CN112548985B - Magnetic attraction robot system and magnetic attraction robot control method - Google Patents
Magnetic attraction robot system and magnetic attraction robot control method Download PDFInfo
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- CN112548985B CN112548985B CN202011513317.7A CN202011513317A CN112548985B CN 112548985 B CN112548985 B CN 112548985B CN 202011513317 A CN202011513317 A CN 202011513317A CN 112548985 B CN112548985 B CN 112548985B
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 311
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- 238000010586 diagram Methods 0.000 description 10
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- 230000008569 process Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 4
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- 239000004020 conductor Substances 0.000 description 2
- KGWWEXORQXHJJQ-UHFFFAOYSA-N [Fe].[Co].[Ni] Chemical compound [Fe].[Co].[Ni] KGWWEXORQXHJJQ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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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Classifications
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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, and relates to the technical field of magnetic adsorption robots, wherein the system comprises: a controller, a magnetic adsorption robot and a magnetic adsorption device; the magnetic adsorption robot is used for contacting with the first surface of the workpiece to be adsorbed, and the magnetic adsorption device is used for contacting with the second surface of the workpiece to be adsorbed; the structural polarity of the surface of the magnetic adsorption robot, which is contacted with the workpiece to be adsorbed, is opposite to that of the 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 movement instructions to the magnetic adsorption robot and the accompanying magnetic adsorption device, so that the magnetic adsorption robot moves on the first surface of the workpiece to be adsorbed and the accompanying magnetic adsorption device moves on the second surface of the workpiece to be adsorbed. By applying the embodiment of the application, the 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, the magnetic adsorption robot is widely applied in various fields (such as industrial fields), and the magnetic adsorption robot can also be called as a wall climbing robot, and can be particularly used for welding, rust removal, paint spraying, detection and other operations.
At present, a magnetic adsorption robot walks and works on a workpiece to be adsorbed, which is formed by a magnetic adsorption module (such as a magnetic caterpillar or a wheel) and a workpiece to be adsorbed, wherein the workpiece to be adsorbed is formed by a magnetic permeability material. That is, the workpiece to be attracted must be characterized by magnetic permeability, and the magnetic attraction machine can work on the workpiece to be attracted.
However, some workpieces to be attracted are non-magnetically permeable materials, and for such workpieces to be attracted of non-magnetically permeable materials, the magnetic attraction robot cannot be used in cooperation therewith. 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
The present application has been made in view of the above-described drawbacks of the related art, and an object of the present application is to provide a magnetic attraction robot system and a magnetic attraction robot control method capable of improving universality of a magnetic attraction robot.
In order to achieve the above purpose, the technical scheme adopted by the embodiment of the application is as follows:
In a first aspect, embodiments of the present application provide a magnetic attraction robot system, the system comprising: a controller, a magnetic adsorption robot and a magnetic adsorption device; the magnetic adsorption robot is used for contacting with the first surface of the workpiece to be adsorbed, and the magnetic adsorption device is used for contacting with the second surface of the workpiece to be adsorbed; the structural polarity of the surface, which is contacted with the workpiece to be adsorbed, of the magnetic adsorption robot is opposite to that of the surface, which is contacted with the workpiece to be adsorbed, of the magnetic adsorption device;
The controller is respectively connected with the magnetic adsorption robot and the magnetic adsorption device;
The controller is used for generating a motion instruction, and simultaneously transmitting the motion instruction to the magnetic adsorption robot and the magnetic adsorption device, wherein the motion instruction is used for indicating the magnetic adsorption robot to keep synchronous motion with the magnetic adsorption device;
the magnetic adsorption robot is used for moving on the first surface of the workpiece to be adsorbed according to the movement 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 send motion adjustment instructions to the magnetic adsorption robot and the magnetic adsorption device at the same time 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 connected with the controller respectively;
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 magnetic adsorption device according to the position relation between the magnetic adsorption robot and the magnetic adsorption device.
Optionally, at least one second magnetic flux sensor is arranged on one surface, close to the workpiece to be adsorbed, of the accompanying magnetic adsorption device;
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 also used for determining whether to send the position calibration instruction to the magnetic adsorption robot and/or the magnetic adsorption device according to the position relation between the magnetic adsorption robot and the magnetic adsorption device.
Optionally, the controller is disposed on the magnetic attraction robot or the accompanying magnetic attraction device.
Optionally, the structure of the surface of the magnetic adsorption robot, which is contacted with the workpiece to be adsorbed, is wheel type, crawler type or wheel track type;
Optionally, the controller is further configured to send a job instruction to the magnetic attraction robot;
the magnetic adsorption robot is also used for operating according to the operation 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, and the magnetic attraction robot system includes: a controller, a magnetic adsorption robot and a 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 magnetic adsorption device, wherein the motion instruction is used for indicating the magnetic adsorption robot to keep synchronous motion with the magnetic adsorption device;
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 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;
And the controller determines whether to send a motion adjustment instruction to the magnetic adsorption robot and the magnetic adsorption device at the same time 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 relationship between the magnetic adsorption robot and the accompanying magnetic adsorption device respectively, and transmits the detected position relationship between the magnetic adsorption robot and the accompanying magnetic adsorption device to the controller;
And the controller determines whether to send a position calibration instruction to the magnetic adsorption robot and/or the magnetic adsorption device according to the position relation between the magnetic adsorption robot and the magnetic adsorption device.
Optionally, at least one second magnetic flux sensor is arranged on one surface, close to the workpiece to be adsorbed, of the accompanying magnetic adsorption device; the magnetic adsorption robot control method further comprises the following steps:
Each second magnetic flux sensor detects the position relationship between the magnetic adsorption robot and the accompanying magnetic adsorption device respectively, and transmits the detected position relationship 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 magnetic adsorption device according to the position relation between the magnetic adsorption robot and the magnetic adsorption device.
Optionally, the magnetic attraction robot control method further includes:
The controller sends an operation instruction to the magnetic adsorption robot;
And the magnetic adsorption robot operates according to the operation instruction.
The beneficial effects of the application are as follows:
The embodiment of the application provides a magnetic adsorption robot system and a magnetic adsorption robot control method, wherein the system comprises the following components: a controller, a magnetic adsorption robot and a magnetic adsorption device; the magnetic adsorption robot is used for contacting with the first surface of the workpiece to be adsorbed, and the magnetic adsorption device is used for contacting with the second surface of the workpiece to be adsorbed; the structural polarity of the surface of the magnetic adsorption robot, which is contacted with the workpiece to be adsorbed, is opposite to that of the 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 magnetic adsorption device; the controller is used for generating a motion instruction, and simultaneously transmitting the motion instruction to the magnetic adsorption robot and the magnetic adsorption device, wherein the motion instruction is used for indicating the magnetic adsorption robot to keep synchronous motion with the magnetic adsorption device; the magnetic adsorption robot is used for moving on the first surface of the workpiece to be adsorbed according to the movement 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. By adopting the magnetic adsorption robot system provided by the embodiment of the application, the magnetic adsorption robot and the accompanying magnetic adsorption device are respectively connected with the controller, the structural polarity of the surface of the magnetic adsorption robot, which is contacted with the workpiece to be adsorbed, is opposite to that of the surface of the accompanying magnetic adsorption device, which is contacted with the workpiece to be adsorbed, and the controller simultaneously sends the generated movement instruction to the magnetic adsorption robot and the accompanying magnetic adsorption device. Therefore, the magnetic adsorption machine can synchronously move on the wall surfaces with different workpiece characteristics to be adsorbed, the phenomenon that the use of the magnetic adsorption robot is limited by the materials of the workpiece to be adsorbed 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 needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a magnetic attraction robot system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of another magnetic attraction robot system according to an embodiment of the application;
FIG. 3 is a schematic diagram of a magnetic attraction robot system according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a magnetic attraction robot system according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a magnetic attraction robot according to an embodiment of the present application;
fig. 6 is a schematic flow chart of a magnetic adsorption robot control method according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Fig. 1 is a schematic structural diagram of a magnetic attraction robot system according to an embodiment of the present application, 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 structural polarity of the side of the magnetic attraction robot 101 in contact with the workpiece 103 to be attracted is opposite to the structural polarity of the side of the magnetic attraction device 102 in contact with the workpiece 103 to be attracted.
The controller 100 is connected with the magnetic adsorption robot 101 and the magnetic adsorption device 102 respectively; the controller 100 is configured to generate a motion instruction, and send the motion instruction to the magnetic attraction robot 101 and the magnetic attraction device 102 at the same time, where the motion instruction is used to instruct the magnetic attraction robot 101 to keep moving synchronously with the magnetic attraction device 102; the magnetic adsorption robot 101 is used for moving on a first surface of a workpiece 103 to be adsorbed according to the movement instruction; along with the magnetic attraction means 102, for moving on the second face of the work 103 to be attracted according to the movement instruction.
The workpiece 103 to be adsorbed may be magnetic conductive material (such as iron-cobalt-nickel plate) or non-magnetic conductive material (such as a colored metal plate), which is not limited by the present application. In operation, a magnetic conduction structure (such as a magnetic conduction wheel) on the magnetic adsorption robot 101 is contacted with a first surface of a workpiece 103 to be adsorbed, the magnetic conduction structure on the magnetic adsorption device 102 is contacted with a second surface of the workpiece 103 to be adsorbed, and the polarity of the magnetic conduction structure on the magnetic adsorption robot 101 is opposite to that of the magnetic conduction structure on the magnetic adsorption device 102, and when the magnetic conduction structure on the magnetic adsorption robot 101 is an N pole, the polarity of the magnetic conduction structure on the magnetic adsorption device 102 is an S pole; when the magnetic conductive structure on the magnetic adsorption robot 101 is S-pole, the polarity of the magnetic conductive structure on the magnetic adsorption device 102 is N-pole, and the polarity of the magnetic conductive structure on the magnetic adsorption device 102 is not limited in the present application, so long as the polarity is opposite to the polarity of the magnetic conductive structure on the magnetic adsorption device 102.
The controller 100 is connected with the magnetic adsorption robot 101 through a first control end thereof, and the controller 100 is connected with the magnetic adsorption device 102 through a second control end thereof. The operator may send control instructions to the controller 100 via a host and/or a handheld device (not shown) communicatively coupled to the controller 100 according to actual needs. Specifically, the host and the handheld device may include an interactive interface, where the interface may have 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 by the present application.
It should be noted that, the controller 100 may be in communication connection with the magnetic attraction robot 101, the magnetic attraction device 102, the host computer, and the handheld device through a wired manner or a wireless manner, and the present application is not limited thereto.
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 thereon, respectively. That is, when the controller 100 transmits a movement command for controlling the movement of the magnetic attraction robot 101 to the magnetic attraction robot 101, the movement command is also transmitted to the 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 initial position with respect to the workpiece 103 to be attracted, so that the normal vector of the magnetic attraction robot 101 is overlapped with the normal vector of the accompanying magnetic attraction device 102 as much as possible. Assuming that the movement instruction is a leftward rotation, the magnetic attraction robot 101 rotates leftward on the first face of the work 103 to be attracted, along with the magnetic attraction device 102 rotating leftward on the second face of the work 103 to be attracted.
It can be seen that under the control of the motion instruction, the magnetic adsorption robot 101 and the accompanying magnetic adsorption device 102 can make the magnetic adsorption robot 101 and the accompanying magnetic adsorption device 102 keep attractive to each other in real time, and under the action of the adsorption force, the magnetic adsorption robot 101 and the accompanying magnetic adsorption device generate friction force with the workpiece 103 to be adsorbed, so as to keep synchronous motion, thus avoiding the phenomenon that the magnetic adsorption robot 101 slides or falls on the first surface of the workpiece 103 to be adsorbed due to the influence of the characteristics (such as non-magnetic permeability material) and thickness of the workpiece 103 to be adsorbed, and reducing the probability of safety accidents.
In summary, the magnetic attraction robot system provided by the present application may include: a controller, a magnetic adsorption robot and a magnetic adsorption device; the magnetic adsorption robot is used for contacting with the first surface of the workpiece to be adsorbed, and the magnetic adsorption device is used for contacting with the second surface of the workpiece to be adsorbed; the structural polarity of the surface of the magnetic adsorption robot, which is contacted with the workpiece to be adsorbed, is opposite to that of the 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 magnetic adsorption device; the controller is used for generating a motion instruction, and simultaneously transmitting the motion instruction to the magnetic adsorption robot and the magnetic adsorption device, wherein the motion instruction is used for indicating the magnetic adsorption robot to keep synchronous motion with the magnetic adsorption device; the magnetic adsorption robot is used for moving on the first surface of the workpiece to be adsorbed according to the movement 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. The magnetic adsorption robot system is characterized in that the magnetic adsorption robot and the accompanying magnetic adsorption device are respectively connected with a controller, the structural polarity of the surface, which is contacted with a workpiece to be adsorbed, of the magnetic adsorption robot is opposite to that of the surface, which is contacted with the workpiece to be adsorbed, of the accompanying magnetic adsorption device, and the controller simultaneously sends generated motion instructions to the magnetic adsorption robot and the accompanying magnetic adsorption device. Therefore, the magnetic adsorption machine can synchronously move on the wall surfaces with different workpiece characteristics to be adsorbed, the phenomenon that the use of the magnetic adsorption robot is limited by the materials of the workpiece to be adsorbed is avoided, and the universality of the magnetic adsorption robot can be improved.
Fig. 2 is a schematic structural diagram of another magnetic attraction robot system according to an embodiment of the present application, as shown in fig. 2, a motion sensor 200 is disposed on the magnetic attraction robot 101, and the motion sensor 200 is connected to the controller 100; the motion sensor 200 is used for detecting the motion state of the magnetic attraction robot 101 and transmitting the detected motion state of the magnetic attraction robot 101 to the controller 100; the controller 100 is further configured to determine whether to send motion adjustment instructions to the magnetic attraction robot 101 and along with the magnetic attraction device 102 at the same time according to the motion state of the magnetic attraction robot 101.
The motion sensor 200 provided on the magnetic attraction robot 101 may include a speed sensor, a direction sensor, an acceleration sensor, and the like, and the present application is not limited to the type and number of the motion sensors 200. The motion sensor 200 may feed back the detected motion state of the magnetic adsorption robot 101 to the controller 100 in communication with the motion sensor, the controller 100 may compare the received motion state with the motion parameters included in the pre-stored motion instruction, if the two motion states deviate within a first preset deviation range, the controller may not need to send the motion adjustment instruction to the magnetic adsorption robot 101 and the magnetic adsorption device 102, and if the two motion states deviate from the first preset deviation range, the controller may need to send the motion adjustment instruction to the magnetic adsorption robot 101 and the magnetic adsorption device 102 at the same time, so that not only the accuracy of the motion of the magnetic adsorption robot 101 may be improved, but also the motion of the magnetic adsorption robot 101 on the first surface of the workpiece 103 to be adsorbed may be ensured.
In one embodiment, a first motion sensor may be disposed on the magnetic attraction device 102, where the first motion sensor may be connected to the controller 100 through a wired or wireless manner, and the motion state of the magnetic attraction device 102 is fed back to the controller 100 in real time, where the controller 100 may compare the received motion state of the magnetic attraction device 102 with the received motion state of the magnetic attraction robot 101, and if the deviation is within a first preset deviation range, the controller may not send a first motion adjustment instruction to the magnetic attraction device 102, and if the deviation is not within the first preset deviation range, the controller needs to send the first motion adjustment instruction to the magnetic attraction device 102, so that the magnetic attraction device 102 and the magnetic attraction robot 101 keep moving synchronously, and the magnetic attraction robot 101 may normally travel on the workpiece 103 to be attracted.
In another embodiment, if the controller 100 determines that the deviation between the motion state fed back by the motion sensor 200 on the magnetic attraction robot 101 and the motion parameter included in the pre-stored motion command is within the first preset deviation range, the motion state fed back by the motion sensor 200 on the magnetic attraction robot 101 and the motion state fed back by the motion sensor along with the feedback of the first motion sensor on the magnetic attraction device 102 may be compared, and whether to send the first motion adjustment command is determined according to the comparison result, which will not be described in detail herein.
The following embodiments describe embodiments in which a first magnetic flux sensor is provided on the magnetic attraction robot 101 and/or a second magnetic flux sensor is provided on the magnetic attraction device 102.
FIG. 3 is a schematic structural diagram of another magnetic attraction robot system according to an embodiment of the application, as shown in FIG. 3, in one implementation embodiment, at least one first magnetic flux sensor 300 is disposed on a surface of the magnetic attraction robot 101 near the workpiece 103 to be attracted; each first magnetic flux sensor 300 is connected to the controller 100; each first magnetic flux sensor 300 is used for detecting the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102, and transmitting the detected positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 to the controller 100; the controller 100 is further configured to determine whether to send a position calibration instruction to the magnetic attraction robot 101 and/or the magnetic attraction device 102 according to a positional relationship between the magnetic attraction robot 101 and the magnetic attraction device 102.
If the number of the first magnetic flux sensors 300 is one, the first magnetic flux sensors 300 may be disposed at any one end on the bottom surface of the magnetic attraction robot 101 (i.e., the surface close to the workpiece 103 to be attracted) in accordance with the moving direction, or disposed at any one end on the bottom surface of the magnetic attraction robot 101 in accordance with the direction perpendicular to the moving direction; when the number of the first magnetic flux sensors 300 is two, the two first magnetic flux sensors 300 may be disposed at both ends of the bottom surface of the magnetically attractable robot 101 corresponding to the moving direction, or may be disposed at both ends of the bottom surface of the magnetically attractable robot 101 corresponding to the direction perpendicular to the moving direction (not shown), 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 a positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 according to the received change of the magnetic flux detected by each of the first magnetic flux sensors 300 for a preset period. Specifically, here, two first magnetic flux sensors 300 disposed along the moving direction are taken as an example (as shown in fig. 3), one first magnetic flux sensor 300 is disposed in front, the other first magnetic flux sensor 300 is disposed behind, 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 magnetic flux change detected by the first magnetic flux sensor 300 disposed in front and the magnetic flux change detected by the first magnetic flux sensor 300 disposed behind within a preset period.
For example, the controller 100 determines that the magnetic flux detected by the first magnetic flux sensor 300 disposed in front is hardly changed in the preset period, determines that the decrease in the magnetic flux detected by the first magnetic flux sensor 300 disposed in rear is relatively large in the preset period, and indicates that the magnetic flux detected by the first magnetic flux sensor 300 disposed in rear is not changed in the preset period (as in the case of fig. 3) along with the magnetic attraction device 102, the controller 100 may transmit a calibration instruction having an acceleration parameter to the magnetic attraction robot 101 or a calibration instruction having a deceleration parameter to the magnetic attraction device 102 while transmitting a calibration instruction having an acceleration parameter to the magnetic attraction robot 101, and if the magnetic fluxes detected by the first magnetic flux sensor 300 disposed in front and the first magnetic flux sensor 300 disposed in rear are not changed in the preset period, the controller 100 does not need to transmit the positional calibration instruction to the magnetic attraction robot 101 and/or the magnetic attraction device 102.
When the two first magnetic flux sensors 300 are disposed along the vertical movement direction, then the process of judging the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 is similar to that described above, and it can be judged whether the magnetic attraction robot 101 is left-hand or right-hand with respect to the magnetic attraction device 102, and the detailed judgment process will not be described in detail.
Fig. 4 is a schematic structural diagram of yet another magnetic attraction robot system according to an embodiment of the application, as shown in fig. 4, in another implementation embodiment, at least one second magnetic flux sensor 400 is disposed along with the side of the magnetic attraction device 102 near the workpiece 103 to be attracted; each second magnetic flux sensor 400 is connected to the controller 100; each second magnetic flux sensor 400 is used for detecting the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102, and transmitting the detected positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 to the controller 100; the controller 100 is further configured to determine whether to send the position calibration instruction to the magnetic attraction robot 101 and/or the magnetic attraction device 102 according to the positional relationship between the magnetic attraction robot 101 and the magnetic attraction device 102.
The second magnetic flux sensors 400 may be disposed at any one end along the bottom surface of the magnetic attraction device 102 (i.e., the surface near the workpiece 103 to be attracted) in correspondence with the moving direction, or disposed at any one end along the bottom surface of the magnetic attraction device 102 in correspondence with the direction perpendicular to the moving direction, and the number and disposed 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 herein.
The controller 100 may characterize a positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 according to the received change of the magnetic flux detected by each of the second magnetic flux sensors 400 at a preset period. Specifically, here, two second magnetic flux sensors 400 disposed along the moving direction are taken as an example (as shown in fig. 4), one second magnetic flux sensor 400 is disposed in front, the other second magnetic flux sensor 400 is disposed behind, 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 magnetic flux change detected by the second magnetic flux sensor 400 disposed in front and the magnetic flux change detected by the second magnetic flux sensor 400 disposed behind within a preset period.
For example, the controller 100 determines that the magnetic flux detected by the second magnetic flux sensor 400 disposed at the front is hardly changed during the preset period, determines that the decrease in the magnetic flux detected by the second magnetic flux sensor 400 disposed at the rear is relatively large during the preset period, and indicates that the magnetic flux detected by the second magnetic flux sensor 400 disposed at the rear is not changed during the preset period, and the controller 100 may transmit a calibration instruction having a deceleration parameter to the magnetic attraction robot 101 or a calibration instruction having an acceleration parameter to the magnetic attraction robot 102, if the magnetic fluxes detected by the second magnetic flux sensor 400 disposed at the front and the second magnetic flux sensor 400 disposed at the rear are not changed during the preset period, the controller 100 may not need to transmit the position calibration instruction to the magnetic attraction robot 101 and/or the magnetic attraction device 102, depending on the positional relationship in which the magnetic attraction robot 101 is in front of the magnetic attraction device 102.
When the two second magnetic flux sensors 40 are disposed along the vertical movement direction, then the process of judging the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 is similar to that described above, and it can be judged whether the magnetic attraction robot 101 is left-hand or right-hand with respect to the magnetic attraction device 102, and the detailed judgment process will not be described in detail.
It should be noted that, while at least one first magnetic flux sensor 300 is disposed on a surface of the magnetic attraction robot 101 near the workpiece 103 to be attracted, at least one second magnetic flux sensor 400 may be disposed on a surface of the accompanying magnetic attraction device 102 near the workpiece 103 to be attracted, and the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 detected by each first magnetic flux sensor 300 and the positional relationship between the magnetic attraction robot 101 and the accompanying magnetic attraction device 102 detected by each second magnetic flux sensor 400 may be combined to determine whether to send a positional calibration instruction to the magnetic attraction robot 101 and/or the accompanying magnetic attraction device 102, and the specific details thereof may be referred to above.
Through the connection of the first magnetic flux sensor 300 and the second magnetic flux sensor 400 with the controller 100, the positional relationship between the magnetic attraction robot 101 and the magnetic attraction device 102 can be corrected in real time, so that the magnetic attraction device 102 can ensure the attraction force of the magnetic attraction robot 101 on the first surface of the workpiece 103 to be attracted by taking the position of the magnetic attraction robot 101 as a reference, and the magnetic attraction robot 101 can operate on the workpiece 103 to be attracted with any characteristic and any thickness.
Alternatively, the controller 100 is provided on the magnetic attraction robot 101 or along with the magnetic attraction device 102.
The controller 100 may be connected to the magnetic adsorption robot 101 and the magnetic adsorption device 102 in a wired or wireless manner, and may be specifically disposed on the magnetic adsorption robot 101 or the magnetic adsorption device 102, and in general, the controller 100 may be disposed in a region closer to the magnetic adsorption robot 101, so that the weight of the magnetic adsorption robot 101 or the magnetic adsorption device 102 may be reduced, the adsorption force of the magnetic adsorption robot 101 and the magnetic adsorption device 102 on the workpiece 103 to be adsorbed may be further ensured, and the phenomenon that the magnetic adsorption robot 101 slides and falls on the workpiece 103 to be adsorbed may be avoided.
Optionally, the structure of the surface of the magnetic adsorption robot 101, which is contacted with the workpiece 103 to be adsorbed, is wheel type, crawler type or wheel track type; the structure of the surface of the magnetic adsorption device 102, which is contacted with the workpiece 103 to be adsorbed, is wheel type, crawler type or wheel track type. In the description of the structure of the magnetic attraction robot 101, 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 surface of the magnetic attraction robot 101, which contacts with a workpiece 103 to be attracted, is in a crawler type structure, where the crawler type structure includes a plurality of magnetic modules 500, and the polarity of the magnetic modules 500 is opposite to that of the magnetic modules included in the 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, a welding gun and other devices 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 a motion control device, wherein the motion control device and the work control device may be motor drivers. The controller 100 is connected to the job control apparatus, and can transmit a job instruction to the job control apparatus, and the job control apparatus controls the corresponding job structure to perform a job based on the job instruction. The magnetic adsorption device 102 generally only comprises motion control equipment and a motion structure, the magnetic adsorption device 102 moves along with the magnetic adsorption robot 101 through the motion control equipment and the motion structure, and generates magnetic adsorption force with the magnetic adsorption robot 101, so that the magnetic adsorption robot 101 can normally run and work on a workpiece 103 to be adsorbed.
The magnetic attraction robot control method executed by the controller in the magnetic attraction robot system provided by the application is exemplified below with reference to the accompanying drawings. Fig. 6 is a schematic flow chart of a magnetic attraction robot control method according to an embodiment of the application, and the method can be applied to the magnetic attraction robot system mentioned above. As shown in fig. 6, the magnetic attraction robot control method may include:
And S601, the controller generates a motion instruction and simultaneously sends the motion instruction to the magnetic adsorption robot and the magnetic adsorption device, wherein the motion instruction is used for indicating the magnetic adsorption robot to keep synchronous motion with the magnetic adsorption device.
S601, the magnetic adsorption robot moves on the first surface of the workpiece to be adsorbed according to the movement instruction.
S603, the accompanying magnetic adsorption device moves on the second surface of the workpiece to be adsorbed according to the movement instruction.
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 magnetic adsorption device at the same time, wherein the magnetic adsorption robot and the magnetic adsorption device can respectively move on a first surface and a second surface of a workpiece to be adsorbed according to the motion instruction, so that the motion states of the two surfaces are kept consistent, and other specific contents can refer to the description of the magnetic adsorption robot system part and are not described in detail herein.
Optionally, the magnetic adsorption robot is provided with a motion sensor; 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 send motion adjustment instructions to the magnetic adsorption robot and the magnetic adsorption device at the same time 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 magnetic adsorption device, and transmits the detected position relation between the magnetic adsorption robot and the magnetic adsorption device to the controller; the controller determines whether to send a position calibration instruction to the magnetic adsorption robot and/or the magnetic adsorption device according to the position relation between the magnetic adsorption robot and the 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 magnetic adsorption device, and transmits the detected position relation between the magnetic adsorption robot and the 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 magnetic adsorption device according to the position relation between the magnetic adsorption robot and the magnetic adsorption device.
Optionally, the magnetic attraction robot control method further includes:
the controller sends an operation instruction to the magnetic adsorption robot; the magnetic adsorption robot operates 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 repeated here.
In the several embodiments provided by the present application, it should be understood that the disclosed systems and methods 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 merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform some of the steps of the methods according to the embodiments of the invention. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
It should be noted that in this document, relational terms such as "first" and "second" and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (8)
1. A magnetic attraction robotic system, the system comprising: a controller, a magnetic adsorption robot and a magnetic adsorption device; the magnetic adsorption robot is used for contacting with the first surface of the workpiece to be adsorbed, and the magnetic adsorption device is used for contacting with the second surface of the workpiece to be adsorbed; the structural polarity of the surface, which is contacted with the workpiece to be adsorbed, of the magnetic adsorption robot is opposite to that of the surface, which is contacted with the workpiece to be adsorbed, of the magnetic adsorption device;
The controller is respectively connected with the magnetic adsorption robot and the magnetic adsorption device;
The controller is used for generating a motion instruction, and simultaneously transmitting the motion instruction to the magnetic adsorption robot and the magnetic adsorption device, wherein the motion instruction is used for indicating the magnetic adsorption robot to keep synchronous motion with the magnetic adsorption device;
the magnetic adsorption robot is used for moving on the first surface of the workpiece to be adsorbed according to the movement 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;
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, wherein if the number of the first magnetic flux sensors is one, the first magnetic flux sensor is arranged at any one end on the bottom surface of the magnetic adsorption robot, which is consistent with the movement direction;
Each first magnetic flux sensor is connected with the controller respectively;
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 further configured to determine whether to send a position calibration instruction to the magnetic attraction robot and/or the magnetic attraction device according to a positional relationship between the magnetic attraction robot and the magnetic attraction device, where the position calibration instruction includes: calibration instructions with acceleration parameters and calibration instructions with deceleration parameters.
2. The magnetic attraction robot system of claim 1, wherein the magnetic attraction robot is provided with a motion sensor;
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 send motion adjustment instructions to the magnetic adsorption robot and the magnetic adsorption device at the same time according to the motion state of the magnetic adsorption robot.
3. The magnetic attraction robot system according to claim 1, wherein at least one second magnetic flux sensor is provided on a face of the accompanying magnetic attraction device close to the work piece to be attracted;
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 also used for determining whether to send the position calibration instruction to the magnetic adsorption robot and/or the magnetic adsorption device according to the position relation between the magnetic adsorption robot and the magnetic adsorption device.
4. A magnetic attraction robot system as claimed in any one of claims 1 to 3, wherein the controller is provided on the magnetic attraction robot or the accompanying magnetic attraction device.
5. The magnetic attraction robot system according to claim 1, wherein a structure of a face of the magnetic attraction robot contacting the work piece to be attracted is a wheel type, a crawler type or a wheel track type;
The structure of one surface of the magnetic adsorption device, which is contacted with the workpiece to be adsorbed, is wheel type, crawler type or wheel track type.
6. The magnetic attraction robot system of claim 1, wherein the controller is further configured to send a work order to the magnetic attraction robot;
the magnetic adsorption robot is also used for operating according to the operation instruction.
7. A magnetic attraction robot control method, characterized in that the method is applied to the magnetic attraction robot system according to any one of claims 1 to 6, the magnetic attraction robot system comprising: a controller, a magnetic adsorption robot and a 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 magnetic adsorption device, wherein the motion instruction is used for indicating the magnetic adsorption robot to keep synchronous motion with the magnetic adsorption device;
the magnetic adsorption robot moves on the first surface of the workpiece to be adsorbed according to the movement instruction;
The accompanying magnetic adsorption device moves on the second surface of the workpiece to be adsorbed according to the movement instruction;
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 relationship between the magnetic adsorption robot and the accompanying magnetic adsorption device respectively, and transmits the detected position 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 magnetic adsorption accompanying device according to the position relation between the magnetic adsorption robot and the magnetic adsorption accompanying device, wherein the position calibration instruction comprises: calibration instructions with acceleration parameters and calibration instructions with deceleration parameters.
8. The method of claim 7, wherein the magnetic attraction robot is provided with a motion sensor; 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;
And the controller determines whether to send a motion adjustment instruction to the magnetic adsorption robot and the magnetic adsorption device at the same time according to the motion state of the magnetic adsorption robot.
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