CN112722737A - Intelligent mobile robot and intelligent carrying robot cooperation method - Google Patents
Intelligent mobile robot and intelligent carrying robot cooperation method Download PDFInfo
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- CN112722737A CN112722737A CN202011639889.XA CN202011639889A CN112722737A CN 112722737 A CN112722737 A CN 112722737A CN 202011639889 A CN202011639889 A CN 202011639889A CN 112722737 A CN112722737 A CN 112722737A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000004519 manufacturing process Methods 0.000 claims abstract description 19
- 239000000463 material Substances 0.000 claims abstract description 7
- 230000032258 transport Effects 0.000 claims abstract description 6
- 238000012986 modification Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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Abstract
The invention belongs to the technical field of intelligent control, and relates to a method for cooperating an intelligent mobile robot with an intelligent transfer robot, which comprises the steps that a master control system allocates an intelligent mobile robot A1 and an intelligent transfer robot B1 in a production area to the same position on a production line, and the intelligent transfer robot B1 transfers a product from the production line to a material rack of the intelligent mobile robot A1; after the transfer is completed, the intelligent mobile robot A1 transports the products to a storage area, the products are emptied by the intelligent transfer robot B2, meanwhile, the intelligent transfer robot B1 is allocated to the other intelligent transfer robot B2 waiting for blanking, another blanking is completed, and the like. The cooperation method simulates an actual manual carrying mode, so that the intelligent mobile robot and the intelligent carrying robot can orderly complete the product transferring work in a labor-division manner.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a method for cooperating an intelligent mobile robot and an intelligent carrying robot.
Background
The intelligent mobile robot is a robot with a mobile function, the intelligent transfer robot is a robot with a mechanical arm and capable of completing transfer work, and the two robots are more frequently used in factories along with the improvement of automation degree of factories. Because the space in the semiconductor factory is fairly limited, can't put too much fixed storage facilities or work or material rest, consequently often will replace fixed work or material rest with the intelligent mobile robot that has the work or material rest, accomplish the material loading then with the cooperation of intelligent transfer robot, transfer the stock again and go to accomplish the unloading. Often there are a plurality of intelligent transfer robots and intelligent mobile robot in a factory building, therefore how to pool the transportation of accomplishing the goods in coordination is the problem that needs to solve.
Disclosure of Invention
The invention mainly aims to provide a method for cooperating an intelligent mobile robot and an intelligent transfer robot, which can enable the intelligent mobile robot and the intelligent transfer robot to finish the transfer work of products in a labor-sharing and orderly manner.
The invention realizes the purpose through the following technical scheme: a method for cooperation between an intelligent mobile robot and an intelligent transfer robot comprises the steps that a main control system allocates the intelligent mobile robot A1 and the intelligent transfer robot B1 in a production area to the same position on a production line, and the intelligent transfer robot B1 transfers products from the production line to a material rack of the intelligent mobile robot A1; after the transfer is completed, the intelligent mobile robot A1 transports the products to a storage area, the products are emptied by the intelligent transfer robot B2, meanwhile, the intelligent transfer robot B1 is allocated to the other intelligent transfer robot B2 waiting for blanking, another blanking is completed, and the like.
Specifically, each intelligent mobile robot and each intelligent transfer robot are provided with an E-84 module communicated and confirmed with the master control system.
Specifically, after transfer is completed every time, the main control system firstly confirms whether other stations of the production line need to be transported, if the other stations need to be transported, the idle intelligent mobile robot and the intelligent transport robot are allocated to be in place, and if the other stations need to be transported, the intelligent transport robot is in standby originally until a new instruction is issued.
Furthermore, if a plurality of intelligent mobile robots or intelligent carrying robots are idle, the main control system preferentially allocates the intelligent mobile robots or the intelligent carrying robots with the serial numbers higher than the serial numbers.
Specifically, the production line with set up the waiting area with intelligent mobile robot one-to-one between the storage district, the waiting area is outside intelligent mobile robot's working path, and when intelligent mobile robot did not receive work order, the waiting area of preferred getting back to self is assigned until there is new order.
By adopting the technical scheme, the technical scheme of the invention has the beneficial effects that:
the cooperation method simulates an actual manual carrying mode, so that the intelligent mobile robot and the intelligent carrying robot can orderly complete the product transferring work in a labor-division manner.
Drawings
Fig. 1 is a schematic diagram of a cooperation method.
The figures in the drawings represent:
a1, A2, A3-intelligent mobile robot;
b1, B2, B3-intelligent transfer robot;
1-production line, 2-storage area and 3-waiting area.
Detailed Description
The present invention will be described in further detail with reference to specific examples.
Example (b):
as shown in fig. 1, the method for cooperating an intelligent mobile robot and an intelligent transfer robot according to the present invention includes that a master control system allocates an intelligent mobile robot a1 and an intelligent transfer robot B1 located in a production area to the same location on a production line, and the intelligent transfer robot B1 transfers a product from the production line to a stack of the intelligent mobile robot a 1; after the transfer is completed, the intelligent mobile robot A1 transports the products to a storage area, the products are emptied by the intelligent transfer robot B2, meanwhile, the intelligent transfer robot B1 is allocated to the other intelligent transfer robot B2 waiting for blanking, another blanking is completed, and the like. The cooperation method simulates an actual manual carrying mode, so that the intelligent mobile robot and the intelligent carrying robot can orderly complete the product transferring work in a labor-division manner.
And each intelligent mobile robot and each intelligent carrying robot are provided with an E-84 module communicated and confirmed with the master control system. Therefore, the master control system can communicate each robot in time, and mutual interference and collision among the robots are avoided.
After each transfer is completed, the main control system firstly confirms whether other stations of the production line have transportation requirements, if so, the intelligent mobile robot (such as the position of A2) and the intelligent transfer robot are allocated to be in place, otherwise, the intelligent transfer robot stands by in place (such as the position of B3) until a new command is issued. Therefore, the idle intelligent transfer robot can be put into use in time, and the working efficiency is ensured.
And if a plurality of intelligent mobile robots or intelligent carrying robots are idle, the master control system preferentially allocates the intelligent mobile robots or the intelligent carrying robots with the serial numbers in front. This makes it possible to clarify the selection of the robot in the idle state.
As shown in fig. 1, a waiting area 3 corresponding to the intelligent mobile robots a1, a2, A3 one-to-one is disposed between the production line 1 and the stock area 2, the waiting area is outside the working path of the intelligent mobile robot, and when the intelligent mobile robot (such as the position of A3) does not receive a working instruction, the intelligent mobile robot preferentially returns to the waiting area until a new instruction is issued. Therefore, the intelligent mobile robot can be located at a waiting position in the middle of a factory building, and can be located in position faster after obtaining the command without hindering the operation of other intelligent mobile robots.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (5)
1. A method for cooperating an intelligent mobile robot and an intelligent transfer robot is characterized in that: the method comprises the steps that a main control system allocates an intelligent mobile robot A1 and an intelligent transfer robot B1 in a production area to the same position on a production line, and the intelligent transfer robot B1 transfers products from the production line to a material rack of the intelligent mobile robot A1; after the transfer is completed, the intelligent mobile robot A1 transports the products to a storage area, the products are emptied by the intelligent transfer robot B2, meanwhile, the intelligent transfer robot B1 is allocated to the other intelligent transfer robot B2 waiting for blanking, another blanking is completed, and the like.
2. The intelligent mobile robot and intelligent transfer robot cooperative method according to claim 1, wherein: and each intelligent mobile robot and each intelligent carrying robot are provided with an E-84 module communicated and confirmed with the master control system.
3. The intelligent mobile robot and intelligent transfer robot cooperative method according to claim 1, wherein: after each transfer is completed, the main control system firstly confirms whether other stations of the production line need to be transported, if the other stations need to be transported, the idle intelligent mobile robot and the intelligent transporting robot are allocated to be in place, and if the other stations need to be transported, the intelligent transporting robot is in standby in place until a new instruction is issued.
4. The intelligent mobile robot and intelligent transfer robot cooperative method according to claim 3, wherein: and if a plurality of intelligent mobile robots or intelligent carrying robots are idle, the master control system preferentially allocates the intelligent mobile robots or the intelligent carrying robots with the serial numbers in front.
5. The intelligent mobile robot and intelligent transfer robot cooperative method according to claim 1, wherein: the production line with set up the waiting area with intelligent movement robot one-to-one between the storage district, the waiting area is outside intelligent movement robot's work route, when intelligent movement robot did not receive work order, preferentially gets back to the waiting area of self, gives down until there is new order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011639889.XA CN112722737A (en) | 2020-12-31 | 2020-12-31 | Intelligent mobile robot and intelligent carrying robot cooperation method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011639889.XA CN112722737A (en) | 2020-12-31 | 2020-12-31 | Intelligent mobile robot and intelligent carrying robot cooperation method |
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| Publication Number | Publication Date |
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| CN112722737A true CN112722737A (en) | 2021-04-30 |
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| CN202011639889.XA Pending CN112722737A (en) | 2020-12-31 | 2020-12-31 | Intelligent mobile robot and intelligent carrying robot cooperation method |
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| CN107703943A (en) * | 2017-10-23 | 2018-02-16 | 清华大学 | A kind of method and its system that control multiple mobile robots concurrently to run |
| CN110171658A (en) * | 2019-07-04 | 2019-08-27 | 安吉八塔机器人有限公司 | A kind of stacking system |
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| CN209491455U (en) * | 2018-12-28 | 2019-10-15 | 友上智能科技(苏州)有限公司 | A kind of automatic welding machine |
| CN110963219A (en) * | 2019-11-05 | 2020-04-07 | 广西志得实业有限公司 | Intelligent production line for disassembling and assembling container freight yard station |
| CN111646227A (en) * | 2020-05-29 | 2020-09-11 | 上海海事大学 | Container sea-iron combined transportation system based on underground passage |
| CN112060072A (en) * | 2019-06-11 | 2020-12-11 | 华邦电子股份有限公司 | Cooperative robot control system and method |
-
2020
- 2020-12-31 CN CN202011639889.XA patent/CN112722737A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1487145A (en) * | 1974-11-06 | 1977-09-28 | Lanier Business Prod Inc | Dictate station apparatus |
| JPH11198087A (en) * | 1998-01-13 | 1999-07-27 | Sony Corp | Object feeder |
| CN110325032A (en) * | 2016-12-22 | 2019-10-11 | 铁牛公司 | System and method for transfering plant automatic in agricultural facility |
| CN106681324A (en) * | 2016-12-29 | 2017-05-17 | 郑州大河智信科技股份公司 | Intelligent AGV carrying line scheduling strategy |
| CN107555165A (en) * | 2017-10-23 | 2018-01-09 | 天津市中环电子计算机有限公司 | A kind of AGV merchandising machines people with mechanical arm and feeding method |
| CN107703943A (en) * | 2017-10-23 | 2018-02-16 | 清华大学 | A kind of method and its system that control multiple mobile robots concurrently to run |
| CN209491455U (en) * | 2018-12-28 | 2019-10-15 | 友上智能科技(苏州)有限公司 | A kind of automatic welding machine |
| CN112060072A (en) * | 2019-06-11 | 2020-12-11 | 华邦电子股份有限公司 | Cooperative robot control system and method |
| CN110171658A (en) * | 2019-07-04 | 2019-08-27 | 安吉八塔机器人有限公司 | A kind of stacking system |
| CN110963219A (en) * | 2019-11-05 | 2020-04-07 | 广西志得实业有限公司 | Intelligent production line for disassembling and assembling container freight yard station |
| CN111646227A (en) * | 2020-05-29 | 2020-09-11 | 上海海事大学 | Container sea-iron combined transportation system based on underground passage |
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