CN112150878A - Artificial intelligence production platform and comprehensive ability training system - Google Patents
Artificial intelligence production platform and comprehensive ability training system Download PDFInfo
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- CN112150878A CN112150878A CN202011013682.1A CN202011013682A CN112150878A CN 112150878 A CN112150878 A CN 112150878A CN 202011013682 A CN202011013682 A CN 202011013682A CN 112150878 A CN112150878 A CN 112150878A
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Abstract
The invention discloses an artificial intelligence production platform and a comprehensive ability training system, which relate to the technical field of intelligent manufacturing and comprise a sorting and assembling workstation, an intelligent robot, a mobile operation arm, a material platform A, a material platform B, a stereoscopic warehouse, 5G customer front equipment, a protective fence, an intelligent vision system, a main control system, a display screen and the like. The method is characterized in that a robot artificial intelligence technology application platform is built by combining an intelligent sensing technology, an artificial intelligence technology and a 5G communication technology around the real scene business requirements of the robot applied in the intelligent manufacturing industry, and the capability of enabling complex scenes such as intelligent manufacturing and the like of the robot artificial intelligence technology is displayed.
Description
Technical Field
The invention belongs to the technical field of intelligent manufacturing, and particularly relates to an artificial intelligence production platform and a comprehensive ability training system.
Background
With the increasing demand of the transformation and upgrading of the manufacturing industry in China and the continuous development of the industrial robot technology, the industrial robot is widely applied to simple procedures such as single operation mode, repetition and the like in the traditional manufacturing industry. The industrial robots still belong to 'first generation' teaching reappearance type robots, have the defects of lacking intelligence, usually work in a fixed protective fence, can partially or completely replace manual work to complete a single repetitive work task, and are mainly applied to structured work scenes with known surrounding environment states and small changes, such as standardized assembly line production, assembly, mechanical repeated labor and other work scenes. However, in the industries of automobile parts, 3C electronics, ceramic bathroom and hardware die casting, a large number of operation scenes exist in which operation workpieces and environments are highly unstructured, such as processes of low automation degree and severe operation environment, such as spraying, polishing, grinding and assembling, and the improvement of production efficiency is limited because the operation is mainly performed by manually combining special equipment.
To sum up, the production mode that current manual work combines professional equipment, on the one hand seriously influences the healthy of operation personnel, and on the other hand its production efficiency and product quality can't satisfy huge market demand. Therefore, the problems that the huge market demand is contradictory to the low production efficiency, the physical health of operators is contradictory to the problem that the operation skills of the operators cannot adapt to high-end equipment are solved.
Disclosure of Invention
The invention provides an artificial intelligence production platform and a comprehensive ability training system, aims to solve the problem that the physical health of operators, the production efficiency and the product quality cannot meet the huge market demands due to the application of the existing robot, and improves the intelligent attribute of the robot so as to accelerate the transformation and upgrading of the manufacturing industry.
The invention is mainly realized by the following technical scheme:
the utility model provides an artificial intelligence production platform and real standard system of comprehensive ability training, equipment mainly by letter sorting and assembly workstation, intelligent robot, remove operation arm, material platform A, material platform B, stereoscopic warehouse, 5G customer leading equipment, protection rail, intelligent vision system, master control system, show screen etc. and constitute.
Sorting and assembly work station contains work base station, industrial robot, quick change anchor clamps module, 3D intelligent camera support, letter sorting station material box, the supplementary special plane of assembly, places platform, secondary positioner, controller, touch display screen etc.. The automatic sorting and assembling machine is characterized in that an industrial robot, a 3D intelligent camera, a quick-change clamp module and an assembling auxiliary special machine are used as cores, and tasks such as disordered sorting, positioning and assembling of scattered materials are completed based on artificial intelligence technologies such as deep learning.
The intelligent robot comprises an intelligent moving chassis, a main body trunk, double flexible mechanical arms, a humanoid head and the like, is used for completing the transportation of a material box filled with a workpiece A and a workpiece B (screws and nuts) based on intelligent object recognition, intelligent voice recognition and intelligent navigation technologies, and is used for carrying the material box filled with the workpiece A and the workpiece B from a material table B to a sorting and assembling workstation, randomly dumping the workpiece A and the workpiece B into a sorting station material box and carrying the material box from the sorting and assembling workstation to the material table B;
the mobile operation arm comprises a mobile robot, a cooperation robot, a grabbing clamp, a 2D intelligent camera, a mobile robot charging pile and the like, is used for completing transportation of a workpiece C (box) based on intelligent object recognition and intelligent navigation technologies, transporting a semi-finished workpiece C to a sorting and assembling workstation from a material platform A, and transporting a finished workpiece D formed by assembling the workpiece A, the workpiece B and the workpiece C to a stereoscopic warehouse from the sorting and assembling workstation.
The material platform A comprises a material platform main body A, a semi-finished workpiece C and the like and is used for storing the semi-finished workpiece C.
The material platform B comprises a material platform main body, a material box B, workpieces A and B of different models and the like, and is used for storing the workpieces A and B of different models.
The stereoscopic warehouse comprises a warehouse main body, a bin, a signal indicator light and the like and is used for storing a workpiece C and a workpiece D of a finished product formed by assembling the workpiece A, the workpiece B and the workpiece C.
5G customer premises equipment is used for intelligent robot passes through 5G communication technology and connects high in the clouds wisdom brain.
The protective fence is used for protecting operators and equipment in the technical platform, an induction sensor is installed at the entrance of the protective fence, when the protective door is opened, the equipment enters an early warning state, and the operation speed is reduced or the operation is stopped according to the perception condition of each unit of equipment.
The intelligent vision system comprises a computer desk, a computer, an intelligent vision programming system and the like and is used for programming the intelligent camera to complete tasks such as identification, pose estimation and the like.
The master control system comprises a computer desk, a computer, a control system programming module and the like and is used for compiling a master control program for controlling the cooperative operation of all units of the robot artificial intelligence technology application platform.
The display screen comprises a display screen, a support and the like and is used for displaying a simulation system, an intelligent visual programming system, a map building and navigation system of the mobile robot and the like.
The operation flow shows the application artificial intelligence technology of industrial robots, intelligent robots, mobile operation arms, external equipment and the like in an actual industrial scene, and the intelligent operation flows of sorting, positioning, assembling and the like of workpieces are completed through cooperative operation.
Further, the sorting and assembling work station comprises: workstation, industrial robot, quick change anchor clamps module, 3D intelligence camera support, letter sorting station material box, the supplementary special plane of assembly, place platform, secondary positioner, controller, touch display screen:
the industrial robot is installed on the working base, and a clamp main disc in the quick-change clamp module is installed at the tail end of the industrial robot.
The quick-change clamp module is installed on the working base and located in the side working range of the industrial robot. The quick-change clamp module comprises a fixing base plate, a quick-change support, a detection sensor, sorting tools of a workpiece A and a workpiece B, assembling tools of the workpiece A and the workpiece B, grabbing tools of a workpiece C and a workpiece D and the like. The sorting tool for the workpieces A and B, the assembling tool for the workpieces A and B, and the grabbing tool for the workpieces C and D are placed on the quick-change support with the positioning and detecting functions.
The sorting tool for the workpieces A and B comprises a quick-change clamp auxiliary disc, a clamping cylinder, a profiling clamp and the like, and can be used for self-adaptively clamping the workpieces A and B of different models.
The assembling tool for the workpieces A and B comprises a quick-change clamp auxiliary disc, a special assembling mechanism and the like, and is used for grabbing the workpieces A and B and assembling the workpieces A and B into a workpiece C.
The grabbing tool for the workpiece C and the workpiece D comprises a quick-change clamp auxiliary disc, a clamping cylinder, a chuck and the like, and is used for clamping the semi-finished workpiece C and the finished workpiece D.
The industrial robot is characterized in that a terminal clamp of the industrial robot is switched to be a sorting tool of a workpiece B, and the workpiece B is accurately sorted and placed to the secondary positioning device in the sorting station material box. And the end clamp of the industrial robot is switched to be an assembling tool of the workpiece B, the workpiece B positioned on the secondary positioning device is grabbed and placed on the semi-finished workpiece C, and a structure capable of enabling the workpiece B to be vertically and stably placed is designed on the semi-finished workpiece C. The industrial robot is characterized in that the tail end clamp is switched to a grabbing tool, the workpiece B which is placed is grabbed and placed on the workbench of the assembly auxiliary special machine, the workpiece B is fastened to the workpiece C on the assembly auxiliary special machine, and then the workpiece C of the fastened semi-finished product is conveyed to the placing bench. Further, industrial robot's end anchor clamps switch over into work piece A's letter sorting instrument, follow and be located will accurate letter sorting work piece A, accurate placing to secondary positioner in letter sorting station material box. The end clamp of the industrial robot is switched to an assembling tool of the workpiece A, the workpiece C assembled with the workpiece B is grabbed, the workpiece A is fastened into the workpiece C by means of the assembling tool and finally locked with the workpiece B, a finished workpiece D is obtained, and the finished workpiece D is conveyed onto the placing table by the grabbing tool.
The 3D intelligent camera is installed on the 3D intelligent camera support, the 3D intelligent camera support is installed on the working base platform and located on the side of the industrial robot.
The sorting station material box is located on the working base table and is located in the visual field range of the 3D intelligent camera. The 3D intelligent camera identifies pose information of workpieces A and B of different models based on an artificial intelligence algorithm, sends the pose information to the main control system and the industrial robot controller through the main control system, the tail end clamp of the industrial robot is switched into sorting tools of the workpieces A and B, and the workpieces A and B are sorted and assembled to the secondary positioning device in the sorting station material box. And the end clamp of the industrial robot is switched to an assembling tool of the workpiece A and the workpiece B, the workpiece A and the workpiece B on the secondary positioning device are grabbed, and the workpiece A and the workpiece B are assembled on the semi-finished workpiece C.
The special assembly auxiliary machine is arranged on the working base and located in the front working range of the industrial robot. The industrial robot is characterized in that a terminal clamp of the industrial robot is switched to a grabbing tool for a workpiece C and a workpiece D, the workpiece C is grabbed and placed on a workbench of the assembly auxiliary special machine, a workpiece B is fastened to the workpiece C on the assembly auxiliary special machine, and the fastened semi-finished workpiece C is carried to the placing bench.
The placing table is installed on the working base and located in the working range of the industrial robot and consists of a fixed base plate, a fixed support and a table board, and a positioning block matched with the overall dimension of the workpiece A is arranged on the table board and used for placing and accurately positioning the workpiece C.
The secondary positioning device is installed on the working base station and located in the working range of the industrial robot and consists of a fixed base plate, a fixed support and a secondary positioning panel, and positioning holes matched with various types of workpieces A and B are formed in the secondary positioning panel and used for placing and accurately positioning the workpieces A and B.
The controller is arranged in the working base station and is matched with the main control system to control the robot artificial intelligence technology application platform to cooperatively operate.
The touch display screen is arranged on the working base platform, consists of a fixed support, a touch screen and the like, is matched with the controller and the main control system for use, controls the equipment operation of each unit in a visual man-machine interaction mode, and displays the equipment operation state information.
Furthermore, the intelligent robot comprises an intelligent moving chassis, a main body trunk, double flexible mechanical arms, a humanoid head and the like.
6 ultrasonic sensors and 1 laser radar are installed to the circumferencial direction on intelligent movement chassis for the perception barrier. The intelligent mobile chassis is driven by 3 omnidirectional wheels, 2 collision detection sensors are mounted on the shells of the omnidirectional wheels, when the shells collide with other objects, the robot can stop moving forward, and the robot is prevented from continuously extruding the colliding objects. And each cliff detection sensor is arranged outside 3 wheels of the chassis, and when a pit appears outside the wheel, an alarm is triggered, so that the robot can stop moving forward, and the robot is prevented from falling down. The intelligent mobile chassis establishes an operation scene map according to task requirements, and drives and guides the intelligent robot to safely move in the field range of the robot artificial intelligence technology application platform.
The main part trunk contains the waist that has 3 degrees of freedom and the knee that has 1 degree of freedom, the waist is installed and is used for keeping away the degree of depth camera of barrier and the 2D camera that is used for gathering scene information to and be used for gathering speech information's microphone array, based on the intelligent speech recognition technique of degree of depth study, realize the intelligent voice interaction task with people's cooperation.
The double-flexible mechanical arm is composed of two 7-freedom-degree flexible mechanical arms and two 5-freedom-degree flexible hands, the flexible hands are mounted at the tail ends of the flexible mechanical arms, each joint of the mechanical arms is driven by a flexible actuator, and components such as a brushless servo motor, a driver, a speed reducer and an encoder are integrated inside the mechanical arms. And the flexible mechanical arm is matched with the stereo camera to grab and carry the material boxes of the workpiece A and the workpiece B.
The human-simulated head is composed of a head structure main body, 3-degree-of-freedom neck joints, a stereo camera, a face recognition camera and a 5G communication module. The stereo camera collects operation scene information, the 5G communication module transmits the operation scene information to a cloud intelligent brain, the cloud intelligent brain identifies and positions material boxes of a workpiece A and a workpiece B based on an artificial intelligence algorithm and sends pose information to the intelligent robot through the 5G communication module, the intelligent robot drives the flexible mechanical arm to grab and carry the material boxes of the workpiece A and the workpiece B, the material boxes containing the workpiece A and the workpiece B are carried to a sorting and assembling workstation from a material platform B, and the material boxes of the workpiece A and the workpiece B are carried to the material platform B from the sorting and assembling workstation.
Further, the mobile operation arm comprises a mobile robot, a cooperative robot, a grabbing clamp, a 2D intelligent camera and the like.
The mobile robot comprises a mobile platform, a laser radar, an ultrasonic sensor, a load platform and the like, and has the functions of omnidirectional movement, environment map building and autonomous navigation.
The cooperative robot is installed on a load platform of the mobile robot and has the functions of collision detection, dragging teaching, man-machine safety interaction and the like.
The grabbing tool is arranged at the tail end of the cooperative robot, comprises an electric paw, a workpiece A copying chuck and the like, and is used for grabbing a workpiece C.
The 2D intelligent camera is installed at the tail end of the cooperative robot and used for accurately identifying the workpiece C and the position of the positioning block on the placing table, and high-precision grabbing operation is achieved. The mobile robot autonomously navigates to move to the operation position of the material platform A, the 2D intelligent camera is placed above a semi-finished workpiece C by the cooperative robot, the 2D intelligent camera identifies the accurate pose of the semi-finished workpiece C, the cooperative robot is intelligently guided to grasp the semi-finished workpiece C by the grasping tool, the mobile operation arm keeps grasping the semi-finished workpiece C and autonomously navigates to move to the operation position of the sorting and assembling workstation, the 2D intelligent camera is placed above the placing platform by the cooperative robot, the positioning block on the placing platform is identified by the 2D intelligent camera, and the semi-finished workpiece C is intelligently guided to be placed on the positioning block of the placing platform by the cooperative robot. Waiting for a semi-finished workpiece C to be assembled and fastened, placing a 2D intelligent camera above the workpiece C and the workpiece D by the aid of the cooperative robot, identifying the accurate pose of the finished workpiece D by the 2D intelligent camera, intelligently guiding the cooperative robot to grasp the finished workpiece D by the aid of the grasping tool, keeping the grasped finished workpiece D by the aid of the movable operation arm, automatically navigating and moving the grasped finished workpiece D to the operation position of the stereoscopic warehouse, placing the 2D intelligent camera above the position of the stereoscopic warehouse by the cooperative robot, identifying a positioning block on the position of the stereoscopic warehouse by the aid of the 2D intelligent camera, and intelligently guiding the cooperative robot to place the finished workpiece D on the positioning block of the stereoscopic warehouse.
The mobile robot charging pile is used for charging the mobile robot, the electric quantity of the mobile robot is too low, and based on an intelligent navigation technology, the mobile robot is automatically butted with the charging pile to execute a charging task.
Further, the material table a includes a material table main body a, a semi-finished workpiece C, and the like, and is used for storing the semi-finished workpiece C.
The material table main body A consists of a main body bracket and a table top and is used for placing a semi-finished workpiece C;
the semi-finished workpiece C is stable in structure and can bear the stamping acting force of the auxiliary special assembly machine.
Further, the material platform B comprises a material platform main body B, a material box B, workpieces A and B of different models and the like, and is used for storing the workpieces A and B of different models.
The material table main body B also comprises a main body bracket and a table top and is used for placing a material box B;
the material box B is used for containing workpieces A and workpieces B of different types, and the workpieces A and the workpieces B are randomly placed in the material box.
Further, stereoscopic warehouse contains warehouse main part, position in a warehouse, signal indication lamp etc..
The bin comprises positioning blocks matched with the sizes of the finished workpieces D after the workpieces A, B and C are assembled, and the accurate placement position of the workpieces D is guaranteed.
The signal indicator light is arranged on the warehouse body and can display the current storage state of the bin.
Furthermore, the intelligent vision system comprises a computer desk, a computer, an intelligent vision programming system and the like. The method is used for programming the intelligent camera to complete tasks such as identification and pose estimation. The intelligent visual programming system adopts a modular design, simplifies the traditional code programming into graphical programming, and can obtain the upper control authority of the industrial robot, thereby controlling the movement of the robot by adopting the graphical programming.
Furthermore, the master control system comprises a computer desk, a computer, a control system programming module and the like and is used for compiling a master control program for controlling the cooperative operation of all units of the robot artificial intelligence technology application platform.
Furthermore, the display screen comprises a display screen, a support and the like, is used for visually displaying the simulation system, the intelligent visual programming system, the map building and navigation system of the mobile robot and the like, and improves the popularization and the display of the robot artificial intelligence technology application platform.
Further, the operation process depends on technologies such as an artificial intelligence technology, an intelligent robot technology, a 5G network technology, a multi-sensor fusion technology, an autonomous control technology, an autonomous decision making technology and autonomous planning, industrial robots, intelligent robots, mobile operation arms and the like are used as carriers, an equipment platform uses an artificial intelligence platform and an artificial intelligence tool based on real scene service requirements of the robots in the intelligent manufacturing industry, perception data such as images and videos of the intelligent robots are processed, analyzed and labeled, a data set is constructed, an artificial intelligence pre-training model is used for training, evaluating and deploying, and the autonomous decision making and planning tool is used for intelligently controlling the robots to complete operation tasks.
The invention has the advantages that:
(1) the invention is based on the artificial intelligence technology, takes various robots such as industrial robots, intelligent robots, mobile operation arms and the like as carriers, and the various intelligent robots cooperate to enable the artificial intelligence technology. The method is characterized in that a robot artificial intelligence technology application platform is built by combining an intelligent sensing technology, an artificial intelligence technology and a 5G communication technology around the real scene business requirements of the robot applied in the intelligent manufacturing industry, and the capability of enabling complex scenes such as intelligent manufacturing and the like of the robot artificial intelligence technology is displayed.
(2) For the core capacity culture of the artificial intelligence, the invention can be used as a training and competition platform, training and examining operators apply the artificial intelligence platform and artificial intelligence tools, the sensing data of images, videos and the like of the intelligent robot are processed, analyzed and labeled, a data set is constructed, an artificial intelligence pre-training model is applied to training, evaluating and deploying, and the capacity of the intelligent robot is applied to an autonomous decision and planning tool.
(3) The invention can examine the capability of the operator to the comprehensive application programming of the scene, and effectively cultivate high-quality novel composite technical skill talents.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a schematic diagram of an application platform of the robot artificial intelligence technology of the invention.
Fig. 3 is a schematic view of a sorting and assembly station.
Fig. 4 is a schematic view of the moving operation arm.
Fig. 5 is a schematic view of a material table a.
Fig. 6 is a schematic view of a material table B.
Fig. 7 is a schematic view of a stereoscopic warehouse.
Fig. 8 is a schematic view of a quick-change clamp module.
Fig. 9 is a schematic view of a sorting tool for a workpiece B.
Fig. 10 is a schematic view of the assembly tool of the workpiece B.
Fig. 11 is a schematic view of a gripping tool for workpieces C and D.
Fig. 12 is a schematic view of a secondary positioning device.
1-a sorting and assembling workstation, 101-a working base, 102-an industrial robot, 103-a quick-change clamp module, 1031-a fixing bottom plate, 1032-a quick-change bracket, 1033-a detection sensor, 1034-a sorting tool, 10341-a quick-change clamp auxiliary disc, 10342-a clamp bracket positioning plate, 10343-a clamping cylinder, 10344-a copying chuck, 1035-an assembling tool, 1035 3-a special assembling mechanism, 1036-a grabbing tool, 104-3D intelligent cameras, 105-3D intelligent camera brackets, 106-a sorting station material box, 107-an auxiliary special assembling machine, 108-a placing table, 109-a secondary positioning device, 1091-a fixing substrate, 1092-a fixing bracket, 1093-a secondary positioning panel, 1010-a controller and 1011-a touch display screen;
2-an intelligent robot;
3-moving an operation arm, 301-moving a robot, 302-cooperating the robot, 303-2D intelligent camera, 304-grabbing a clamp, 305-moving the robot charging pile;
4-material table a, 401-material table main body a;
5-material table B, 501-material table main body B, 502-material box B;
6-stereoscopic warehouse, 601-warehouse body, 602-position, 603-signal indicator light;
7-5G customer premises equipment;
8-a protective fence;
9-smart vision system;
10-a master control system;
11-display screen.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 12, an artificial intelligence production platform and a comprehensive ability training system are mainly composed of a sorting and assembling workstation 1, an intelligent robot 2, a mobile operation arm 3, a material table a4, a material table B5, a stereoscopic warehouse 6, 5G customer front equipment 7, a protective fence 8, an intelligent vision system 9, a main control system 10, a display screen 11, and the like.
Sorting and assembly workstation 1 contains work base 101, industrial robot 102, quick change anchor clamps module 103, 3D intelligent camera 104, 3D intelligent camera support 105, letter sorting station material box 106, the supplementary special plane 107 of assembly, places platform 108, secondary positioner 109, controller 1010, touch display screen 1011 etc.. The automatic material sorting and assembling system is mainly composed of an industrial robot 102, a 3D intelligent camera 104, a quick-change clamp module 103 and an assembling auxiliary special machine 107, and is used for completing tasks of disordered sorting, positioning, assembling and the like of scattered materials based on artificial intelligence technologies such as deep learning and the like.
The intelligent robot 2 comprises an intelligent moving chassis, a main body trunk, double flexible mechanical arms, a humanoid head and the like, is used for completing the transportation of a material box containing a workpiece A and a workpiece B based on intelligent object recognition, intelligent voice recognition and intelligent navigation technologies, carries the material box B502 containing the workpiece B from a material table B5 to a sorting and assembling workstation 1, randomly dumps the workpiece B into a sorting station material box 106, and carries the material box from the sorting and assembling workstation 1 to a material table B5;
the mobile operation arm 3 comprises a mobile robot 301, a cooperation robot 302, a grabbing clamp 304, a 2D intelligent camera 303, a mobile robot 301 charging pile and the like, is used for completing transportation of a workpiece C, transporting a semi-finished workpiece C from a material platform A4 to a sorting and assembling workstation 1 and transporting a finished workpiece D from the sorting and assembling workstation 1 to a stereoscopic warehouse 6 on the basis of intelligent object recognition and intelligent navigation technologies.
The material table A4 includes a material table main body a401, a semi-finished workpiece C, and the like, and stores the semi-finished workpiece C.
The material table B5 comprises a material table main body B501, a material box B502, workpieces A and B of different types and the like, and is used for storing the workpieces A and B of different types.
The stereoscopic warehouse 6 includes a warehouse main body 601, a bin 602, a signal indicator 603, and the like, and is used for storing finished workpieces a.
5G customer premises equipment 7 is used for intelligent robot 2 connects high in the clouds wisdom brain through 5G communication technology.
The protective fence 8 is used for protecting operators and equipment in the technical platform, an induction sensor is installed at an inlet of the protective fence 8, when the protective door is opened, the equipment enters an early warning state, and the running speed is reduced or the equipment stops running according to the perception condition of each unit of equipment.
The intelligent vision system 9 comprises a computer desk, a computer, an intelligent vision programming system and the like, and is used for programming the intelligent camera to complete tasks such as identification, pose estimation and the like.
The master control system 10 comprises a computer desk, a computer, a control system programming module and the like, and is used for compiling a master control program for controlling the cooperative operation of each unit of the robot artificial intelligence technology application platform.
The display screen 11 includes a display screen, a support, and the like, and is used for displaying a simulation system, an intelligent visual programming system, a map building and navigation system of the mobile robot 301, and the like.
The operation flow shows the intelligent operation flows of sorting, positioning, assembling and the like of workpieces completed by cooperative operation through the artificial intelligence technology applied to the industrial robot 102, the intelligent robot 2, the mobile operation arm 3, the external equipment and the like in an actual industrial scene.
In this embodiment, the sorting and assembling station 1 comprises: workstation 101, industrial robot 102, quick change anchor clamps module 103, 3D intelligence camera 104, 3D intelligence camera support 105, letter sorting station material box 106, the supplementary special plane 107 of assembly, place platform 108, secondary positioner 109, controller 1010, touch display screen 1011:
the industrial robot 102 is mounted on the working base 101, and the fixture main disc in the quick-change fixture module 103 is mounted at the end of the industrial robot 102.
The quick-change clamp module 103 is installed on the working base 101 and is located in the side working range of the industrial robot 102. The quick-change clamp module 103 comprises a fastening base 1031, a quick-change holder 1032, a detection sensor 1033, a sorting tool 1034 for the workpieces a and B, an assembly tool 1035 for the workpieces a and B, a gripper tool 1036 for the workpieces C and D, etc. The sorting tool 1034 for the workpieces a and B, the assembly tool 1035 for the workpieces a and B, and the gripper tool 1036 for the workpieces C and D are placed on the quick-change carriage 1032 with positioning and detection functions.
The sorting tool 1034 for the workpieces a and B comprises a quick-change clamp auxiliary disc 10341, a clamp bracket positioning plate 10342, a clamping cylinder 10343, a profiling chuck 10344 and the like, and can clamp the workpieces a and B of different models in a self-adaptive manner.
The assembly tool 1035 for the workpieces a and B includes a quick-change jig sub 10341, a dedicated assembly mechanism 10353 (for screw locking), and the like, and is used for grasping the workpieces a and B and assembling them into the workpiece C.
The tool 1036 for gripping the workpieces C and D comprises a quick-change clamp sub-disc 10341, a clamping cylinder 10343, a profiling chuck 10344, etc., for gripping the semi-finished and finished workpieces D.
The end gripper of the industrial robot 102 is switched to the sorting tool 1034 for the workpiece a and the workpiece B, and the workpiece B is accurately sorted and accurately placed to the secondary positioning device 109 from the material box 106 located at the sorting station. The end clamp of the industrial robot 102 is switched to the assembling tool 1035 of the workpiece B, the workpiece B on the secondary positioning device 109 is grasped, and the workpiece B is placed on the semi-finished workpiece C, and a structure enabling the workpiece B to be vertically and stably placed is designed on the semi-finished workpiece C. The end gripper of the industrial robot 102 is switched to the gripping tool 1036 of the workpiece C, grips the placed workpiece B and places it on the work table of the special assembly auxiliary machine 107, fastens the workpiece B into the workpiece C on the special assembly auxiliary machine 107, and then carries the fastened semi-finished workpiece C onto the placing table 108. Further, the end clamp of the industrial robot is switched to the sorting tool 1034 of the workpiece a, and the workpiece a is accurately sorted and placed to the secondary positioning device 109 from the material box located at the sorting station. The end gripper of the industrial robot is switched to the assembly tool 1035 for the workpiece a, grasps the workpiece a on the secondary positioning device 109, and places the workpiece a on the workpiece C on which the workpiece B has been assembled, and a structure enabling the workpiece a to be placed vertically and stably is also designed on the workpiece C. The end gripper of said industrial robot 102 switches to a gripping tool 1036 for the workpiece C, grips the workpiece C already fitted with the workpiece B and fastens the workpiece a into the workpiece C by means of the fitting tool 1035 and finally locks with the workpiece B, obtaining a finished workpiece D, the gripping tool 1036 carries the finished workpiece D onto said placing table 108.
The 3D smart camera 104 is mounted on the 3D smart camera holder 105, and the 3D smart camera holder 105 is mounted on the work base 101 and is located at a side of the industrial robot 102.
The sorting station material box 106 is located on the working base 101 and within the visual field of the 3D smart camera 104. The 3D intelligent camera 104 identifies pose information of workpieces a and B of different models based on an artificial intelligence algorithm, sends the pose information to the master control system 10, and sends the pose information to the controller 1010 of the industrial robot 102 through the master control system 10, the end clamp of the industrial robot 102 is switched to a sorting tool 1034 for the workpieces a and B, and the workpieces a and B are sorted from the sorting station material box 106 and assembled to the secondary positioning device 109. The end gripper of the industrial robot 102 is switched to the assembling tool 1035 of the workpiece a and the workpiece B, grasps the workpiece a and the workpiece B on the secondary positioning device 109, and assembles onto the semi-finished workpiece C.
The special assembly auxiliary machine 107 is mounted on the working base 101 and located in the front working range of the industrial robot 102.
The placing table 108 is mounted on the working base 101, located in the working range of the industrial robot 102, and composed of a fixing bottom plate 1031, a fixing support and a table top, wherein a positioning block matched with the shape and size of the workpiece C is arranged on the table top and used for placing and accurately positioning the workpiece C.
The secondary positioning device 109 is mounted on the working base 101, is located in the working range of the industrial robot 102, and is composed of a fixed base plate 1091, a fixed support 1092 and a secondary positioning panel 1903, and the secondary positioning panel 1093 is provided with positioning holes matched with the workpieces A and B of various types for placing and accurately positioning the workpieces A and B.
The controller 1010 is installed inside the working base 101, and is matched with the main control system 10 to control the cooperative operation of all units of the robot artificial intelligence technology application platform.
The touch display screen 1011 is installed on the working base 101, is composed of a fixed support, a touch screen and the like, is used in cooperation with the controller 1010 and the main control system 10, controls the equipment operation of each unit in a visual man-machine interaction mode, and displays the equipment operation state information.
In this embodiment, the intelligent robot 2 includes an intelligent mobile chassis, a main body trunk, a double flexible mechanical arm, a humanoid head, and the like.
6 ultrasonic sensors and 1 laser radar are installed to the circumferencial direction on intelligent movement chassis for the perception barrier. The intelligent mobile chassis is driven by 3 omnidirectional wheels, 2 collision detection sensors 1033 are mounted on the shell of each omnidirectional wheel, and when the shell collides with other objects, the robot can stop moving forward, so that the robot is prevented from continuously extruding the collided objects. And each cliff detection sensor 1033 is arranged outside each wheel of the chassis, when a pit appears outside each wheel, an alarm is triggered, and the robot can stop moving forward to avoid falling down. The intelligent mobile chassis establishes an operation scene map according to task requirements, and drives and guides the intelligent robot 2 to safely move in the field range of the robot artificial intelligence technology application platform.
The main part trunk contains the waist that has 3 degrees of freedom and the knee that has 1 degree of freedom, the waist is installed and is used for keeping away the degree of depth camera of barrier and the 2D camera that is used for gathering scene information to and be used for gathering speech information's microphone array, based on the intelligent speech recognition technique of degree of depth study, realize the intelligent voice interaction task with people's cooperation.
The double-flexible mechanical arm is composed of two 7-freedom-degree flexible mechanical arms and two 5-freedom-degree flexible hands, the flexible hands are mounted at the tail ends of the flexible mechanical arms, each joint of the mechanical arms is driven by a flexible actuator, and components such as a brushless servo motor, a driver, a speed reducer and an encoder are integrated inside the mechanical arms. And in cooperation with the stereo camera, the flexible mechanical arm is used for grabbing and carrying the material box B502.
The human-simulated head is composed of a head structure main body, 3-degree-of-freedom neck joints, a stereo camera, a face recognition camera and a 5G communication module. The stereo camera collects operation scene information, the 5G communication module transmits the operation scene information to a cloud intelligent brain, the cloud intelligent brain identifies and positions the material box B502 based on an artificial intelligence algorithm, the 5G communication module sends pose information to the intelligent robot 2, the intelligent robot 2 drives the flexible mechanical arm to grab and carry the material box B502, the material box B502 with a workpiece B is carried to the sorting and assembling work station 1 from the material table B5, and the material box B502 is carried to the material table B5 from the sorting and assembling work station 1.
In the present embodiment, the mobile operation arm 3 includes a mobile robot 301, a collaboration robot 302, a gripping jig 304, a 2D smart camera 303, and the like.
The mobile robot 301 comprises a mobile platform, a laser radar, an ultrasonic sensor, a load platform and the like, and has an omnidirectional mobile function, an environment map building function and an autonomous navigation function.
The cooperative robot 302 is mounted on a load platform of the mobile robot 301, and has functions of collision detection, dragging teaching, man-machine safe interaction, and the like.
The gripping clamp 304 is mounted at the end of the cooperative robot 302, and is composed of an electric gripper, a workpiece C copying chuck 10344 and the like, and is used for gripping the workpiece C.
The 2D smart camera 303 is mounted at the end of the cooperative robot 302, and is used for accurately identifying the positions of the workpiece C and the positioning block on the placing table 108, so as to realize high-precision grabbing operation. The mobile robot 301 autonomously navigates to the working position of the material table a4, the cooperative robot 302 places the 2D smart camera 303 above the semi-finished workpiece C, the 2D smart camera 303 identifies the precise pose of the semi-finished workpiece C, the cooperative robot 302 is intelligently guided to grasp the semi-finished workpiece C by the grasping jig 304, the mobile operation arm 3 keeps grasping the semi-finished workpiece C and autonomously navigates to the sorting and assembling station 1 working position, the cooperative robot 302 places the 2D smart camera 303 above the placing table 108, the 2D smart camera 303 identifies the positioning block on the placing table 108, and the cooperative robot 302 is intelligently guided to place the semi-finished workpiece C on the positioning block on the placing table 108. Waiting for the semi-finished workpiece C to be assembled and fastened, the cooperative robot 302 places the 2D smart camera 303 above the workpiece placement table 108, the 2D smart camera 303 identifies the precise pose of the finished workpiece D, the cooperative robot 302 is intelligently guided to grasp the finished workpiece D by using the grasping fixture 304, the mobile operation arm 3 keeps grasping the finished workpiece D and autonomously navigates to the operation position of the stereoscopic warehouse 6, the cooperative robot 302 places the 2D smart camera 303 above the stereoscopic warehouse 6 bin 602, the 2D smart camera 303 identifies the positioning block on the stereoscopic warehouse 6 bin 602, and the cooperative robot 302 is intelligently guided to place the finished workpiece D on the positioning block of the stereoscopic warehouse 6 bin 602.
In the present embodiment, the material table A4 includes a material table main body a401, a semi-finished workpiece C, and the like, and stores the semi-finished workpiece C.
The material table main body A401 consists of a main body bracket and a table top and is used for placing a semi-finished workpiece C;
the semi-finished workpiece C has a stable structure and can bear the stamping acting force of the special assembly auxiliary machine 107.
In this embodiment, the material table B5 includes a material table main body B501, a material box B502, different types of workpieces a and B, and the like, and is used for storing different types of workpieces a and B.
The material table main body B501 is also composed of a main body bracket and a table top and is used for placing a material box B502;
the material box B502 is used for workpieces A and workpieces B of different types, and a plurality of workpieces A and workpieces B are randomly placed in the material box.
In this embodiment, the stereoscopic warehouse 6 includes a warehouse body 601, a bin 602, a signal indicating lamp 603, and the like.
The bin 602 contains a positioning block matched with the size of the finished workpiece A, so that the accurate placement position of the workpiece A is ensured.
The signal indicator 603 is mounted on the warehouse body 601, and may display the storage status of the current bin 602.
In this embodiment, the smart vision system 9 includes a computer desk, a computer, a smart vision programming system, and the like. The method is used for programming the intelligent camera to complete tasks such as identification and pose estimation. The intelligent visual programming system adopts a modular design, simplifies the traditional code programming into graphical programming, and can obtain the upper control authority of the industrial robot 102, thereby controlling the robot motion in a graphical mode programming mode.
In this embodiment, the main control system 10 includes a computer desk, a computer, a control system programming module, and the like, and is used for writing a main control program for controlling the cooperative operation of each unit of the robot artificial intelligence application platform.
In this embodiment, the display screen 11 includes a display screen, a support, and the like, and is used for visually displaying the simulation system, the intelligent visual programming system, the mapping and navigation system of the mobile robot 301, and the like, so as to improve the popularity and the exhibition performance of the robot artificial intelligence technology application platform.
In this embodiment, the operation process relies on the artificial intelligence technology, the intelligent robot 2 technology, the 5G network technology, the multi-sensor fusion technology, the autonomous control technology, the autonomous decision making technology, the autonomous planning technology and other technologies, the industrial robot 102, the intelligent robot 2, the mobile operation arm 3 and the like are used as carriers, based on the real scene service requirements of the robot in the intelligent manufacturing industry, the equipment platform uses the artificial intelligence platform and the artificial intelligence tool to process, analyze and label the sensing data of the image, the video and the like of the intelligent robot 2, construct a data set, use the artificial intelligence pre-training model to train, evaluate and deploy, and use the autonomous decision making and planning tool to intelligently control the robot to complete the operation task.
The specific working process of the invention is as follows:
1. the operator sends a flow starting instruction to the intelligent robot 2 in a voice conversation mode. The intelligent moving chassis of the intelligent robot 2 establishes an operation scene map according to task requirements, plans an optimal operation point and an optimal path moving from the current position to the material platform 5, and drives and guides the intelligent robot 2 to move to the optimal operation point.
2. The intelligent robot 2 is characterized in that a stereo camera with a humanoid head part collects operation scene information, the 5G communication module is used for transmitting the operation scene information to a cloud intelligent brain, the cloud intelligent brain identifies and positions a workpiece B placing frame and a material box provided with a workpiece A (screw) and a workpiece B (nut) based on an artificial intelligence algorithm, pose information is sent to the intelligent robot 2 through the 5G communication module, the intelligent robot 2 drives the flexible mechanical arm to sequentially grab and carry the material box, the material box provided with the workpiece A and the workpiece B is carried, sorted and a workstation station is carried from the material table 5, the workpiece A and the workpiece B are randomly poured into a sorting station material box 106, and the intelligent robot 2 carries the material box to the designated position of the material table 5.
3, when an operator sends a flow starting instruction to the intelligent robot 2, the mobile operation arm 3 is synchronously started, the mobile robot autonomously moves to the operation position of a material platform A4 with a workpiece C from the current position according to the operation instruction, the 2D intelligent camera is placed above the workpiece C of the semi-finished product by the cooperation robot, the 2D intelligent camera identifies the accurate pose of the workpiece C of the semi-finished product, the intelligent guiding cooperation robot utilizes a grabbing clamp to grab the workpiece C of the semi-finished product, the mobile operation arm 3 keeps grabbing the workpiece C of the semi-finished product and autonomously navigates and moves to the operation position of the sorting and assembling work station 1, the 2D intelligent camera is placed above the placing platform 108 by the cooperation robot, the positioning block on the placing platform 108 is identified by the 2D intelligent camera, and the semi-finished workpiece C is placed on the positioning block on the placing platform 108 by the intelligent guiding cooperation robot.
4. The 3D intelligent camera 104 on the sorting and assembling workstation 1 recognizes the pose information of the workpieces B of different models on the workpiece B placing rack based on an artificial intelligence algorithm, sends the pose information to the main control system, and sends the pose information to the industrial robot controller 1010 through the main control system, the end clamp of the industrial robot 102 is switched to a sorting tool (a sorting tool of a screw nut) of the workpiece a and the workpiece B, the workpiece B is sorted from the material box 106 positioned on the sorting station and placed on the secondary positioning device 109, and then the workpiece B is grabbed by means of the assembling tool 1035 and placed on the workpiece C of the semi-finished product on the placing table 108.
5. The end clamp of the industrial robot 102 on the sorting and assembling workstation 1 is switched to the gripping tool of the workpiece C, the workpiece C on which the workpiece B has been placed is gripped and placed on the workbench of the special assembly auxiliary machine 107, the special assembly auxiliary machine 107 rivets the workpiece B into the workpiece C, then the end clamp of the industrial robot 102 is switched to the gripping tool of the workpiece C and the workpiece D (gripping tool of the workpiece C), and the finished workpiece C on which the workpiece a and the workpiece B have been riveted is carried to the positioning block on the placing table 108.
6. The end gripper of the industrial robot 102 at the sorting and assembling station 1 is switched to an assembling tool 1035 (screw locking tool) for the workpiece a, and the workpiece a located on the secondary positioning device 109 is gripped, locked and fixed to the workpiece C on which the riveting of the workpiece B is completed, and finally locked with the workpiece B.
7. After a semi-finished workpiece C is subjected to riveting of a workpiece B (nut) and locking of a workpiece A (screw) to obtain a finished workpiece D, a 2D intelligent camera is placed above a placing table 108 by a cooperative robot, the 2D intelligent camera identifies the accurate pose of the finished workpiece D, the cooperative robot is intelligently guided to grasp the finished workpiece D by a grasping clamp, a moving operation arm 3 keeps grasping the finished workpiece D and autonomously navigates to move to the operation position of a stereoscopic warehouse 6, the 2D intelligent camera is placed above a bin 6 of the stereoscopic warehouse by the cooperative robot, a positioning block on the bin 6 of the stereoscopic warehouse is identified by the 2D intelligent camera, and the cooperative robot is intelligently guided to place the finished workpiece D on the positioning block on the bin 6 of the stereoscopic warehouse.
8. The steps are a complete operation flow, and each unit can independently complete the sub-flow, which is not limited to the above case.
In summary, compared with the prior art, the invention has the following advantages:
1. the artificial intelligence application technology and the robot technology are fused, various types of equipment such as industrial robots, intelligent robots and mobile operation arms are used as carriers, the artificial intelligence technology and the 5G technology are applied around the real scene and business requirements of the robots applied in the intelligent manufacturing industry, and the capability of comprehensively applying the artificial intelligence related technology to the complex scene with the robots as the carriers is improved.
2. The application platform of the robot artificial intelligence technology is an invention reflecting the technical characteristics of artificial intelligence in the industrial industry, reflecting the bottom layer, the foundation and the application of the artificial intelligence application technology on an intelligent robot, being a fusion application and having engineering characteristics.
3. The equipment platform has the advantages of popularization and industrial application, can well reflect the characteristics of multi-sensor fusion, human-computer interaction, intelligent operation and maintenance, decision and planning application technologies, and shows the enabling application of the artificial intelligence technology in the intelligent robot.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (8)
1. An artificial intelligence production platform and a comprehensive ability training system are characterized by comprising a sorting and assembling workstation (1), an intelligent robot (2), a mobile operation arm (3), a material table A (4), a material table B (5), a stereoscopic warehouse (6), 5G customer front equipment (7), a protective fence (8), an intelligent visual system (9), a main control system (10) and a display screen (11);
the sorting and assembling workstation (1) is used for finishing the tasks of sorting, positioning and assembling scattered materials in disorder;
the intelligent robot (2) is used for completing the transportation of material boxes containing workpieces A and B, transporting the material boxes containing the workpieces A and B from the material table B (5) to the sorting and assembling workstation (1), randomly dumping the workpieces B into the sorting station material boxes (106), and transporting the material boxes from the sorting and assembling workstation (1) to the material table B (5);
the mobile operating arm (3) is used for completing the transportation of the workpiece C, transporting the semi-finished workpiece C from the material platform A (4) to the sorting and assembling workstation (1), and transporting the finished workpiece A from the sorting and assembling workstation (1) to the stereoscopic warehouse (6);
the material table A (4) is used for storing semi-finished workpieces C;
the material table B (5) is used for storing workpieces A and workpieces B of different types;
the stereoscopic warehouse (6) is used for storing a workpiece A, a workpiece B and a finished workpiece D after the workpiece C is assembled;
the 5G client front equipment (7) is used for connecting the intelligent robot (2) with a cloud intelligent brain through a 5G communication technology;
the protective fence (8) is used for protecting operators and equipment in the technical platform;
the intelligent vision system (9) is used for programming the intelligent camera to complete the tasks of identification and pose estimation;
the master control system (10) is used for compiling a master control program for controlling the cooperative operation of all units of the robot artificial intelligence technology application platform;
the display screen (11) is used for displaying images and data of a simulation system, an intelligent visual programming system, a map building and navigation system of the mobile robot (301).
2. The artificial intelligence production platform and comprehensive ability training system according to claim 1, wherein: the sorting and assembling workstation (1) comprises a working base (101), an industrial robot (102), a quick-change clamp module (103), a 3D intelligent camera (104), a 3D intelligent camera support (105), a sorting station material box (106), an assembly auxiliary special machine (107), a placing table (108), a secondary positioning device (109), a controller (1010) and a touch display screen (1011);
the industrial robot (102) is mounted on the working base (101), and a clamp master disc in the quick-change clamp module (103) is mounted at the tail end of the industrial robot (102);
the quick-change clamp module (103) is mounted on the working base (101) and is positioned in the side working range of the industrial robot (102);
the 3D intelligent camera (104) is installed on the 3D intelligent camera support (105), and the 3D intelligent camera support (105) is installed on the working base platform (101) and located on the side of the industrial robot (102).
The sorting station material box (106) is positioned on the working base (101) and is used for temporarily storing the workpieces B;
the special assembly auxiliary machine (107) is mounted on the working base (101) and located in a front working range of the industrial robot (102), and the special assembly auxiliary machine (107) is used for fastening a workpiece B into a semi-finished workpiece C;
the placing table (108) is arranged on the working base (101) and is used for placing and accurately positioning a workpiece A;
the secondary positioning device (109) is arranged on the working base (101), is positioned in the working range of the industrial robot (102) and is used for placing and accurately positioning a workpiece A and a workpiece B;
the controller (1010) is arranged in the working base station (101) and is matched with the main control system (10) to control the units of the robot artificial intelligence technology application platform to cooperatively work;
the touch display screen (1011) is arranged on the working base station (101), comprises a fixed support and a touch screen, is matched with the controller (1010) and the main control system (10) for use, controls the equipment operation of each unit in a visual man-machine interaction mode, and displays the equipment operation state information.
3. The artificial intelligence production platform and comprehensive ability training system according to claim 1, wherein: the mobile operation arm (3) comprises a mobile robot (301), a cooperation robot (302), a grabbing clamp (304) and a 2D intelligent camera (303);
the mobile robot (301) has an omnidirectional mobile function, an environment map building function and an autonomous navigation function;
the cooperative robot (302) is installed on a load platform of the mobile robot (301) and has collision detection, dragging teaching and man-machine safety interaction functions;
the gripping fixture (304) is mounted at the end of a cooperating robot (302) for gripping a workpiece a.
The 2D intelligent camera (303) is installed at the tail end of the cooperative robot (302) and is used for accurately identifying the positions of the workpiece A and a positioning block on the placing table (108) and realizing high-precision grabbing operation;
the mobile robot (301) charging pile is used for charging the mobile robot (301).
4. The artificial intelligence production platform and comprehensive ability training system according to claim 1, wherein: the material table A (4) comprises a material table main body A (401) for storing a semi-finished workpiece C;
the material platform B (5) comprises a material platform main body B (501) and a material box B (502), the material platform main body B (501) is used for placing the material box B (502), and the material box B (502) is used for storing workpieces A and workpieces B of different models.
5. The artificial intelligence production platform and comprehensive ability training system according to claim 1, wherein: the stereoscopic warehouse (6) comprises a warehouse main body (601), a bin (602) and a signal indicator light (603);
the bin (602) comprises positioning blocks matched with the sizes of a workpiece D of a finished product formed by assembling the workpiece A, the workpiece B and the workpiece C, so that the accurate placement position of the workpiece D is ensured;
the signal indicator lamp (603) is mounted on the warehouse body (601) and can display the current storage state of the bin (602).
6. The artificial intelligence production platform and comprehensive ability training system according to claim 1, wherein: the intelligent vision system (9) comprises a computer desk, a computer and an intelligent vision programming system and is used for programming the intelligent camera to finish the tasks of identification and pose estimation;
the intelligent visual programming system adopts a modular design, simplifies the traditional code programming into graphical programming, and can obtain the upper control authority of the industrial robot (102), thereby controlling the robot motion in a graphical mode programming mode.
7. The artificial intelligence production platform and comprehensive ability training system according to claim 1, wherein: the master control system (10) comprises a computer desk, a computer and a control system programming module and is used for compiling a master control program for controlling the cooperative operation of all units of the robot artificial intelligence technology application platform.
8. The artificial intelligence production platform and the comprehensive ability training system of claim 1, wherein the display screen (11) comprises a display screen and a support, and is used for visually displaying images and data of a simulation system, an intelligent visual programming system and a mapping and navigation system of the mobile robot (301).
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