CN115571823A - Transfer robot device of integrated 3D camera - Google Patents

Transfer robot device of integrated 3D camera Download PDF

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Publication number
CN115571823A
CN115571823A CN202210912327.0A CN202210912327A CN115571823A CN 115571823 A CN115571823 A CN 115571823A CN 202210912327 A CN202210912327 A CN 202210912327A CN 115571823 A CN115571823 A CN 115571823A
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CN
China
Prior art keywords
camera
transfer robot
control system
integrated
workpiece
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210912327.0A
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Chinese (zh)
Inventor
赵至伟
吴诚骁
信继忠
王颖龙
郭秦阳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Fanuc Robotics Co Ltd
Original Assignee
Shanghai Fanuc Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Fanuc Robotics Co Ltd filed Critical Shanghai Fanuc Robotics Co Ltd
Priority to CN202210912327.0A priority Critical patent/CN115571823A/en
Publication of CN115571823A publication Critical patent/CN115571823A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/061—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks characterised by having a lifting jib
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07581—Remote controls

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a transfer robot device integrated with a 3D camera, which comprises: the system comprises an AGV trolley, a transfer robot arranged on the AGV trolley, a tail end gripper and a 3D camera which are arranged on the transfer robot, and a control system, wherein the control system controls the AGV trolley, the transfer robot, the tail end gripper and the 3D camera; in the first stage, the 3D camera is used for shooting and collecting environmental data information, the control system generates a designated route according to the environmental data information, and the AGV trolley and the transfer robot move according to the designated route; in the second stage, the 3D camera is used for shooting and collecting workpiece position information, the control system generates a work instruction according to the workpiece position information, and the carrying robot acts according to the work instruction to grab the workpiece or put the workpiece down. The invention can independently collect external information and carry out optimized operation according to corresponding environment.

Description

Transfer robot device of integrated 3D camera
Technical Field
The invention relates to the technical field of industrial automation, in particular to a carrying robot device integrated with a 3D camera.
Background
Robots and automation equipment have a wide application market, and in the case of robots, the robot technology is a typical representative of advanced manufacturing technologies, and is important modern manufacturing automation equipment integrating multiple discipline advanced technologies such as machinery, electronics, control, computers, sensors, artificial intelligence and the like.
The intelligent moving technology mainly relates to three technical fields of navigation positioning, path planning and motion control, wherein the navigation positioning is a core technology of the intelligent moving technology, and means that a machine senses surrounding environment information and self state through a sensor to realize autonomous movement of a target in a barrier environment.
Industrial robots have now played an increasingly important role in production throughout the world in manufacturing. In order to be able to do more and more complex work with robots, the robots not only need to have better systems, but also need to have more changes in the perception environment. The vision and hearing of the robot become the most important perception functions of the robot due to the large information amount and complete information.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a transfer robot apparatus integrated with a 3D camera.
In order to achieve the purpose, the invention adopts the technical scheme that:
a 3D camera-integrated transfer robot apparatus, comprising:
the system comprises an AGV trolley, a transfer robot arranged on the AGV trolley, a tail end gripper arranged on the transfer robot, a 3D camera and a control system, wherein the control system controls the AGV trolley, the transfer robot, the tail end gripper and the 3D camera;
in the first stage, the 3D camera is used for shooting and collecting environmental data information, the control system generates a designated route according to the environmental data information, and the AGV trolley and the transfer robot move according to the designated route;
in the second stage, the 3D camera is used for shooting and collecting workpiece position information, the control system generates a work instruction according to the workpiece position information, and the carrying robot acts according to the work instruction to grab a workpiece or put down the workpiece.
In the above transfer robot apparatus with integrated 3D camera, in the first stage, the environment data information at least includes obstacle position information and obstacle size information, and the specified route includes an AGV cart traveling route which does not interfere with an obstacle and a transfer robot action which does not interfere with the obstacle;
and the transfer robot cooperates with the AGV to act so as to avoid the barrier.
In the above transfer robot apparatus integrated with a 3D camera, in the first stage, the 3D camera captures and collects the environmental data information in real time or at a designated frequency, and the control system switches the designated route in real time according to the environmental data information.
In the above transfer robot apparatus with an integrated 3D camera, in the first stage, the starting point of the designated route is the current position of the AGV cart, and the end point of the designated route is the position of the workpiece;
or the starting point of the designated route is the position of the workpiece, and the end point of the designated route is the designated conveying position.
The 3D camera integrated transfer robot apparatus as described above, wherein in the second stage, the control system performs compensation according to the workpiece position information to generate the work instruction.
The transfer robot device integrated with the 3D camera is a six-axis robot, and the transfer robot is capable of moving along a first direction, a second direction and a third direction in a reciprocating manner, and the first direction, the second direction and the third direction are perpendicular to each other.
The transfer robot apparatus integrated with a 3D camera may further include a third gripper, wherein the third gripper is rotatably connected to the third gripper.
Foretell transfer robot device of integrated 3D camera, wherein, the AGV dolly includes:
the chassis is provided with the universal wheels;
the lower end of the lifting device is connected with the chassis;
the chassis is connected with the upper end of the lifting device, and the carrying robot is connected to the chassis;
wherein the lifting device is operable to expand and contract the distance between the chassis and the chassis.
The above transfer robot apparatus with an integrated 3D camera, wherein the control system is operatively connected to an external mobile/fixed-end smart device via a transmission control protocol.
Due to the adoption of the technology, compared with the prior art, the invention has the following positive effects:
(1) The invention can independently collect external information and carry out optimized operation according to corresponding environment.
Drawings
Fig. 1 is an axis view of the 3D camera-integrated transfer robot apparatus of the present invention.
Fig. 2 is a schematic diagram of a first perspective of the 3D camera integrated transfer robot apparatus of the present invention.
Fig. 3 is a schematic view of a second perspective of the 3D camera-integrated transfer robot apparatus of the present invention.
Fig. 4 is a schematic diagram of a chassis of the 3D camera integrated transfer robot apparatus of the present invention.
In the drawings: 1. an AGV trolley; 2. a transfer robot; 3. a tail end gripper; 4. a 3D camera; 11. a chassis; 12. a lifting device; 13. a chassis; 14. a universal wheel.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments, but not limited thereto, and fig. 1 is a schematic axial view of a 3D camera integrated transfer robot apparatus according to the present invention; fig. 2 is a schematic view of a first view angle of the 3D camera integrated transfer robot apparatus of the present invention; fig. 3 is a schematic view of a second view of the 3D camera integrated transfer robot apparatus of the present invention; fig. 4 is a schematic view of a chassis of the 3D camera-integrated transfer robot apparatus of the present invention, and referring to fig. 1 to 4, there is shown a 3D camera-integrated transfer robot apparatus according to a preferred embodiment, including: the system comprises an AGV trolley 1, a conveying robot 2 arranged on the AGV trolley 1, a tail end gripper 3 arranged on the conveying robot 2, a 3D camera 4 and a control system, wherein the control system controls the AGV trolley 1, the conveying robot 2, the tail end gripper 3 and the 3D camera 4;
in the first stage, the 3D camera 4 is used for shooting and collecting environmental data information, the control system generates a designated route according to the environmental data information, and the AGV trolley 1 and the transfer robot 2 move according to the designated route;
in the second stage, the 3D camera 4 is used to capture and collect workpiece position information, the control system generates a work instruction according to the workpiece position information, and the transfer robot 2 operates to grab or put down the workpiece according to the work instruction.
In a preferred embodiment, in the first stage, the environment data information at least includes obstacle position information and obstacle size information, and the specified route includes a traveling route of the AGV cart 1 without interference with the obstacle and actions of the transfer robot 2 without interference with the obstacle;
the transfer robot 2 cooperates with the AGV cart 1 to avoid the obstacle.
In a preferred embodiment, in the first phase, the 3D camera 4 captures and collects environmental data information in real time or at a specified frequency, and the control system switches the specified route in real time according to the environmental data information.
In a preferred embodiment, in the first stage, the starting point of the designated route is the current position of the AGV cart 1, and the ending point of the designated route is the position of the workpiece;
or, the starting point of the designated route is the position of the workpiece, and the end point of the designated route is the designated conveying position.
The above are merely preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.
The present invention also has the following embodiments in addition to the above:
in a further embodiment of the invention, during the second phase, the control system performs compensation based on the workpiece position information to generate the work order.
In a further embodiment of the present invention, the transfer robot 2 is a six-axis robot, and the transfer robot 2 can move in a first direction, a second direction and a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other.
In a further embodiment of the invention the handling robot 2 and the end gripper 3 are rotatably connected.
In a further embodiment of the invention, the AGV car 1 comprises:
a chassis 11 provided with universal wheels 14;
the lower end of the lifting device 12 is connected with the chassis 11;
a case 13, wherein the case 13 is connected with the upper end of the lifting device 12, and the transfer robot 2 is connected on the case 13;
wherein the lifting device 12 is operable to expand and contract the distance between the chassis 11 and the cabinet 13.
In a further embodiment of the invention, the control system is operatively connected to the external mobile/fixed-end smart device via a transmission control protocol.
Specifically, the AGV 1 is a transport Vehicle which is equipped with an electromagnetic or optical automatic navigation device, can travel along a predetermined navigation path, and has safety protection and various transfer functions. In industrial application, a driver's carrier is not needed, and a rechargeable storage battery is used as a power source of the carrier; generally, the traveling path and behavior can be controlled by a computer, or the traveling path can be established by using an electromagnetic rail, which is adhered to the floor, and the automated guided vehicle moves and operates according to the information brought by the electromagnetic rail.
Further, the 3D camera 4 refers to a device that performs data acquisition on an external three-dimensional space environment.
In a further embodiment of the invention the handling robot 2 and the end gripper 3 are rotatably connected.
In a preferred embodiment, the 3D camera 4 is rotatably installed at the other end of the transfer robot 2, the 3D camera 4 captures and collects environmental information data around the 3D camera 4, the 3D camera 4 is electrically connected to the AGV cart 1, the 3D camera 4 is electrically connected to the transfer robot 2, and the 3D camera 4 is electrically connected to the end gripper 3.
In a preferred embodiment, the handling robot 2 and the end gripper 3 are rotatably connected.
In a preferred embodiment, the AGV cart 1 automatically switches routes according to the information of the surrounding environment collected by the 3D camera 4. According to different placing postures and positions of the conveying objects, the conveying robot 2 and the tail end gripper 3 can automatically adjust the gripping positions and postures, so that position compensation is realized, and the workpieces conveyed to new positions are kept within an allowable error range.
In a preferred embodiment, the 3D camera 4 with the largest depth of field as possible is selected as the 3D camera 4, and the information that can be captured by the camera is increased by expanding the six-axis motion range of the AGV cart 1 and the transfer robot 2, increasing the frequency of capturing, and the like.
In a preferred embodiment, after the secondary processing is performed on the shooting result by using the software in the intelligent navigation system 6, the field depth range required by the approach obstacle avoidance navigation is realized.
In a preferred embodiment, the device combines a camera for navigation obstacle avoidance and a camera for visual position compensation into a whole, so that the hardware cost can be further reduced, and the load is calculated by the controller.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims (9)

1. A transfer robot apparatus integrated with a 3D camera, comprising:
the automatic guided vehicle comprises an AGV trolley, a transfer robot arranged on the AGV trolley, an end gripper arranged on the transfer robot, a 3D camera and a control system, wherein the control system controls the AGV trolley, the transfer robot, the end gripper and the 3D camera;
in the first stage, the 3D camera is used for shooting and collecting environmental data information, the control system generates a designated route according to the environmental data information, and the AGV trolley and the transfer robot move according to the designated route;
in the second stage, the 3D camera is used for shooting and collecting workpiece position information, the control system generates a work instruction according to the workpiece position information, and the carrying robot acts according to the work instruction to grab a workpiece or put down the workpiece.
2. The 3D camera integrated transfer robot apparatus according to claim 1, wherein in the first stage, the environment data information includes at least obstacle position information and obstacle size information, and the designated route includes an AGV cart travel route which does not interfere with an obstacle and a transfer robot action which does not interfere with the obstacle;
and the transfer robot cooperates with the AGV to act so as to avoid the barrier.
3. The 3D camera-integrated transfer robot apparatus according to claim 1, wherein in the first stage, the 3D camera photographs and collects the environmental data information in real time or at a designated frequency, and the control system switches the designated route in real time according to the environmental data information.
4. The 3D camera integrated transfer robot apparatus according to claim 1, wherein in the first stage, the start point of the designated route is a current position of the AGV cart, and the end point of the designated route is a position where a workpiece is located;
or the starting point of the designated route is the position of the workpiece, and the end point of the designated route is the designated conveying position.
5. The 3D camera-integrated transfer robot apparatus according to claim 1, wherein in the second stage, the control system performs compensation in accordance with the workpiece position information to generate the work order.
6. The 3D camera-integrated transfer robot apparatus according to claim 1, wherein the transfer robot is a six-axis robot, the transfer robot being capable of moving in a first direction, a second direction, and a third direction, the first direction, the second direction, and the third direction being perpendicular to each other.
7. The 3D camera-integrated transfer robot apparatus according to claim 1, wherein the transfer robot and the end gripper are rotatably connected.
8. The integrated 3D camera transfer robot apparatus of claim 1, wherein the AGV cart comprises:
the chassis is provided with the universal wheels;
the lower end of the lifting device is connected with the chassis;
the chassis is connected with the upper end of the lifting device, and the carrying robot is connected to the chassis;
wherein the lifting device is operable to expand and contract a distance between the chassis and the chassis.
9. The integrated 3D camera carrier robot apparatus of claim 1, wherein the control system is operatively networked with the external mobile/fixed-end smart device via a transmission control protocol.
CN202210912327.0A 2022-07-29 2022-07-29 Transfer robot device of integrated 3D camera Pending CN115571823A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210912327.0A CN115571823A (en) 2022-07-29 2022-07-29 Transfer robot device of integrated 3D camera

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210912327.0A CN115571823A (en) 2022-07-29 2022-07-29 Transfer robot device of integrated 3D camera

Publications (1)

Publication Number Publication Date
CN115571823A true CN115571823A (en) 2023-01-06

Family

ID=84579042

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210912327.0A Pending CN115571823A (en) 2022-07-29 2022-07-29 Transfer robot device of integrated 3D camera

Country Status (1)

Country Link
CN (1) CN115571823A (en)

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