CN115014238A - Online detecting system for assembly precision of white body cover assembly line - Google Patents
Online detecting system for assembly precision of white body cover assembly line Download PDFInfo
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- G—PHYSICS
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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Abstract
The invention discloses an assembly precision online detection system of a body-in-white cover assembly line, which relates to the technical field of body-in-white online detection and comprises a cooperative manipulator, a profile measuring instrument arranged on the cooperative manipulator, a workstation and a display screen, wherein: the cooperation mechanical arm is used for acquiring the moving speed of the body-in-white and driving the profile measuring instrument and the body-in-white to move together; the contour measuring instrument is used for acquiring contour image data of the assembled white body preset point positions and transmitting the contour image data to the workstation; the workstation is used for processing the outline image data and acquiring the clearance and the section difference of the assembled white automobile body; the display screen is used for displaying the gap and the section difference of the white automobile body; the measuring efficiency is greatly improved, the measurement is not required to be positioned and stopped, the online detection is realized, the accuracy of the measured value is ensured, the detection precision is improved, and the scratch to the vehicle body during manual measurement is eliminated through the non-contact measurement of the equipment.
Description
Technical Field
The invention relates to the technical field of white body online detection, in particular to a white body cover assembly line assembly precision online detection system.
Background
The welding and manufacturing process of the white car body of the car is formed by a plurality of sub-assemblies such as a bottom plate, a side wall, a general assembly and the like in a multi-layer mode. In the welding process, the size deviation of a white vehicle body can be caused by unstable tool positioning, deformation of a welding part, size deviation of a stamping part, design tolerance accumulation, welding operation errors and the like, so that the subsequent whole vehicle is difficult to assemble, and the appearance and the matching performance of the whole vehicle are influenced. Therefore, the precision of the assembled five-door one-cover white car body needs to be detected, the existing detection mainly comprises the step of manually measuring the gap and the section difference of the assembly by using a vernier caliper, the car body needs to be contacted during measurement, the car body is easy to scratch, measurement deviation can be generated due to the fact that the measurement is different from person to person, the measurement is long in time consumption, and online detection cannot be carried out.
Disclosure of Invention
The invention aims to: the invention provides an on-line detection system for assembly precision of a body-in-white cover assembly line, which aims to solve the technical problems that when a vernier caliper is manually used for measuring gaps and section differences of assembly, a vehicle body needs to be contacted during measurement, the vehicle body is easily scratched, measurement deviation can be generated due to different measurement according to different people, the measurement is long in time consumption, and on-line detection cannot be carried out.
The invention specifically adopts the following technical scheme for realizing the purpose:
the utility model provides an online detecting system of white automobile body lid assembly line assembly precision, includes cooperation manipulator, sets up profile measuring apparatu, workstation, display screen on the cooperation manipulator, wherein:
the cooperation mechanical arm is used for acquiring the moving speed of the body-in-white and driving the profile measuring instrument and the body-in-white to move together;
the contour measuring instrument is used for acquiring contour image data of the assembled white body preset point positions and transmitting the contour image data to the workstation;
the workstation is used for processing the outline image data and acquiring the clearance and the section difference of the assembled white automobile body;
and the display screen is used for displaying the gap and the section difference of the white automobile body.
And further, the system also comprises an encoder, wherein the encoder is used for acquiring the moving speed of the traction chain for conveying the body-in-white to obtain the moving speed of the body-in-white.
Furthermore, a visual guide device is arranged on the cooperation mechanical arm, the visual guide device photographs the body in white, and the photographed body is compared with a pre-stored standard photo in a reference mode to perform fine positioning.
And further, the system also comprises a laser range finder, wherein the laser range finder is used for identifying whether the body-in-white enters the precision online detection station or not.
Further, the system comprises a scanner, wherein the scanner is used for acquiring the ID of the body-in-white and transmitting the ID to the workstation.
Furthermore, the workstation comprises a gap positioning and measuring module, a straight line fitting module, an anchor point correcting module and a data conversion module;
the gap positioning and measuring module is used for carrying out filtering processing on the outline image and positioning the pixel position of the gap according to the most obvious characteristics of gradient descending and ascending of the outermost periphery; taking two points at the uppermost edge and the lowermost edge of the two edges of the gap as anchor points, and determining the gap according to the average value of the distance of the anchor points in the X direction;
the straight line fitting module is used for taking two anchor points on the left side and the right side of the gap as starting points and the fitLineLength as fitting data length, and fitting straight lines by taking the fitLineLength continuous height data of the contour image to obtain the slope of the fitting straight lines; taking stride as a step length, translating along the X-axis direction, calculating the slope once every translation to obtain a slope vector, and counting the value with the highest slope occurrence frequency as the slope of the anchoring surface of the inclined plane; respectively making extension lines l by using the fitting straight lines of the left slope and the right slope closest to the gap 1 And l 2 Taking the midpoint of the gap as the reference point of the segment difference measurement, and calculating the extension line l 1 And l 2 The height difference h is taken as a segment difference;
anchor point correction module for anchor pointThe slope of the straight line of the fitting is more than K th Then, translating the anchor point until the slope of the fitting straight line is less than K th Stopping, and recalculating the gap and the step difference by taking the position as a new anchor point position;
and the data conversion module converts the pixel distances of the gaps and the segment differences into actual distances and outputs the actual distances of the gaps and the segment differences.
Further, the workstation further comprises an image data conversion module which is used for carrying out normalization processing on the profile image of the input gap positioning and measuring module.
Further, the gap positioning and measuring module is used for selecting a color gamut of the profile image and confirming the position of the laser beam; converting the outline image into a gray scale image, and confirming the position of the gap; and judging whether the laser beams L1 and L2 are intersected, if so, acquiring an included angle between the laser beams L1 and L2, and obtaining the relative posture of the profile measuring instrument and the white automobile body according to the included angle.
Further, the cooperative mechanical arm is electrically connected with the workstation through the robot control cabinet, and the workstation controls the cooperative mechanical arm to adjust the posture of the profile measuring instrument through the robot control cabinet according to the relative posture and controls the profile measuring instrument to adjust the posture according to the relative posture.
Further, the emergency stop device further comprises an emergency stop button electrically connected with the robot control cabinet, and the emergency stop button is used for emergently braking the cooperative manipulator.
The invention has the following beneficial effects:
according to the assembly precision on-line detection system for the white body cover assembly line, the moving speed of a white body is obtained through the cooperative mechanical arm to move together with the white body, the gap and the section difference of the assembled body are measured in a non-contact mode through the contour measuring instrument on the cooperative mechanical arm, the obtained contour image is calculated and processed through the workstation to obtain actual measurement data, the actual measurement data are displayed through the display screen, the actual measurement data are conveniently fed back to an operator to guide the operator to carry out manual repair, the measurement efficiency is greatly improved, the positioning and stopping of measurement are not needed, the on-line detection is realized, the accuracy of the measurement value is ensured, the detection precision is improved, and the scratch of the body during manual measurement is eliminated through the non-contact type measurement of equipment.
Drawings
FIG. 1 is a system framework diagram of the present invention;
FIG. 2 is another schematic view of the system framework of the present invention;
FIG. 3 is a schematic view of a workstation frame of the present invention;
FIG. 4 is a schematic view of the gap alignment of the present invention;
FIG. 5 is a schematic of a line fit of the present invention;
FIG. 6 is a schematic view of a step measurement of the present invention;
FIG. 7 is a diagram of anchor point positioning errors of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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 invention.
Example 1
As shown in fig. 1, the present embodiment provides an on-line assembly precision detecting system for a body-in-white cover assembly line, which includes a cooperative robot, a contour measuring instrument disposed on the cooperative robot, a workstation, and a display screen, wherein:
the cooperation mechanical arm is used for acquiring the moving speed of the body-in-white and driving the profile measuring instrument and the body-in-white to move together;
the contour measuring instrument is used for acquiring contour image data of the assembled white body preset point positions and transmitting the contour image data to the workstation;
the workstation is used for processing the outline image data and acquiring the clearance and the section difference of the assembled white automobile body;
and the display screen is used for displaying the gap and the section difference of the white automobile body.
The working principle of the invention is as follows: the method comprises the steps that a cooperation mechanical arm obtains the moving speed of a body-in-white, the cooperation mechanical arm and the body-in-white move together according to the moving speed of the body-in-white, contour image data are collected on preset points of the assembled body-in-white through a contour measuring instrument arranged on the cooperation mechanical arm, the collected contour image data are transmitted to a workstation, the workstation is provided with a software algorithm, the contour image data are processed through the software algorithm, gaps and section differences of the assembled body-in-white are obtained, and the gaps and the section differences of the assembled body-in-white are displayed through a display screen. The device is convenient to feed back to an operator, guides the operator to carry out manual repair, greatly improves the measurement efficiency, does not need to position and stop measurement, realizes online detection, ensures the accuracy of a measured value, improves the detection precision, and eliminates the scratch on the vehicle body during manual measurement through the non-contact measurement of the equipment.
Example 2
On the basis of the embodiment 1, as shown in fig. 2, the system further comprises an encoder, wherein the encoder is used for acquiring the moving speed of the traction chain for conveying the body-in-white to obtain the moving speed of the body-in-white.
In this embodiment, the moving speed of the traction chain is the moving speed of the body-in-white, the moving speed of the traction chain for transporting the body-in-white is obtained through the encoder, and the moving speed of the body-in-white is conveniently obtained through the encoder in real time and transmitted to the cooperative manipulator.
Example 3
On the basis of the embodiment 1, as shown in fig. 2, the cooperative mechanical arm is provided with a visual guidance device, the visual guidance device photographs a body-in-white, and after photographing, the body-in-white is subjected to benchmark comparison with a pre-stored standard photograph for fine positioning.
In this embodiment, the cooperative mechanical arm is provided with the vision guide device, and the vision guide device may adopt a camera, and the camera collects an image of the body in white, and calls a pre-stored standard photo to perform reference comparison with the image of the body in white, so as to determine whether the point is a predetermined point, thereby realizing the fine positioning of the contour measuring instrument.
Example 4
On the basis of the embodiment 1, as shown in fig. 2, the system further comprises a laser distance meter, wherein the laser distance meter is used for identifying whether the body-in-white enters the precision online detection station.
In the embodiment, the distance between the body-in-white and the precision online detection station is obtained by arranging the laser range finder, so that whether the body-in-white enters the precision online detection station or not is identified, and the signal is used for controlling the action of the cooperative manipulator.
Example 5
On the basis of embodiment 1, as shown in fig. 2, the system further comprises a scanner, wherein the scanner is used for acquiring the ID of the body-in-white and transmitting the ID to the workstation.
In this embodiment, the ID of the body-in-white is acquired by the scanner and uploaded to the workstation, so that the corresponding body-in-white ID is assigned after the gap and the step difference of the assembled body-in-white are measured, the ID of the body-in-white is displayed through the display screen, and the corresponding body-in-white ID is assigned when the gap and the step difference of the assembled body-in-white are stored.
Example 6
On the basis of the embodiment 1, as shown in fig. 3, the workstation includes a gap positioning and measuring module, a straight line fitting module, an anchor point correcting module, and a data conversion module;
the workstation also comprises an image data conversion module which is used for carrying out normalization processing on the profile image of the input gap positioning and measuring module;
during implementation, the 16-bit precision data is normalized to 8 bits, namely the pixel width of the standard image ranges from 0 to 255, and the normalization formula is as follows:
the gap positioning and measuring module is used for carrying out filtering processing on the outline image and positioning the pixel position of the gap according to the most obvious characteristics of gradient descending and ascending of the outermost periphery; determining the gap by taking two points at the uppermost edge and the lowermost edge of the two edges of the gap as anchor points and the mean value of the distance of the anchor points in the X direction;
in practice, [1,4 ] in the x-direction is used because the gaps are distributed longitudinally in the image]First order filter kernel of<-1,-1,1,1>Filtering the normalized image, wherein the filter adopts a filter2D function of OpenCV; the filtered image obviously shows the banding gradient distribution of the edge, the pixel position of the gap can be conveniently positioned by utilizing the characteristic that the gradient of the outermost periphery is most obvious in descending and ascending, namely the characteristic of the maximum gradient value, and the minimum judgment threshold value edgeThresh of the gradient value is 3; as shown in FIG. 4, the positions are represented by two points of the two sides of the gap, namely, the uppermost side and the lowermost side, and a total of 4 points, wherein the 4 points are collectively called anchor points and are denoted by A i The upper graph is obtained by rendering the actual anchor point on the original graph. The actual gap data is based on the anchor point, i.e. the mean of the distance of the anchor point in the X direction: bandWidth ═ a | (a |) 1 .x-A 2 .x|+|A 3 .x-A 4 .x|)/2。
The straight line fitting module is used for taking two anchor points on the left side and the right side of the gap as starting points and the fitLineLength as fitting data length, and fitting straight lines by taking the fitLineLength continuous height data of the contour image to obtain the slope of the fitting straight lines; taking stride as a step length, translating along the X-axis direction, calculating a slope once when translating once to obtain a slope vector, and counting a value with the highest slope occurrence frequency as the slope of an anchoring surface of the inclined plane; respectively making extension lines l by using the fitting straight lines of the left slope and the right slope closest to the gap 1 And l 2 Taking the midpoint of the gap as the reference point of the segment difference measurement, and calculating the extension line l 1 And l 2 The height difference h is taken as a segment difference;
in implementation, because the surfaces near the gap are connected by the irregular cambered surfaces, as shown in the following figure, in order to accurately measure the gap section difference, the actual height difference of the two surfaces cannot be accurately measured only by adopting the height difference relation between the anchor points, so that the actual height difference of the two surfaces can be accurately measured according to the actual height difference of workersThe measurement method adopts the measurement algorithm shown in fig. 5, the diagram shows the measurement method by a schematic diagram on the left side of the gap, and the same applies to the right side of the gap; taking an anchor point found by the gap positioning and measuring module as a starting point and fitLineLength as a fitting data length, and taking fitLineLength continuous height data fitting straight lines of an actual image (fp 16 data) to obtain a slope k of the fitting straight line i ；
Taking stride as a step length, translating the fitter along the X-axis direction, wherein the translation length is min (A) i x-fitLineLength, shiftLineLength), calculating a slope once per translation, obtaining a slope vector:
counting the value with the highest occurrence frequency of the slope as the slope of the anchoring surface of the slope:
k most ＝k f ＝most(k 0 ，k 1 ，k 2 ...k i )；
the same method fits the right side of the slot and obtains the slope of the anchoring face to the right of the slot.
Taking the left and right slopes closest to the gap as k most Respectively as an extension line l 1 And l 2 Taking the middle point of the gap, namely the middle point of the anchor point as a reference point for measuring the section difference, and calculating l 1 And l 2 The height difference h of (a) is the gap break as shown in fig. 6.
An anchor point correction module for fitting the slope of the straight line at the anchor point is greater than K th Then, translating the anchor point until the slope of the fitting straight line is less than K th Stopping, and recalculating the gap and the step difference by taking the position as a new anchor point position;
in implementation, due to the angle of camera imaging, the imaging data of a part of gaps is not necessarily "pure black", that is, the gaps are steeply decreased in gradient, and in this case, an anchor point positioning error occasionally occurs, which not only affects the gap data (smaller), but also may cause a fitting straight line positioning error, resulting in abnormal (very large) level difference data, as shown in fig. 7.
By adopting the anchor point correction method, experimental observation shows that the slope of the wrong anchor point is steep, and the empirical threshold K is obtained by collecting a large amount of field data and carrying out experiments th 20, when the slope of the line fitted at the anchor point is greater than K th And translating the anchor point until the slope of the fitted straight line is smaller than the value, stopping, taking the position as a new anchor point position, and recalculating the gap and section difference data.
And the data conversion module converts the pixel distances of the gaps and the segment differences into actual distances and outputs the actual distances of the gaps and the segment differences.
In implementation, according to a conversion formula of pixel-to-actual distance given by kirschner, the following formula is used for converting to obtain actual gap and step difference data, and the unit is mm:
realbandWidth＝(bandWidth1+bandWidth2)*25.0/1000
realheightDiff＝(heightDiff1+heightDiff2)/2*4.0/1000。
example 7
On the basis of the embodiment 6, the gap positioning and measuring module is used for performing color gamut selection on the contour image and confirming the position of the laser beam; converting the outline image into a gray scale image, and confirming the position of the gap; and judging whether the laser beams L1 and L2 are intersected, if so, acquiring an included angle between the laser beams L1 and L2, and obtaining the relative posture of the profile measuring instrument and the white automobile body according to the included angle.
During implementation, a laser beam is searched, because the laser beam is purple light, through BGR2HSV in OpenCV, the color gamut selection is carried out by the conversion channel, and the position of the laser beam is confirmed:
performing expansion corrosion on the current binarized image, deleting the surrounding small connected domains, and then confirming the initial point pointA (x) of the connected domain by adopting a findContours function in Opencv 1 ,y 1 ) And end point pointB (x) 2 ,y 2 ) Confirmation laser beam straight line L1: a1x + b1y + c1 is 0;
because the Gray value of the gap in the image is low, the color image is converted into a Gray map through a BGR2Gray function in OpenCV, and then the gap position is confirmed by using a threshold function:
performing expansion corrosion on the current binarized image, and after deleting the surrounding small connected domains, confirming a starting point pointC (x3, y3) and a terminal point pointD (x4, y4) of the connected domains by adopting a findContours function in Opencv to confirm a laser beam straight line L2: a2x + b2y + c2 is 0;
judging whether the two straight lines intersect:
when L1 is perpendicular to the x-axis and L2 is oblique to the x-axis, L1 intersects L2: b1 ═ 0& & b 2! 0;
when L1 is tilted to the x-axis and L2 is perpendicular to the x-axis, L1 intersects L2: b 1! 0& & b2 ═ 0;
when both L1 and L2 are inclined to the x-axis and the slopes are different, L1 intersects L2: b 1! 0& & b 2! 0& & a1/b 1! A2/b 2.
Intersection point:
judging the included angle of the two straight lines:
the intersection point p0(x0, y0), the end point of L1 (x2, y2) and the end point of L2 (x4, y4) form a triangle, and the sides of the triangle are as long as:
from the cosine theorem:
if θ ≠ 90, the rotation angle α is 90- θ.
Example 8
On the basis of the embodiment 7, the cooperative manipulator is electrically connected with the workstation through the robot control cabinet, and the workstation controls the cooperative manipulator to adjust the posture of the profile measuring instrument through the robot control cabinet according to the relative posture and controls the profile measuring instrument to adjust the posture according to the relative posture.
When the robot is implemented, the workstation sends an instruction to the robot control cabinet and the profile measuring instrument which are configured on the cooperative manipulator according to the relative posture, the robot control cabinet controls the cooperative manipulator to act according to the instruction, the profile measuring instrument acts according to the instruction, and the sum of the rotation angle of the cooperative manipulator and the rotation angle of the profile measuring instrument is equal to the rotation angle. When a plurality of cooperative manipulators are arranged, one cooperative manipulator is provided with one robot control cabinet, a plurality of robot control cabinets are provided with one overall control cabinet, the workstation is electrically connected with the control cabinet, and the control cabinet is electrically connected with the robot control cabinet.
Example 9
On the basis of the embodiment 8, the robot control cabinet further comprises an emergency stop button which is electrically connected with the robot control cabinet and is used for emergently braking the cooperative manipulator.
In this embodiment, it is convenient to emergency brake the cooperative manipulator by the emergency stop button.
Claims (10)
1. The utility model provides an online detecting system of white automobile body lid assembly line assembly precision which characterized in that, includes cooperation manipulator, sets up profile measuring apparatu, workstation, the display screen on cooperation manipulator, wherein:
the cooperation mechanical arm is used for acquiring the moving speed of the body-in-white and driving the profile measuring instrument and the body-in-white to move together;
the contour measuring instrument is used for acquiring contour image data of the assembled white body preset point positions and transmitting the contour image data to the workstation;
the workstation is used for processing the contour image data and acquiring the clearance and the section difference of the assembled white automobile body;
and the display screen is used for displaying the gap and the section difference of the white automobile body.
2. The system for detecting the assembly accuracy of the body-in-white cover assembly line as claimed in claim 1, further comprising an encoder, wherein the encoder is used for acquiring the moving speed of a traction chain for conveying the body-in-white to obtain the moving speed of the body-in-white.
3. The on-line detection system for assembly precision of the body-in-white cover assembly line as claimed in claim 1, wherein a visual guide device is arranged on the cooperative mechanical arm, the visual guide device photographs the body-in-white, and after photographing, the body-in-white is subjected to reference comparison with a pre-stored standard photograph for fine positioning.
4. The system for detecting the assembly precision of the body-in-white cover assembly line is characterized by further comprising a laser range finder, wherein the laser range finder is used for identifying whether the body-in-white enters the precision online detection station or not.
5. The on-line assembly accuracy detecting system for body-in-white cover assembly lines as claimed in claim 1, further comprising a scanner for acquiring an ID of the body-in-white and transmitting the ID to the workstation.
6. The on-line detection system for assembly precision of the body-in-white cover assembly line is characterized in that the workstation comprises a gap positioning and measuring module, a straight line fitting module, an anchor point correcting module and a data conversion module;
the gap positioning and measuring module is used for carrying out filtering processing on the outline image and positioning the pixel position of the gap according to the most obvious characteristics of gradient descending and ascending of the outermost periphery; determining the gap by taking two points at the uppermost edge and the lowermost edge of the two edges of the gap as anchor points and the mean value of the distance of the anchor points in the X direction;
the straight line fitting module is used for taking two anchor points on the left side and the right side of the gap as starting points and the fitLineLength as fitting data length, and fitting straight lines by taking the fitLineLength continuous height data of the contour image to obtain the slope of the fitting straight lines; taking stride as a step length, translating along the X-axis direction, calculating a slope once when translating once to obtain a slope vector, and counting a value with the highest slope occurrence frequency as the slope of an anchoring surface of the inclined plane; respectively making extension lines l by using the fitting straight lines of the left slope and the right slope closest to the gap 1 And l 2 Taking the midpoint of the gap as the reference point for measuring the section difference, and calculating the extension line l 1 And l 2 The height difference h is taken as a segment difference;
an anchor point correction module for fitting the slope of the straight line at the anchor point is greater than K th Then, translating the anchor point until the slope of the fitting straight line is less than K th Stopping, and recalculating the gap and the step difference by taking the position as a new anchor point position;
and the data conversion module converts the pixel distances of the gaps and the segment differences into actual distances and outputs the actual distances of the gaps and the segment differences.
7. The system for on-line detection of assembly accuracy of body-in-white cover assembly lines as claimed in claim 6, wherein said workstation further comprises an image data conversion module for normalizing the profile image of the input gap locating and measuring module.
8. The system as claimed in claim 6, wherein the gap locating and measuring module is used for selecting color gamut of the contour image and confirming the position of the laser beam; converting the outline image into a gray scale image, and confirming the position of the gap; and judging whether the laser beams L1 and L2 are intersected, if so, acquiring an included angle between the laser beams L1 and L2, and obtaining the relative posture of the profile measuring instrument and the white automobile body according to the included angle.
9. The system for detecting the assembly accuracy of the body-in-white cover assembly line as claimed in claim 8, wherein the cooperative mechanical arm is electrically connected with the workstation through the robot control cabinet, and the workstation controls the cooperative mechanical arm to adjust the posture of the contour measuring instrument according to the relative posture and controls the contour measuring instrument to adjust the posture according to the relative posture.
10. The system for on-line detection of assembly accuracy of body-in-white cover assembly lines of claim 9, further comprising an emergency stop button electrically connected to the robot control cabinet, the emergency stop button being used for emergency braking of the cooperative manipulator.
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