 | 2017-02-01 | 南京航空航天大学 | Visual guidance type omnidirectional mobile double-arm robot and omnidirectional moving method thereof |
| CN108818493A (en) * | 2018-07-16 | 2018-11-16 | 汕头大学 | A kind of compound mobile robot and compound Mobile Robot Control System |
-
2020
- 2020-05-15 CN CN202010410736.1A patent/CN111673738A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3167803B2 (en) * | 1991-08-19 | 2001-05-21 | ウエスチングハウス・エレクトリック・コーポレイション | Inspection method and device |
| CN1695906A (en) * | 2005-06-16 | 2005-11-16 | 武汉大学 | Detection robot |
| CN205549266U (en) * | 2016-03-11 | 2016-09-07 | 武汉科技大学 | Search for and rescue humanoid robot |
| CN106363612A (en) * | 2016-10-18 | 2017-02-01 | 南京航空航天大学 | Visual guidance type omnidirectional mobile double-arm robot and omnidirectional moving method thereof |
| CN108818493A (en) * | 2018-07-16 | 2018-11-16 | 汕头大学 | A kind of compound mobile robot and compound Mobile Robot Control System |
Non-Patent Citations (2)
| Title |
|---|
| 金凌芳等: "《工业机器人概论》", 31 August 2017, 浙江科学技术出版社 * |
| 陈绪林: "《工业机器人操作编程及调试维护》", 30 November 2018, 西安交通大学出版社 * |
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Application publication date: 20200918 |
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| RJ01 | Rejection of invention patent application after publication |