CN112548985A - Magnetic adsorption robot system and magnetic adsorption robot control method - Google Patents
Magnetic adsorption robot system and magnetic adsorption robot control method Download PDFInfo
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- CN112548985A CN112548985A CN202011513317.7A CN202011513317A CN112548985A CN 112548985 A CN112548985 A CN 112548985A CN 202011513317 A CN202011513317 A CN 202011513317A CN 112548985 A CN112548985 A CN 112548985A
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
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- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Abstract
The application provides a magnetic adsorption robot system and a magnetic adsorption robot control method, relates to the technical field of magnetic adsorption robots, and the system comprises: the magnetic adsorption robot comprises a controller, a magnetic adsorption robot and an accompanying magnetic adsorption device; the magnetic adsorption robot is used for contacting with a first surface of a workpiece to be adsorbed, and the accompanying magnetic adsorption device is used for contacting with a second surface of the workpiece to be adsorbed; the structural polarity of one surface of the magnetic adsorption robot, which is contacted with the workpiece to be adsorbed, is opposite to that of one surface of the magnetic adsorption device, which is contacted with the workpiece to be adsorbed; the controller is respectively connected with the magnetic adsorption robot and the accompanying magnetic adsorption device and is used for simultaneously sending the generated motion instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device so as to respectively enable the magnetic adsorption robot to move on the first surface of the workpiece to be adsorbed and the accompanying magnetic adsorption device to move on the second surface of the workpiece to be adsorbed. By the aid of the magnetic adsorption robot, universality of the magnetic adsorption robot can be improved.
Description
Technical Field
The application relates to the technical field of magnetic adsorption robots, in particular to a magnetic adsorption robot system and a magnetic adsorption robot control method.
Background
With the rapid development of robot technology, magnetic adsorption robots are widely applied in various fields (such as industrial fields), can also be called wall-climbing robots and can be particularly used for operations such as welding, rust removal, paint spraying, detection and the like.
At present, a magnetic adsorption robot mainly walks and works on a workpiece to be adsorbed, which is formed by a magnetic adsorption module (such as a magnetic crawler belt or a magnetic wheel) on the magnetic adsorption robot and a workpiece to be adsorbed, which is made of a magnetic conductive material. That is, the workpiece to be adsorbed must be magnetic conductive material in nature, and the magnetic adsorption machine can work on the workpiece to be adsorbed.
However, some workpieces to be adsorbed have characteristics of non-magnetic conductive materials, and for the workpieces to be adsorbed of the non-magnetic conductive materials, the magnetic adsorption robot cannot be used in cooperation with the workpieces to be adsorbed. Therefore, the use of the current magnetic adsorption robot is limited by the material of the workpiece to be adsorbed, resulting in poor universality of the magnetic adsorption robot.
Disclosure of Invention
An object of the present application is to provide a magnetic adsorption robot system and a magnetic adsorption robot control method, which can improve the universality of a magnetic adsorption robot, in view of the above-mentioned shortcomings 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 magnetic adsorption robot system, where the system includes: the magnetic adsorption robot comprises a controller, a magnetic adsorption robot and an accompanying magnetic adsorption device; the magnetic adsorption robot is used for being in contact with a first surface of a workpiece to be adsorbed, and the accompanying magnetic adsorption device is used for being in contact with a second surface of the workpiece to be adsorbed; the structural polarity of one surface of the magnetic adsorption robot, which is in contact with the workpiece to be adsorbed, is opposite to that of one surface of the magnetic adsorption device, which is in contact with the workpiece to be adsorbed;
the controller is respectively connected with the magnetic adsorption robot and the accompanying magnetic adsorption device;
the controller is used for generating a motion instruction, and sending the motion instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device at the same time, wherein the motion instruction is used for indicating the magnetic adsorption robot and the accompanying magnetic adsorption device to keep synchronous motion;
the magnetic adsorption robot is used for moving on the first surface of the workpiece to be adsorbed according to the motion instruction;
the accompanying magnetic adsorption device is used for moving on the second surface of the workpiece to be adsorbed according to the movement instruction.
Optionally, a motion sensor is arranged on the magnetic adsorption robot;
the motion sensor is connected with the controller;
the motion sensor is used for detecting the motion state of the magnetic adsorption robot and transmitting the detected motion state of the magnetic adsorption robot to the controller;
the controller is also used for determining whether to simultaneously send a motion adjusting instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device according to the motion state of the magnetic adsorption robot.
Optionally, at least one first magnetic flux sensor is arranged on one surface of the magnetic adsorption robot, which is close to the workpiece to be adsorbed;
each first magnetic flux sensor is respectively connected with the controller;
each first magnetic flux sensor is used for detecting the position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device and transmitting the detected position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device to the controller;
the controller is also used for determining whether to send a position calibration instruction to the magnetic adsorption robot and/or the accompanying magnetic adsorption device according to the position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device.
Optionally, at least one second magnetic flux sensor is arranged on one surface of the accompanying magnetic adsorption device, which is close to the workpiece to be adsorbed;
each second magnetic flux sensor is respectively connected with the controller;
each second magnetic flux sensor is used for detecting the position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device and transmitting the detected position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device to the controller;
the controller is further used for determining whether to send the position calibration instruction to the magnetic adsorption robot and/or the accompanying magnetic adsorption device according to the position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device.
Optionally, the controller is provided on the magnetic adsorption robot or the accompanying magnetic adsorption device.
Optionally, the structure of the surface of the magnetic adsorption robot, which is in contact with the workpiece to be adsorbed, is a wheel type, a crawler type or a wheel-track type;
optionally, the controller is further configured to send a work instruction to the magnetic-adsorption robot;
the magnetic adsorption robot is further used for working according to the working instruction.
In a second aspect, an embodiment of the present application further provides a magnetic attraction robot control method, where the method is applied to the magnetic attraction robot system of the first aspect, where the magnetic attraction robot system includes: the magnetic adsorption robot comprises a controller, a magnetic adsorption robot and an accompanying magnetic adsorption device;
the magnetic adsorption robot control method comprises the following steps:
the controller generates a motion instruction and simultaneously sends the motion instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device, and the motion instruction is used for indicating the magnetic adsorption robot and the accompanying magnetic adsorption device to keep synchronous motion;
the magnetic adsorption robot moves on the first surface of the workpiece to be adsorbed according to the movement instruction;
and the accompanying magnetic adsorption device moves on the second surface of the workpiece to be adsorbed according to the movement instruction.
Optionally, a motion sensor is arranged on the magnetic adsorption robot; the magnetic adsorption robot control method further includes:
the motion sensor detects the motion state of the magnetic adsorption robot and transmits the detected motion state of the magnetic adsorption robot to the controller;
the controller determines whether to simultaneously send a motion adjustment instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device according to the motion state of the magnetic adsorption robot.
Optionally, at least one first magnetic flux sensor is arranged on one surface of the magnetic adsorption robot, which is close to the workpiece to be adsorbed; the magnetic adsorption robot control method further includes:
each of the first magnetic flux sensors detects a positional relationship between the magnetic adsorption robot and the accompanying magnetic adsorption device, respectively, and transmits the detected positional relationship between the magnetic adsorption robot and the accompanying magnetic adsorption device to the controller;
the controller determines whether to send a position calibration instruction to the magnetic adsorption robot and/or the accompanying magnetic adsorption device according to a position relationship between the magnetic adsorption robot and the accompanying magnetic adsorption device.
Optionally, at least one second magnetic flux sensor is arranged on one surface of the accompanying magnetic adsorption device, which is close to the workpiece to be adsorbed; the magnetic adsorption robot control method further includes:
each of the second magnetic flux sensors detects a positional relationship between the magnetic adsorption robot and the accompanying magnetic adsorption device, respectively, and transmits the detected positional relationship between the magnetic adsorption robot and the accompanying magnetic adsorption device to the controller;
the controller is further used for determining whether to send the position calibration instruction to the magnetic adsorption robot and/or the accompanying magnetic adsorption device according to the position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device.
Optionally, the magnetic adsorption robot control method further includes:
the controller sends a working instruction to the magnetic adsorption robot;
and the magnetic adsorption robot works according to the working instruction.
The beneficial effect of this application is:
the embodiment of the application provides a magnetic adsorption robot system and a magnetic adsorption robot control method, and the system comprises: the magnetic adsorption robot comprises a controller, a magnetic adsorption robot and an accompanying magnetic adsorption device; the magnetic adsorption robot is used for contacting with a first surface of a workpiece to be adsorbed, and the accompanying magnetic adsorption device is used for contacting with a second surface of the workpiece to be adsorbed; the structural polarity of one surface of the magnetic adsorption robot, which is contacted with the workpiece to be adsorbed, is opposite to that of one surface of the magnetic adsorption device, which is contacted with the workpiece to be adsorbed; the controller is respectively connected with the magnetic adsorption robot and the accompanying magnetic adsorption device; the controller is used for generating a motion instruction, and sending the motion instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device at the same time, wherein the motion instruction is used for indicating the magnetic adsorption robot and the accompanying magnetic adsorption device to keep synchronous motion; the magnetic adsorption robot is used for moving on the first surface of the workpiece to be adsorbed according to the motion command; the magnetic adsorption device is used for moving on the second surface of the workpiece to be adsorbed according to the movement instruction. Adopt the magnetism adsorption robot system that this application embodiment provided, through with magnetism adsorption robot, along with magnetism adsorption equipment respectively with the controller be connected to the structure polarity of this magnetism adsorption robot and the one side of treating to adsorb the work piece contact with this along with magnetism adsorption equipment with the structure polarity of the one side of treating to adsorb the work piece contact is opposite, this magnetism adsorption robot and this along with magnetism adsorption equipment are given simultaneously to the motion instruction that this controller will generate. Therefore, the magnetic adsorption robot can synchronously move on different wall surfaces to be adsorbed with workpiece characteristics, the phenomenon that the magnetic adsorption robot is limited by materials to be adsorbed with workpieces is avoided, and the universality of the magnetic adsorption robot can be improved.
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 magnetic adsorption robot system according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of another magnetic adsorption robot system provided in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of another magnetic adsorption robot system provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of another magnetic adsorption robot system provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a magnetic adsorption robot according to an embodiment of the present disclosure;
fig. 6 is a schematic flowchart of a magnetic adsorption robot control method according to an embodiment of the present application.
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.
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 invention, as claimed, 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 magnetic adsorption robot system provided in an embodiment of the present application, and as shown in fig. 1, the system includes: a controller 100, a magnetic attraction robot 101, and a magnetic attraction device 102; wherein, the magnetic adsorption robot 101 is used for contacting with a first surface of the workpiece 103 to be adsorbed, and the magnetic adsorption device 102 is used for contacting with a second surface of the workpiece 103 to be adsorbed; the polarity of the structure of the surface of the magnetic attraction robot 101 in contact with the workpiece 103 to be attracted is opposite to the polarity of the structure of the surface of the magnetic attraction device 102 in contact with the workpiece 103 to be attracted.
The controller 100 is connected to the magnetic attraction robot 101 and the magnetic attraction device 102; the controller 100 is configured to generate a motion instruction, and send the motion instruction to the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 at the same time, where the motion instruction is used to instruct the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 to keep moving synchronously; the magnetic adsorption robot 101 is used for moving on the first surface of the workpiece 103 to be adsorbed according to the motion instruction; the magnetic adsorption device 102 is used for moving on the second surface of the workpiece 103 to be adsorbed according to the motion instruction.
The workpiece 103 to be adsorbed may be made of a magnetic material (such as an iron-cobalt-nickel plate) or a non-magnetic material (such as a non-ferrous metal plate), and the application does not limit the material. During operation, a magnetic conduction structure (such as a magnetic conduction wheel) on the magnetic adsorption robot 101 contacts with a first surface of the workpiece 103 to be adsorbed, and contacts with a magnetic conduction structure on the magnetic adsorption device 102 and a second surface of the workpiece 103 to be adsorbed, and the magnetic conduction structure on the magnetic adsorption robot 101 is opposite to the magnetic conduction structure on the magnetic adsorption device 102 in polarity, and when the magnetic conduction structure on the magnetic adsorption robot 101 is an N pole, the magnetic conduction structure on the magnetic adsorption device 102 is an S pole; when the magnetic conductive structure of the magnetic attraction robot 101 is an S-pole, the polarity of the magnetic conductive structure of the accompanying magnetic attraction device 102 is an N-pole, and the polarity of the magnetic conductive structure of the accompanying magnetic attraction device 102 is not limited in this application, and may be opposite to the polarity of the magnetic conductive structure of the accompanying magnetic attraction device 102.
The controller 100 is connected to the magnetic attraction robot 101 through a first control terminal thereon, and the controller 100 is connected to the magnetic attraction means 102 through a second control terminal thereon. The operator can send control commands to the controller 100 via a host and/or a handheld device (not shown) communicatively connected to the controller 100 according to actual needs. Specifically, the host and the handheld device may include an interactive interface, the interface may include a plurality of control buttons, and the control buttons may include a speed control button, a direction control button, an operation parameter adjustment button, and the like, which is not limited in the present application.
The controller 100 may be connected to the magnetic attraction robot 101, the host computer, and the handheld device in a wired or wireless communication manner, respectively, and is not limited in this application.
The controller 100 may generate a motion command according to the control command sent by the host, and send the motion command to the motion control port of the magnetic attraction robot 101 and the motion control port of the magnetic attraction device 102 through the first control end and the second control end thereof, respectively. That is, when the controller 100 transmits a motion command for controlling the magnetic attraction robot 101 to move to the magnetic attraction robot 101, the motion command is also transmitted to the accompanying magnetic attraction device 102. For example, the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 may be initially placed at the same start position with respect to the workpiece 103 to be attracted, as much as possible so that the normal vector of the magnetic attraction robot 101 coincides with the normal vector of the accompanying magnetic attraction device 102. Assuming that the motion command is to turn left, the magnetic attraction robot 101 turns left on the first face of the workpiece 103 to be attracted, along with the magnetic attraction means 102 turning left on the second face of the workpiece 103 to be attracted.
It can be seen that, the magnetic adsorption robot 101 and the accompanying magnetic adsorption device 102 are controlled by a motion instruction, so that the magnetic adsorption robot 101 and the accompanying magnetic adsorption device 102 can keep attracting each other in real time, and the magnetic adsorption robot and the accompanying magnetic adsorption device 102 generate friction force with the workpiece 103 to be adsorbed under the action of the adsorption force, so as to keep synchronous motion, thereby avoiding the phenomenon that the magnetic adsorption robot 101 slides or falls off on the first surface of the workpiece 103 to be adsorbed due to the influence of the characteristics (such as non-magnetic materials) and the thickness of the workpiece 103 to be adsorbed, and reducing the probability of safety accidents.
In summary, the magnetic adsorption robot system provided by the present application may include: the magnetic adsorption robot comprises a controller, a magnetic adsorption robot and an accompanying magnetic adsorption device; the magnetic adsorption robot is used for contacting with a first surface of a workpiece to be adsorbed, and the accompanying magnetic adsorption device is used for contacting with a second surface of the workpiece to be adsorbed; the structural polarity of one surface of the magnetic adsorption robot, which is contacted with the workpiece to be adsorbed, is opposite to that of one surface of the magnetic adsorption device, which is contacted with the workpiece to be adsorbed; the controller is respectively connected with the magnetic adsorption robot and the accompanying magnetic adsorption device; the controller is used for generating a motion instruction, and sending the motion instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device at the same time, wherein the motion instruction is used for indicating the magnetic adsorption robot and the accompanying magnetic adsorption device to keep synchronous motion; the magnetic adsorption robot is used for moving on the first surface of the workpiece to be adsorbed according to the motion command; the magnetic adsorption device is used for moving on the second surface of the workpiece to be adsorbed according to the movement instruction. The magnetic adsorption robot system is characterized in that a magnetic adsorption robot and an accompanying magnetic adsorption device are respectively connected with a controller, the structural polarity of one surface of the magnetic adsorption robot, which is in contact with a workpiece to be adsorbed, is opposite to that of one surface of the accompanying magnetic adsorption device, which is in contact with the workpiece to be adsorbed, and the controller simultaneously sends generated motion instructions to the magnetic adsorption robot and the accompanying magnetic adsorption device. Therefore, the magnetic adsorption robot can synchronously move on different wall surfaces to be adsorbed with workpiece characteristics, the phenomenon that the magnetic adsorption robot is limited by materials to be adsorbed with workpieces is avoided, and the universality of the magnetic adsorption robot can be improved.
Fig. 2 is a schematic structural diagram of another magnetic adsorption robot system according to an embodiment of the present disclosure, and as shown in fig. 2, a motion sensor 200 is disposed on a magnetic adsorption robot 101, and the motion sensor 200 is connected to a controller 100; the motion sensor 200 is configured to detect a motion state of the magnetic attraction robot 101 and transmit the detected motion state of the magnetic attraction robot 101 to the controller 100; the controller 100 is also configured to determine whether to simultaneously send a motion adjustment instruction to the magnetic attraction robot 101 and the accompanying magnetic attraction means 102 according to the motion state of the magnetic attraction robot 101.
The motion sensor 200 provided on the magnetic adsorption robot 101 may include a speed sensor, a direction sensor, an acceleration sensor, and the like, and the application does not limit the types and the number of the motion sensors 200. The motion sensor 200 can feed back the detected motion state of the magnetic adsorption robot 101 to the controller 100 in communication connection with the motion sensor, the controller 100 can compare the received motion state with the motion parameters contained in the motion command stored in advance, if the deviation of the motion state and the motion parameters is within a first preset deviation range, the controller does not need to send the motion adjustment command to the magnetic adsorption robot 101 and the accompanying magnetic adsorption device 102, and if the deviation of the motion state and the motion parameters is not within the first preset deviation range, the controller needs to send the motion adjustment command to the magnetic adsorption robot 101 and the accompanying magnetic adsorption device 102 at the same time, so that the accuracy of the magnetic adsorption robot 101 in motion can be improved, and the magnetic adsorption robot 101 can be ensured to be continuously adsorbed on the first surface of the workpiece 103 to be adsorbed to move.
In an implementable embodiment, a first motion sensor may be provided along with the magnetic attachment means 102, the first motion sensor may be connected to the controller 100 in a wired or wireless manner, and feeds back the motion state of the accompanying magnetic attraction device 102 to the controller 100 in real time, and the controller 100 may compare the received motion state of the accompanying magnetic attraction device 102 with the received motion state of the magnetic attraction robot 101, and if the deviation between the two is within a first preset deviation range, the controller may not send a first motion adjustment command to the accompanying magnetic attachment means 102, if the deviation is not within the first predetermined deviation range, the controller needs to send the first movement adjustment instruction to the accompanying magnetic attraction means 102 so that the accompanying magnetic attraction means 102 and the magnetic attraction robot 101 keep moving synchronously and the magnetic attraction robot 101 can travel normally on the workpiece 103 to be attracted.
In another practical embodiment, if the controller 100 determines that the received motion state fed back by the motion sensor 200 on the magnetic attraction robot 101 and the motion parameter included in the motion command stored in advance are within the first preset deviation range, the received motion state fed back by the motion sensor 200 on the magnetic attraction robot 101 may be compared with the received motion state fed back along with the first motion sensor on the magnetic attraction device 102, and whether to send the first motion adjustment command may be determined according to the comparison result, which is not described in detail herein.
The following embodiments describe embodiments in which the magnetic attraction robot 101 is provided with a first magnetic flux sensor and/or the magnetic accompanying magnetic attraction device 102 is provided with a second magnetic flux sensor.
Fig. 3 is a schematic structural diagram of another magnetic adsorption robot system provided in an embodiment of the present application, and as shown in fig. 3, in an implementable embodiment, at least one first magnetic flux sensor 300 is disposed on a surface of the magnetic adsorption robot 101 close to a workpiece 103 to be adsorbed; each first magnetic flux sensor 300 is connected to the controller 100; each of the first magnetic flux sensors 300 is for detecting a positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction means 102, respectively, and transmitting the detected positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction means 102 to the controller 100; the controller 100 is also configured to determine whether to send a position calibration instruction to the magnetic attraction robot 101 and/or the accompanying magnetic attraction means 102 according to the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction means 102.
If there is one first magnetic flux sensor 300, the first magnetic flux sensor 300 may be disposed at any end of the bottom surface of the magnetic attraction robot 101 (i.e., the surface close to the workpiece 103 to be attracted) that coincides with the movement direction, or at any end of the bottom surface of the magnetic attraction robot 101 that coincides with the direction perpendicular to the movement direction; when the number of the first magnetic flux sensors 300 is two, the two first magnetic flux sensors 300 may be respectively disposed at both ends of the bottom surface of the magnetic attraction robot 101 aligned with the movement direction, or may be respectively disposed at both ends (not shown) of the bottom surface of the magnetic attraction robot 101 aligned with the direction perpendicular to the movement direction, and the number and the disposed positions of the first magnetic flux sensors 300 are not limited in the present application.
The controller 100 may characterize the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 according to the received change in the magnetic flux detected by each of the first magnetic flux sensors 300 for a preset period of time. Specifically, taking two first magnetic flux sensors 300 disposed along the moving direction as an example (as shown in fig. 3), one first magnetic flux sensor 300 is disposed at the front, the other first magnetic flux sensor 300 is disposed at the back, and the controller 100 can determine the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 according to the variation of the magnetic flux detected by the first magnetic flux sensor 300 disposed at the front and the variation of the magnetic flux detected by the first magnetic flux sensor 300 disposed at the back within a preset time period.
For example, if the controller 100 determines that the magnetic flux detected by the first magnetic flux sensor 300 disposed at the front is almost unchanged for a preset period of time and that the magnetic flux detected by the first magnetic flux sensor 300 disposed at the rear is greatly reduced for the preset period of time, indicating that the magnetic attraction robot 101 is behind the accompanying magnetic attraction device 102 (as in the case of fig. 3), the controller 100 may transmit a calibration instruction having an acceleration parameter to the magnetic attraction robot 101, or transmit a calibration instruction having a deceleration parameter to the accompanying magnetic attraction device 102, or may transmit a calibration instruction having a deceleration parameter to the accompanying magnetic attraction device 102 simultaneously with the transmission of the calibration instruction of the acceleration parameter to the magnetic attraction robot 101, if the first magnetic flux sensor 300 disposed at the front and the first magnetic flux sensor 300 disposed at the rear detect for the preset period of time There is no change in the magnetic flux, the controller 100 does not need to send the position calibration instruction to the magnetic attraction robot 101 and/or along with the magnetic attraction means 102.
When the two first magnetic flux sensors 300 are disposed along the vertical movement direction, then the process of determining the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction means 102 is similar to that described above, and it can be determined whether the magnetic attraction robot 101 is shifted to the left or to the right with respect to the magnetic attraction means 102, and the specific determination process will not be described in detail.
Fig. 4 is a schematic structural diagram of another magnetic adsorption robot system provided in an embodiment of the present application, and as shown in fig. 4, in another practical embodiment, at least one second magnetic flux sensor 400 is disposed along with a surface of the magnetic adsorption device 102 close to the workpiece 103 to be adsorbed; each of the second magnetic flux sensors 400 is connected to the controller 100; the second magnetic flux sensors 400 are respectively for detecting the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction means 102 and transmitting the detected positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction means 102 to the controller 100; the controller 100 is also configured to determine whether to send the position calibration instruction to the magnetic attraction robot 101 and/or the accompanying magnetic attraction means 102 according to the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction means 102.
Here, the second magnetic flux sensors 400 may be disposed at either end of the bottom surface of the accompanying magnetic attraction means 102 (i.e., the surface close to the workpiece 103 to be attracted) coinciding with the direction of movement, or at either end of the bottom surface of the accompanying magnetic attraction means 102 coinciding with the direction perpendicular to the direction of movement, and the number and the positions of the second magnetic flux sensors 400 are similar to those of the first magnetic flux sensors 300 mentioned above, and will not be described in detail here.
The controller 100 may characterize the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 according to the received change in the magnetic flux detected by each of the second magnetic flux sensors 400 for a preset period of time. Specifically, taking two second magnetic flux sensors 400 disposed along the moving direction as an example (as shown in fig. 4), one second magnetic flux sensor 400 is disposed at the front, the other second magnetic flux sensor 400 is disposed at the back, and the controller 100 can determine the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 based on the variation of the magnetic flux detected by the second magnetic flux sensor 400 disposed at the front and the variation of the magnetic flux detected by the second magnetic flux sensor 400 disposed at the back within a preset time period.
For example, if the controller 100 determines that the magnetic flux detected by the second magnetic flux sensor 400 disposed at the front is almost unchanged for a preset period of time and that the magnetic flux detected by the second magnetic flux sensor 400 disposed at the rear is greatly reduced for the preset period of time, indicating that the magnetic attraction robot 101 is in front of the accompanying magnetic attraction device 102 (as in the case shown in fig. 4), the controller 100 may transmit a calibration instruction having a deceleration parameter to the magnetic attraction robot 101, or transmit a calibration instruction having an acceleration parameter to the accompanying magnetic attraction device 102, or may transmit a calibration instruction having an acceleration parameter to the accompanying magnetic attraction device 102 simultaneously with the transmission of the calibration instruction of the deceleration parameter to the magnetic attraction robot 101, if the second magnetic flux sensor 400 disposed at the front and the second magnetic flux sensor 400 disposed at the rear detect for the preset period of time There is no change in the magnetic flux, the controller 100 does not need to send the position calibration instruction to the magnetic attraction robot 101 and/or along with the magnetic attraction means 102.
When the two second magnetic flux sensors 40 are arranged along the vertical movement direction, then the process of determining the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction means 102 is similar to that described above, and it can be determined whether the magnetic attraction robot 101 is deviated to the left or the right with respect to the magnetic attraction means 102, and the specific determination process will not be described in detail.
It should be noted that, while at least one first magnetic flux sensor 300 is provided on the surface of the magnetic attraction robot 101 close to the workpiece 103 to be attracted, at least one second magnetic flux sensor 400 may be provided on the surface of the accompanying magnetic attraction device 102 close to the workpiece 103 to be attracted, and by combining the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 respectively detected by the first magnetic flux sensors 300 and the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 respectively detected by the second magnetic flux sensors 400, it is determined whether to send a position calibration instruction to the magnetic attraction robot 101 and/or the accompanying magnetic attraction device 102, and specific contents may refer to the above description.
Through the connection of the first magnetic flux sensor 300 and the second magnetic flux sensor 400 with the controller 100, the position relationship between the magnetic adsorption robot 101 and the accompanying magnetic adsorption device 102 can be corrected in real time, so that the accompanying magnetic adsorption device 102 can ensure the adsorption force of the magnetic adsorption robot 101 on the first surface of the workpiece 103 to be adsorbed with reference to the position of the magnetic adsorption robot 101, and thus the magnetic adsorption robot 101 can operate on the workpiece 103 to be adsorbed with any characteristics and any thickness.
Alternatively, the controller 100 is provided on the magnetic attraction robot 101 or along with the magnetic attraction means 102.
The controller 100 may be connected to the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 in a wired or wireless manner, and may be specifically disposed on the magnetic attraction robot 101 or the accompanying magnetic attraction device 102, generally, the controller 100 may be disposed in an area closer to the magnetic attraction robot 101, so as to reduce the weight of the magnetic attraction robot 101 or the accompanying magnetic attraction device 102, further ensure the attraction force of the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 on the workpiece 103 to be attracted, and avoid the phenomenon that the magnetic attraction robot 101 slips and falls off the workpiece 103 to be attracted.
Optionally, the structure of the surface of the magnetic adsorption robot 101, which is in contact with the workpiece 103 to be adsorbed, is a wheel type, a crawler type or a wheel-track type; the structure of the surface contacted with the workpiece 103 to be adsorbed along with the magnetic adsorption device 102 is wheel type, crawler type or wheel-crawler type. Here, a structure of the magnetic attraction robot 101 is taken as an example for explanation, fig. 5 is a schematic structural diagram of a magnetic attraction robot according to an embodiment of the present application, and as shown in fig. 5, a structure of a surface of the magnetic attraction robot 101 contacting with the workpiece 103 to be attracted is a crawler type, the crawler type structure includes a plurality of magnetic modules 500, and a polarity of the magnetic modules 500 is opposite to a polarity of the magnetic modules included in the accompanying magnetic attraction device 102. Other devices such as a camera and an alarm can be further included on the magnetic adsorption robot 101, for example, when the magnetic adsorption robot 101 is a magnetic adsorption robot for performing welding operation, devices such as a welding gun can be further included on the magnetic adsorption robot 101.
That is, the magnetic attraction robot 101 includes a work control device in addition to the motion control device, wherein the motion control device and the work control device may be specifically motor drivers. The controller 100 is connected to the job control apparatus, and can transmit a job command to the job control apparatus, which controls a corresponding job configuration to perform a job based on the job command. The magnetic adsorption device 102 generally only comprises a motion control device and a motion structure, and the magnetic adsorption device 102 moves along with the magnetic adsorption robot 101 through the motion control device and the motion structure to generate a magnetic adsorption force with the magnetic adsorption robot 101, so that the magnetic adsorption robot 101 can normally run and work on the workpiece 103 to be adsorbed.
A magnetic attraction robot control method performed by the controller in the above-described magnetic attraction robot system provided by the present application is explained below with reference to the drawings. Fig. 6 is a schematic flowchart of a magnetic adsorption robot control method according to an embodiment of the present disclosure, where the method is applicable to the magnetic adsorption robot system. As shown in fig. 6, the magnetic adsorption robot control method may include:
s601, the controller generates a motion instruction and simultaneously sends the motion instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device, wherein the motion instruction is used for indicating the magnetic adsorption robot and the accompanying magnetic adsorption device to keep synchronous motion.
And S601, the magnetic adsorption robot moves on the first surface of the workpiece to be adsorbed according to the motion command.
And S603, the magnetic adsorption device moves on the second surface of the workpiece to be adsorbed according to the movement command.
The controller can generate a motion instruction according to a control instruction sent by the host or the handheld device, and send the motion instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device at the same time, the magnetic adsorption robot and the accompanying magnetic adsorption device can respectively move on the first surface and the second surface of the workpiece to be adsorbed according to the motion instruction, so that the motion states of the magnetic adsorption robot and the workpiece to be adsorbed are kept consistent, and other specific contents can refer to the description of the system part of the magnetic adsorption robot, which is not described in detail herein.
Optionally, a motion sensor is arranged on the magnetic adsorption robot; the magnetic adsorption robot control method further comprises the following steps:
the motion sensor detects the motion state of the magnetic adsorption robot and transmits the detected motion state of the magnetic adsorption robot to the controller; the controller determines whether to simultaneously send a motion adjustment instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device according to the motion state of the magnetic adsorption robot.
Optionally, at least one first magnetic flux sensor is arranged on one surface of the magnetic adsorption robot, which is close to the workpiece to be adsorbed; the magnetic adsorption robot control method further comprises the following steps:
each first magnetic flux sensor detects the position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device and transmits the detected position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device to the controller; the controller determines whether to send a position calibration instruction to the magnetic adsorption robot and/or the accompanying magnetic adsorption device according to a position relationship between the magnetic adsorption robot and the accompanying magnetic adsorption device.
Optionally, at least one second magnetic flux sensor is arranged on one surface of the accompanying magnetic adsorption device, which is close to the workpiece to be adsorbed; the magnetic adsorption robot control method further comprises the following steps:
each second magnetic flux sensor detects the position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device and transmits the detected position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device to the controller; the controller is also used for determining whether to send the position calibration instruction to the magnetic adsorption robot and/or the accompanying magnetic adsorption device according to the position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device.
Optionally, the magnetic adsorption robot control method further includes:
the controller sends a work instruction to the magnetic-adsorption robot; and the magnetic adsorption robot carries out operation according to the operation instruction.
The implementation principle and the technical effect of the magnetic adsorption robot control method are similar to those of the magnetic adsorption robot system, and are not described in detail herein.
In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. For example, the above-described method embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It is noted that, in this document, 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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A magnetic adsorption robot system, characterized in that the system comprises: the magnetic adsorption robot comprises a controller, a magnetic adsorption robot and an accompanying magnetic adsorption device; the magnetic adsorption robot is used for being in contact with a first surface of a workpiece to be adsorbed, and the accompanying magnetic adsorption device is used for being in contact with a second surface of the workpiece to be adsorbed; the structural polarity of one surface of the magnetic adsorption robot, which is in contact with the workpiece to be adsorbed, is opposite to that of one surface of the magnetic adsorption device, which is in contact with the workpiece to be adsorbed;
the controller is respectively connected with the magnetic adsorption robot and the accompanying magnetic adsorption device;
the controller is used for generating a motion instruction, and sending the motion instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device at the same time, wherein the motion instruction is used for indicating the magnetic adsorption robot and the accompanying magnetic adsorption device to keep synchronous motion;
the magnetic adsorption robot is used for moving on the first surface of the workpiece to be adsorbed according to the motion instruction;
the accompanying magnetic adsorption device is used for moving on the second surface of the workpiece to be adsorbed according to the movement instruction.
2. The magnetic adsorption robot system according to claim 1, wherein a motion sensor is provided on the magnetic adsorption robot;
the motion sensor is connected with the controller;
the motion sensor is used for detecting the motion state of the magnetic adsorption robot and transmitting the detected motion state of the magnetic adsorption robot to the controller;
the controller is also used for determining whether to simultaneously send a motion adjusting instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device according to the motion state of the magnetic adsorption robot.
3. The magnetic adsorption robot system according to claim 1, wherein at least one first magnetic flux sensor is provided on a face of the magnetic adsorption robot near the workpiece to be adsorbed;
each first magnetic flux sensor is respectively connected with the controller;
each first magnetic flux sensor is used for detecting the position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device and transmitting the detected position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device to the controller;
the controller is also used for determining whether to send a position calibration instruction to the magnetic adsorption robot and/or the accompanying magnetic adsorption device according to the position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device.
4. The magnetic adsorption robot system according to claim 1, wherein at least one second magnetic flux sensor is provided on a face of the accompanying magnetic adsorption device which is close to the workpiece to be adsorbed;
each second magnetic flux sensor is respectively connected with the controller;
each second magnetic flux sensor is used for detecting the position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device and transmitting the detected position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device to the controller;
the controller is further used for determining whether to send the position calibration instruction to the magnetic adsorption robot and/or the accompanying magnetic adsorption device according to the position relation between the magnetic adsorption robot and the accompanying magnetic adsorption device.
5. The magnetic attraction robot system according to any one of claims 1 to 4, characterized in that the controller is provided on the magnetic attraction robot or the accompanying magnetic attraction means.
6. The magnetic adsorption robot system according to claim 1, wherein the magnetic adsorption robot has a wheel-type, crawler-type or wheel-track-type structure on a surface thereof contacting the workpiece to be adsorbed;
the structure of the surface of the magnetic adsorption device contacted with the workpiece to be adsorbed is wheel type, crawler type or wheel-crawler type.
7. The magnetic attraction robot system of claim 1, wherein the controller is further configured to send a work instruction to the magnetic attraction robot;
the magnetic adsorption robot is further used for working according to the working instruction.
8. A magnetic adsorption robot control method applied to the magnetic adsorption robot system according to any one of claims 1 to 7, the magnetic adsorption robot system comprising: the magnetic adsorption robot comprises a controller, a magnetic adsorption robot and an accompanying magnetic adsorption device;
the magnetic adsorption robot control method comprises the following steps:
the controller generates a motion instruction and simultaneously sends the motion instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device, and the motion instruction is used for indicating the magnetic adsorption robot and the accompanying magnetic adsorption device to keep synchronous motion;
the magnetic adsorption robot moves on the first surface of the workpiece to be adsorbed according to the movement instruction;
and the accompanying magnetic adsorption device moves on the second surface of the workpiece to be adsorbed according to the movement instruction.
9. The magnetic adsorption robot control method according to claim 8, wherein a motion sensor is provided on the magnetic adsorption robot; the magnetic adsorption robot control method further includes:
the motion sensor detects the motion state of the magnetic adsorption robot and transmits the detected motion state of the magnetic adsorption robot to the controller;
the controller determines whether to simultaneously send a motion adjustment instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device according to the motion state of the magnetic adsorption robot.
10. The magnetic adsorption robot control method according to claim 8, wherein at least one first magnetic flux sensor is provided on a surface of the magnetic adsorption robot near the workpiece to be adsorbed; the magnetic adsorption robot control method further includes:
each of the first magnetic flux sensors detects a positional relationship between the magnetic adsorption robot and the accompanying magnetic adsorption device, respectively, and transmits the detected positional relationship between the magnetic adsorption robot and the accompanying magnetic adsorption device to the controller;
the controller determines whether to send a position calibration instruction to the magnetic adsorption robot and/or the accompanying magnetic adsorption device according to a position relationship between the magnetic adsorption robot and the accompanying magnetic adsorption device.
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