CN117605276A - Scribing robot, scribing robot system and scribing method - Google Patents

Scribing robot, scribing robot system and scribing method Download PDF

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Publication number
CN117605276A
CN117605276A CN202311735827.2A CN202311735827A CN117605276A CN 117605276 A CN117605276 A CN 117605276A CN 202311735827 A CN202311735827 A CN 202311735827A CN 117605276 A CN117605276 A CN 117605276A
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CN
China
Prior art keywords
scribing
shaft
manipulator
robot
coordinate system
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Pending
Application number
CN202311735827.2A
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Chinese (zh)
Inventor
金宇翱
席宁
陈和平
李耀楠
李桥康
范兴刚
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Jiaxing Minshuo Intelligent Technology Co ltd
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Jiaxing Minshuo Intelligent Technology Co ltd
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Application filed by Jiaxing Minshuo Intelligent Technology Co ltd filed Critical Jiaxing Minshuo Intelligent Technology Co ltd
Priority to CN202311735827.2A priority Critical patent/CN117605276A/en
Publication of CN117605276A publication Critical patent/CN117605276A/en
Pending legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
    • E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
    • E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
    • E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
    • E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
    • E01C23/222—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying specially adapted for automatic spraying of interrupted, individual or variable markings
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • E04G21/18—Adjusting tools; Templates

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The application discloses marking robot, including mechanical leg group, manipulator group, encoder group and marking head. The manipulator group includes first manipulator and the second manipulator of structural symmetry, and the manipulator group includes first manipulator and the second manipulator that structural symmetry set up, and the encoder group includes a plurality of encoders, and a plurality of encoders set up respectively on every manipulator and every manipulator, and the marking off head sets up on first manipulator and/or second manipulator. The application also provides a scribing robot system which comprises a data acquisition unit, a data processing unit, a judging unit, a control unit and a storage unit. The application also provides a scribing method, which comprises the steps of path planning, determining initial point positions and initial positions, mobilizing mechanical legs and mechanical hands to scribe, moving a scribing robot and the like. The scribing robot can improve the flexibility and the scribing precision of scribing. The scribing device is used in the technical field of scribing equipment.

Description

Scribing robot, scribing robot system and scribing method
Technical Field
The application relates to the technical field of scribing, in particular to a scribing robot, a scribing robot system and a scribing method.
Background
Scribing robots are becoming mature and increasingly used in the construction field, and have higher precision control and efficiency than traditional manual scribing. In the related art, the scribing robot takes an AGV trolley as a prototype, performs positioning by carrying a sensor such as a laser, a camera or a radar, and converts a CAD model into a motion track of the AGV trolley, namely, a region where the motion track of the AGV trolley is required to be scribed.
When the scribing robot in the related art is used for scribing, the scribing mode is single, and the flexibility is low; the AGV trolley needs to be repeatedly positioned continuously when moving so as to keep the travelling route not to deviate, and the AGV trolley can rotate for a plurality of times in the scribing process, and after long-time running, deviation is easy to occur; the AGV dolly is easily influenced by the environment, and when the road conditions of the marking area are uneven or have obstacles (such as stones), the running track of the AGV dolly is extremely easy to deviate.
Disclosure of Invention
The present application aims to solve, at least to some extent, one of the above technical problems in the prior art. Therefore, the embodiment of the first aspect of the present application provides a scribing robot, which can improve scribing precision and scribing flexibility.
Embodiments of a second aspect of the present application provide a scribing robot system.
Embodiments of a third aspect of the present application provide a scribing method.
According to an embodiment of the first aspect of the present application, a scribing robot includes: the mechanical leg group comprises first mechanical legs and second mechanical legs which are symmetrical in structure, each mechanical leg comprises a base, a first shaft and a second shaft, the first shaft is rotatably connected with the base, the second shaft is rotatably connected with the first shaft, and the second shaft of the first mechanical leg is rotatably connected with the second shaft of the second mechanical leg; the manipulator group comprises a first manipulator and a second manipulator which are symmetrically arranged in structure, the first manipulator is rotatably connected with a first shaft of the first manipulator leg, and the second manipulator is rotatably connected with a first shaft of the second manipulator leg; the encoder set comprises a plurality of encoders, and the encoders are respectively arranged on each mechanical leg and each mechanical arm to acquire pose information of each mechanical leg and each mechanical arm; the scribing head is arranged on the first manipulator and/or the second manipulator, and the scribing head can be moved by moving the mechanical legs and/or the manipulator so as to scribe.
Based on the above technical solution, the embodiment of the first aspect of the present application has at least the following beneficial effects: the scribing robot is provided with the mechanical leg group and the mechanical arm group, so that the forward or backward movement of the scribing robot can be realized, and the scribing head can be moved by moving the mechanical legs and/or the mechanical arms so as to scribe in multiple directions, thereby improving the flexibility of scribing; and through setting up mechanical leg group, manipulator group and encoder group, calculate the position appearance of each mechanical leg and each manipulator through the encoder, very big utilization the advantage that the repeated positioning accuracy of arm is high, improved the marking off precision of marking off robot.
According to the scribing robot of the embodiment of the first aspect of the application, each base is internally provided with a first motor, each first motor is connected with each first shaft so as to drive the first shafts to rotate, and each first motor is provided with an encoder.
According to the scribing robot of the embodiment of the first aspect of the application, the second motor is arranged in the second shaft of the first mechanical leg, the second motor is connected with the second shaft of the second mechanical leg so as to drive the second shaft of the second mechanical leg to rotate, the third motor is arranged in the second shaft of the second mechanical leg and is connected with the second shaft of the first mechanical leg so as to drive the second shaft of the first mechanical leg to rotate, and the second motor and the third motor are both provided with one encoder.
According to the scribing robot of the embodiment of the first aspect of the application, the first shaft comprises a first connecting block and a second connecting block which are arranged at intervals, each manipulator is rotatably connected with the corresponding first connecting block, and each second shaft is rotatably connected with the corresponding manipulator through the second connecting block.
According to the scribing robot of the embodiment of the first aspect of the application, each manipulator comprises a third shaft, a fourth shaft and a fifth shaft which are sequentially connected and can rotate relatively, a fourth motor is arranged in the first shaft, the fourth motor drives the corresponding third shaft to rotate through a first synchronous belt assembly, a fifth motor is arranged in the third shaft, the fifth motor is connected with the corresponding second shaft through a first coupler so as to drive the second shaft to rotate, and the fourth motor and the fifth motor are both provided with an encoder.
According to the scribing robot of the embodiment of the first aspect of the application, the scribing head comprises a first scribing head and a second scribing head, the first scribing head is arranged at the tail end of the first manipulator, and the second scribing head is arranged at the tail end of the second manipulator.
According to the scribing robot of the embodiment of the first aspect of the application, each base is provided with a calibration line so as to determine a first space coordinate system and a second space coordinate system.
A streaking robot system according to an embodiment of the second aspect of the present application includes: a first spatial coordinate system; the second space coordinate system has a conversion relation with the first space coordinate system; the data acquisition unit is used for acquiring physical coordinates of each axis of the scribing robot; the data processing unit comprises a first processing module and a second processing module, wherein the first processing module is used for converting the physical coordinates of each axis of the scribing robot into first space coordinates by taking the first space coordinate system as a reference coordinate system; the second processing module is used for converting the physical coordinates of each axis of the scribing robot into second space coordinates by taking the second space coordinate system as a reference coordinate system; the judging unit is used for judging whether the first space coordinates and the second space coordinates of each axis of the scribing robot accord with the conversion relation or not and sending out a judging result signal; the control unit is used for responding to the judging result signal sent by the judging unit and controlling the marking robot to correct the deviation; and the storage unit is used for storing the conversion relation between the first space coordinate system and the second space coordinate system, the information data acquired in the process and the used program.
According to the scribing method of the embodiment of the third aspect of the application, the scribing robot performs path planning according to the scribing planning chart to obtain a planned path and a scribing sequence, and an initial point position and an initial pose of the scribing robot are determined; the scribing robot mobilizes each mechanical leg and each mechanical arm to move according to a preset pose according to the obtained planning path and scribing sequence, and scribing is carried out through a scribing head; during scribing, the scribing robot performs forward or backward movement by rotating the second shaft of the first mechanical leg and the second shaft of the second mechanical leg.
According to the scribing method of the embodiment of the third aspect of the application, physical coordinates of each axis of the scribing robot are obtained through the encoder set, a first processing module converts the physical coordinates of each axis of the scribing robot into first space coordinates by taking a first space coordinate system as a reference coordinate system, and a second processing module converts the physical coordinates of each axis of the scribing robot into second space coordinates by taking a second space coordinate system as a reference coordinate system; the first space coordinate system and the second space coordinate system have a conversion relation; if the first space coordinate and the second space coordinate of the shaft do not accord with the conversion relation, correcting is needed; otherwise, correction is not needed.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The present application is further described below with reference to the drawings and examples;
fig. 1 is a schematic structural diagram of a scribing robot according to an embodiment of a first aspect of the present application;
fig. 2 is a schematic structural view of another view angle of the scribing robot according to the embodiment of the first aspect of the present application;
FIG. 3 is a schematic view of a left base coupled to a left first shaft according to an embodiment of a first aspect of the present application;
fig. 4 is a schematic structural diagram of connection between a left second shaft and a right second shaft in an embodiment of a first aspect of the present application;
FIG. 5 is a schematic structural view of a scribing robot according to an embodiment of the first aspect of the present application;
FIG. 6 is a schematic view of a left first shaft connected to a left manipulator according to an embodiment of a first aspect of the present application;
fig. 7 is a schematic structural diagram of a connection between a left manipulator and a left second shaft in an embodiment of a first aspect of the present application;
FIG. 8 is a schematic view of a connection between a right third shaft and a right fourth shaft in an embodiment of the first aspect of the present application;
FIG. 9 is a schematic view of a connection between a right fourth shaft and a right fifth shaft in an embodiment of a first aspect of the present application;
FIG. 10 is a schematic structural view of a left base according to an embodiment of the first aspect of the present application;
FIG. 11 is a schematic structural diagram of a planar rectangular coordinate system determined according to a calibration line on a base according to an embodiment of the first aspect of the present application;
fig. 12 is a schematic structural view of a scribing robot for scribing according to the second aspect of the present invention.
Reference numerals: left mechanical leg 100, left base 110, base 111, calibration line 1111, base body 112, left first shaft 120, first connection block 121, second connection block 122, left second shaft 130, third connection block 131, fourth connection block 132; a right mechanical leg 200, a right base 210, a right first shaft 220, a right second shaft 230; left manipulator 300, left third axis 310, left fourth axis 320, left fifth axis 330; a right manipulator 400, a right third axis 410, a right fourth axis 420, a right fifth axis 430; a left scribing head 510, a right scribing head 520; the first motor 610, the first decelerator 611, the second motor 620, the fourth motor 640, the first master synchronizing wheel 641, the first slave synchronizing wheel 642, the first synchronizing belt 643, the first bearing 644, the connecting rod 6441, the fifth motor 650, the second bearing 651, the first coupling 652, the sixth motor 660, the second coupling 661, the seventh motor 670, the second master synchronizing wheel 671, the second slave synchronizing wheel 672, the second synchronizing belt 673; an encoder 700.
Detailed Description
Reference will now be made in detail to the present embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein the purpose of the accompanying drawings is to supplement the description of the written description section with figures, so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present application, but not to limit the scope of protection of the present application.
In the description of the present application, it should be understood that references to orientation descriptions, such as directions of up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the description of the present application, the meaning of a number is one or more, the meaning of a number is two or more, greater than, less than, exceeding, etc. are understood to not include the present number, and the meaning of a number above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical solution.
Referring to fig. 1, an embodiment of a first aspect of the present application provides a scribing robot including a robot leg group, a robot arm group, an encoder group, and a scribing head.
The mechanical leg group comprises first mechanical legs and second mechanical legs which are symmetrical in structure, each mechanical leg comprises a base, a first shaft and a second shaft, the first shaft is rotatably connected with the base, the second shaft is rotatably connected with the first shaft, the second shaft of the first mechanical leg is rotatably connected with the second shaft of the second mechanical leg, so that the first mechanical leg and the second mechanical leg can rotate relatively, namely, the first mechanical leg can rotate relative to the second mechanical leg around the second shaft of the first mechanical leg, and the second mechanical leg can rotate relative to the first mechanical leg around the second shaft of the second mechanical leg.
In some embodiments, the first mechanical leg is a left mechanical leg 100 and the second mechanical leg is a right mechanical leg 200.
Of course, in other embodiments, the first mechanical leg may be the right mechanical leg 200, and the second mechanical leg may be the left mechanical leg 100, which is not described herein.
The manipulator group comprises a first manipulator and a second manipulator which are symmetrically arranged in structure, the first manipulator and the second manipulator are respectively arranged on the left side and the right side of the manipulator group, the first manipulator is rotatably connected with a first shaft of the first manipulator, and the second manipulator is rotatably connected with a first shaft of the second manipulator.
In some embodiments, the first manipulator is a left manipulator 300 and the second manipulator is a right manipulator 400.
Of course, in other embodiments, the first manipulator may be the right manipulator 400, and the second manipulator may be the left manipulator 300, which will not be described in detail herein.
The encoder set includes a plurality of encoders 700, and the plurality of encoders 700 are respectively disposed on each of the mechanical legs and each of the mechanical hands to obtain pose information of each of the mechanical legs and each of the respective mechanical hands.
The scribing head is arranged on the first manipulator and/or the second manipulator, and the scribing head can be moved by moving the mechanical legs and/or the manipulator so as to scribe. The pose information of the scribing head can be determined through the pose information of the mechanical legs and the mechanical arms.
In some embodiments, the scribing head comprises a first scribing head disposed at a distal end of the first manipulator and a second scribing head disposed at a distal end of the second manipulator.
In some of these embodiments, referring to fig. 1, the first scribe head is a left scribe head 510 disposed at the end of the left manipulator 300, and the second scribe head is a right scribe head 520 disposed at the end of the right manipulator 400.
Of course, a scribing head may be disposed at the end of the first manipulator or the end of the second manipulator, which will not be described in detail herein.
In some embodiments, the scribing head is a nozzle to perform spray scribing.
The following further describes the example where the first mechanical leg is the left mechanical leg 100, the second mechanical leg is the right mechanical leg 200, the first mechanical arm is the left mechanical arm 300, the second mechanical arm is the right mechanical arm 400, the left scribe head 510 is disposed at the end of the left mechanical arm 300, and the right scribe head 520 is disposed at the end of the right mechanical arm 400.
Referring to fig. 2, the left mechanical leg 100 includes a left base 110, a left first shaft 120, and a left second shaft 130, and the right mechanical leg 200 includes a right base 210, a right first shaft 220, and a right second shaft 230.
In some embodiments, a first motor 610 is disposed within each base, each first motor 610 is coupled to each first shaft to drive the rotation of the first shaft, and an encoder 700 is disposed on each first motor 610.
For example, referring to fig. 3, a first motor 610 is disposed in the left base 110, the first motor 610 is connected to the left first shaft 120 to drive the left first shaft 120 to rotate, and the encoder 700 is disposed under the first motor 610.
Further, each first motor 610 is coupled to each first shaft through each first decelerator 611 for deceleration.
In some embodiments, a second motor 620 is disposed in the second shaft of the first mechanical leg, the second motor 620 is connected to the second shaft of the second mechanical leg to drive the second shaft of the second mechanical leg to rotate, a third motor is disposed in the second shaft of the second mechanical leg, the third motor is connected to the second shaft of the first mechanical leg to drive the second shaft of the first mechanical leg to rotate, and an encoder 700 is disposed on each of the second motor 620 and the third motor.
For example, referring to fig. 4, a second motor 620 is disposed in the left second shaft 130, and the second motor 620 is connected to a coupling in the right second shaft 230 through a second speed reducer to drive the right second shaft 230 to rotate, so that the right mechanical leg 200 and the right mechanical arm 400 can be driven to rotate. A third motor (not shown) is disposed in the right second shaft 230, and the third motor is connected to the left second shaft 130 to drive the left second shaft 130 to rotate, so that the left mechanical leg 100 and the left mechanical arm 300 can be driven to rotate.
In some embodiments, the first shaft includes a first connection block 121 and a second connection block 122 disposed at intervals, each robot is rotatably connected to the corresponding first connection block 121, and each second shaft is rotatably connected to the corresponding robot through the second connection block 122.
Specifically, one end of each manipulator is located between the corresponding first connecting block 121 and the second connecting block 122, each second shaft is provided with a third connecting block 131 and a fourth connecting block 132 at one end connected with the first shaft, the third connecting block 131 and the fourth connecting block 132 are located at two sides of the first connecting block 121 and the second connecting block 122 respectively, the third connecting block 131 corresponds to the first connecting block 121, the fourth connecting block 132 corresponds to the second connecting block 122, and the fourth connecting block 132 is rotatably connected with the corresponding manipulator through the second connecting block 122.
Taking the left first axis 120 as an example for illustration: referring to fig. 5, the left first shaft 120 includes a first connection block 121 and a second connection block 122 disposed at intervals, the left robot 300 is rotatably connected to the first connection block 121, and the left second shaft 130 is rotatably connected to the left robot 300 through the second connection block 122. The right end of the left manipulator 300 is located between the first connection block 121 and the second connection block 122, the left second shaft 130 is provided with a third connection block 131 and a fourth connection block 132 at one end connected with the left first shaft 120, the third connection block 131 and the fourth connection block 132 are located at both sides of the first connection block 121 and the second connection block 122, respectively, and the fourth connection block 132 is rotatably connected with the left manipulator 300 through the second connection block 122.
In some embodiments, each manipulator includes a third shaft, a fourth shaft, and a fifth shaft that are sequentially connected and capable of relative rotation, and the scribing head is disposed at an end of the fifth shaft away from the fourth shaft. Referring to fig. 2 or 5, the left hand 300 includes a left third shaft 310, a left fourth shaft 320, and a left fifth shaft 330 which are sequentially connected and relatively rotatable, and the right hand 400 includes a right third shaft 410, a right fourth shaft 420, and a right fifth shaft 430 which are sequentially connected and relatively rotatable.
A fourth motor 640 is arranged in the first shaft, and the fourth motor 640 drives the corresponding third shaft to rotate through the first synchronous belt 643 assembly, so that the manipulator can swing up and down. A fifth motor 650 is disposed in the third shaft, and the fifth motor 650 is connected to a corresponding second shaft through a first coupling 652 to drive the second shaft to rotate.
Specifically, referring to fig. 6, a first through hole is provided on the first connecting block 121, a first bearing 644 is disposed in the first through hole in a penetrating manner, the first synchronous belt 643 assembly includes a first master synchronous wheel 641, a first slave synchronous wheel 642 and a first synchronous belt 643, the fourth motor 640 is connected with the first master synchronous wheel 641, the first master synchronous wheel 641 is connected with the first slave synchronous wheel 642 through the first synchronous belt 643, the first slave synchronous wheel 642 is sleeved on the first bearing 644, a connecting rod 6441 is disposed at one end of the first bearing 644 close to the third shaft, and the first bearing 644 is connected with the third shaft through the connecting rod 6441. When the fourth motor 640 drives the first master synchronizing wheel 641 to rotate, the first slave synchronizing wheel 642 is driven to rotate, and then the first bearing 644 is driven to rotate, so that the third shaft is driven to rotate, and the manipulator can swing up and down.
The fifth motor 650 in the third shaft (see fig. 7, for example, the left third shaft 310) is connected to the fourth connection block 132 through the second bearing 651 and the first coupling 652, and a second through hole is provided in the second connection block 122 for the second bearing 651 to pass through to be connected to the first coupling 652 in the fourth connection block 132.
Further, a sixth motor 660 is disposed in the third shaft (see fig. 8 and 9, for example, the right third shaft 410), the sixth motor 660 is connected with the fourth shaft (for example, the right fourth shaft 420) through a second coupling 661 to drive the fourth shaft to rotate, a seventh motor 670 is disposed in the fourth shaft (for example, the right fourth shaft 420), and the seventh motor 670 is connected with the fifth shaft (for example, the right fifth shaft 430) through a second synchronous belt 673 component to drive the fifth shaft to rotate, so that the fifth shaft drives the scribing head to swing up and down.
Referring to fig. 9, the second timing belt 673 assembly includes a second master timing wheel 671, a second slave timing wheel 672, and a second timing belt 673, the second master timing wheel 671 is connected with the seventh motor 670, the second slave timing wheel 672 is connected with a fifth shaft (e.g., right fifth shaft 430), and the second master timing wheel 671 is connected with the second slave timing wheel 672 through the second timing belt 673, so that when the seventh motor 670 drives the second master timing wheel 671 to rotate, the second slave timing wheel 672 can be driven to rotate, and thus the fifth shaft (e.g., right fifth shaft 430) can be driven to rotate.
Wherein, one encoder 700 is provided on each of the fourth motor 640, the fifth motor 650, the sixth motor 660, and the seventh motor 670, and position information of the left scribing head 510 and the right scribing head 520 can be obtained through the encoder set.
Of course, the manipulator in the embodiment of the present application may also use other multi-axis mechanical arms, which is not limited herein.
The scribing robot further comprises a controller, wherein each motor and each encoder in the encoder set are electrically connected with the controller, so that the controller can control the opening and closing of each shaft and the rotation direction of each shaft, and read the information of each encoder to obtain the physical coordinates of each base and each shaft of the scribing robot.
In some embodiments, a calibration line 1111 is provided on each base to determine a first spatial coordinate system and a second spatial coordinate system.
In some of these embodiments, the first and second spatial coordinate systems are both spatial rectangular coordinate systems.
Referring to fig. 2 and 10, the base (e.g., left base 110) includes a cylindrical base 111 and a cylindrical base body 112 that are integrally formed, the base body 112 is disposed on the base 111, and an inner cavity of the base body 112 communicates with an inner cavity of the base 111 to accommodate the first motor 610 and the encoder 700, and an upper end surface area of the base 111 is larger than a bottom area of the base body 112.
Of course, the upper end surface of the base 111 may be square, and the four calibration lines 1111 may be provided at four corners or in the middle of four sides of the square, respectively, and the shape of the base is not particularly limited.
Four calibration lines 1111 are circumferentially and uniformly distributed at the edge of the upper end surface of the base 111, the four calibration lines 1111 are opposite to each other, and two calibration lines 1111 opposite to each other can define a straight line, so that the four calibration lines 1111 opposite to each other can define a rectangular planar coordinate system xOy (see fig. 11), with a straight line passing through the O point and perpendicular to the xOy plane as the z axis and with an upward positive direction as the z axis, thereby defining a rectangular spatial coordinate system O-xyz. Thus, the left base 110 and the right base 210 can respectively establish the first space rectangular coordinate system O-x 1 y 1 z 1 And a second space rectangular coordinate system O-x 2 y 2 z 2 。
In some embodiments, the planar rectangular coordinate system on the base of the first mechanical leg is a first planar rectangular coordinate system x 1 Oy 1 The determined first space rectangular coordinate system is O-x 1 y 1 z 1 . The plane rectangular coordinate system on the base of the second mechanical leg is a second plane rectangular coordinate system x 2 Oy 2 The determined second space rectangular coordinate system is O-x 2 y 2 z 2 . Wherein, the first space rectangular coordinate system O-x 1 y 1 z 1 And a second space rectangular coordinate system O-x 2 y 2 z 2 Is collinear with the x-axis of (c).
The scribing robot in the embodiment of the first aspect of the application has at least the following beneficial effects: the scribing head can be moved by moving the mechanical legs and/or the mechanical arms with multiple degrees of freedom so as to scribe in multiple directions, so that the scribing robot has high scribing flexibility and can execute complex scribing tasks; the mechanical leg group and the mechanical arm group are arranged, so that the forward or backward movement of the scribing robot can be realized; the robot is provided with the mechanical legs, the mechanical arms and the encoders, the pose of each mechanical leg and each mechanical arm is calculated through the encoders, the advantage of high repeated positioning precision of the mechanical arms is greatly utilized, and the scribing precision of the scribing robot is improved.
Other constructions and operations of the scribing robot according to the embodiment of the first aspect of the present application are known to those of ordinary skill in the art, and will not be described in detail herein.
An embodiment of a second aspect of the present application provides a scribing robot system, including a first space coordinate system, a second space coordinate system, a data acquisition unit, a data processing unit, a judgment unit, a control unit, and a storage unit.
The second space coordinate system and the first space coordinate system have a conversion relation; the data acquisition unit is used for acquiring physical coordinates of each base and each shaft of the scribing robot; the data processing unit comprises a first processing module and a second processing module, wherein the first processing module is used for converting physical coordinates of each base and each shaft of the scribing robot into first space coordinates by taking the first space coordinate system as a reference coordinate system; the second processing module is used for converting physical coordinates of each base and each shaft of the scribing robot into second space coordinates by taking the second space coordinate system as a reference coordinate system; the judging unit is used for judging whether the first space coordinates and the second space coordinates of each base and each shaft of the scribing robot accord with the conversion relation or not and sending out a judging result signal; the control unit is used for responding to the judging result signal sent by the judging unit and controlling the marking robot to correct the deviation; the storage unit is used for storing the conversion relation between the first space coordinate system and the second space coordinate system, the information data acquired in the process and the used program.
In some of these embodiments, the first and second spatial coordinate systems are both spatial rectangular coordinate systems.
Further, physical coordinates of each base and each axis of the scribing robot can be obtained by an encoder.
Other constructions and operations of the scribing robot system according to the embodiment of the second aspect of the present application are known to those of ordinary skill in the art, and will not be described in detail herein.
An embodiment of a third aspect of the present application provides a scribing method, including the following steps.
And the scribing robot performs path planning according to the scribing planning chart to obtain a planned path and a scribing sequence, and determines an initial point position and an initial pose of the scribing robot. The initial pose refers to the initial pose of the scribing robot on the initial point position.
In some embodiments, the planar rectangular coordinate system on the base of the first mechanical leg is a first planar rectangular coordinate system x 1 Oy 1 The determined first space rectangular coordinate system is O-x 1 y 1 z 1 The plane rectangular coordinate system on the base of the second mechanical leg is a second plane rectangular coordinate system x 2 Oy 2 The determined second space rectangular coordinate system is O-x 2 y 2 z 2 . Wherein, the first space rectangular coordinate system O-x 1 y 1 z 1 And a second space rectangular coordinate system O-x 2 y 2 z 2 Is collinear with the x-axis of (c).
And the scribing robot mobilizes the mechanical legs and the mechanical hands to move according to the preset pose according to the obtained planning path and scribing sequence, and scribing is carried out through the scribing head.
For example, if the scribing is performed with the base of the first mechanical leg as the base, the scribing robot can scribe by using the base of the first mechanical leg, the first shaft, and the first manipulator as one mechanical arm and the first scribing head; or the scribing robot uses the second shafts of the first mechanical leg, the second mechanical leg and the second mechanical arm as one mechanical arm, and the scribing is performed through the second scribing head.
Of course, the base of the second mechanical leg may be used as a base for scribing, and the principle is the same as above.
During scribing, the scribing robot performs forward or backward movement by rotating the second shaft of the first mechanical leg and the second shaft of the second mechanical leg.
For example, if the scribing robot moves forward or backward with the base of the second mechanical leg as the base, the second shaft of the first mechanical leg is rotated clockwise or counterclockwise to lift the first mechanical leg forward or backward, while the first shaft of the second mechanical leg is rotated relative to the base thereof, and the pose of the first mechanical arm and the second mechanical arm is adjusted to keep the scribing robot balanced, and then the second shaft of the first mechanical leg is rotated reversely to put down the first mechanical leg, so that the base of the first mechanical leg reaches the next planned point.
An encoder is arranged on a driving motor of each shaft of the scribing robot, and physical coordinates of each base and each shaft of the scribing robot can be obtained through an encoder set. The pose of the scribing robot is generally deviated because of the deviation of the conversion between the physical coordinates and the spatial coordinates, for example, the preset spatial coordinates determined according to the preset pose are correct, but the deviation of the conversion between the physical coordinates and the spatial coordinates causes the correct preset spatial coordinates not to be converted into the correct physical coordinates, thereby causing the encoder not to rotate to the preset position, that is, the related shaft not to rotate to the preset position, and causing the pose of the scribing robot to deviate.
Thus, in some embodiments, the physical coordinates of the bases and axes of the streaking robot are obtained by the encoder set, and the first processing module converts the physical coordinates of the bases and axes of the streaking robot into first spatial coordinates (x 1， y 1， z 1 ). The second processing module converts the physical coordinates of each base and each axis of the scribing robot into a second spatial coordinate (x) 2， y 2， z 2 ). The first space coordinate system and the second space coordinate system have a conversion relation; if there is a first spatial coordinate (x 1， y 1， z 1 ) With a second spatial coordinate (x 2， y 2， z 2 ) If the conversion relation is not met, correction is needed; otherwise, correction is not needed.
For example, if the first space of the first base is seatedLabel (x) 11， y 11， z 11 ) A second spatial coordinate (x 21， y 21， z 21 ) If the conversion relation is not met, the first base needs to correct the deviation. When correction is carried out, the first base needing correction is adjusted to the initial pose, and the corresponding encoder count is cleared.
In a specific embodiment, the first mechanical leg is a left mechanical leg 100, the second mechanical leg is a right mechanical leg 200, and the scribing method includes the following steps.
And S100, before scribing is started, the scribing robot performs path planning according to a scribing planning chart, calculates an optimal moving path to obtain a planned path and a scribing sequence, gives out an optimal initial point position, determines a scribing range according to the optimal initial point position, and then determines an actual initial point position and an actual initial pose.
And S200, the scribing robot mobilizes the mechanical legs and the mechanical hands to scribe according to the planned path and the scribing sequence obtained in the step S100.
For example, the scribing robot may scribe the line by using the left base 110 (the base of the left mechanical leg 100) as a base, that is, the left base 110 remains stationary, and the scribing robot may first use the left base 110, the left first axis 120 (the first axis of the left mechanical leg 100), and the left manipulator 300 as one mechanical arm, and scribe the line by the left scribing head 510. And then continues to scribe with the left mechanical leg 100, the right second axis 230 (the second axis of the right mechanical leg 200), and the right mechanical arm 400 as one mechanical arm. For example, referring to fig. 12, the controller controls the fifth motor 650 in the left third shaft 310 (the third shaft of the left robot arm 300) to swing the left second shaft 130 (the second shaft of the left robot leg 100) downward by a first preset angle, and simultaneously controls the second motor 620 in the left second shaft 130 to drive the right second shaft 230 to rotate, so that the right base 210 (the base of the right robot leg 200) lifts up backward by a second preset angle, and adjusts the orientation of the right scribing head 520 through the right robot arm 400, so that the scribing robot can scribe a line at a preset scribing position in a preset pose.
After scribing is completed with the left base 110 as a base, scribing can be continued with the right base 210 using similar steps as described above.
And S300, the scribing robot moves according to the planned path obtained in the step S100.
When scribing is completed with the left base 110 and/or the right base 210 as a base, the movement of the scribing robot is performed so that the scribing robot can move forward or backward.
For example, the right base 210 is taken as a base, that is, the right base 210 is kept motionless, the controller controls the third motor in the right second shaft 230 to drive the left second shaft 130 to rotate, so that the left base 110 is lifted forward or backward, meanwhile, the controller controls the first motor 610 in the right base 210 to drive the right first shaft 220 (the first shaft of the right mechanical leg 200) to rotate, and simultaneously adjusts the pose of the left mechanical arm 300 and the right mechanical arm 400, so that the scribing robot keeps balanced, and then reversely rotates the left second shaft 130 to put down the left base 110, so that the left base 110 reaches the next planned point. After the left base 110 falls to the ground, judging whether the left base 110 reaches a preset point according to the encoder, if the left base 110 reaches the preset point, taking the left base 110 as a base, and moving the right base 210 to the next planned point; if the left base 110 does not reach the preset point, the left base 110 is rectified.
And S400, repeating the steps S200 and S300 until scribing is completed.
According to the scribing method, the scribing is based on the mechanical arm with high degree of freedom and high flexibility, the key point is preset in advance, the key point is used as the locating point, the pose is calculated through the encoder, the advantage of high repeated locating precision of the mechanical arm is greatly utilized, and more accurate scribing compared with the traditional AGV trolley is achieved.
Other constructions and operations of the scribing method according to the embodiment of the third aspect of the present application are known to those of ordinary skill in the art and will not be described in detail herein.
The embodiments of the present application have been described in detail above with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application.

Claims (10)

1. Scribing robot, its characterized in that includes:
the mechanical leg group comprises first mechanical legs and second mechanical legs which are symmetrical in structure, each mechanical leg comprises a base, a first shaft and a second shaft, the first shaft is rotatably connected with the base, the second shaft is rotatably connected with the first shaft, and the second shaft of the first mechanical leg is rotatably connected with the second shaft of the second mechanical leg;
the manipulator group comprises a first manipulator and a second manipulator which are symmetrically arranged in structure, the first manipulator is rotatably connected with a first shaft of the first manipulator leg, and the second manipulator is rotatably connected with a first shaft of the second manipulator leg;
the encoder set comprises a plurality of encoders, and the encoders are respectively arranged on each mechanical leg and each mechanical arm to acquire pose information of each mechanical leg and each mechanical arm;
the scribing head is arranged on the first manipulator and/or the second manipulator, and the scribing head can be moved by moving the mechanical legs and/or the manipulator so as to scribe.
2. The streaking robot as in claim 1 wherein: each base is internally provided with a first motor, each first motor is connected with each first shaft so as to drive the first shafts to rotate, and each first motor is provided with an encoder.
3. The streaking robot as in claim 1 wherein: the second shaft of the first mechanical leg is internally provided with a second motor, the second motor is connected with the second shaft of the second mechanical leg so as to drive the second shaft of the second mechanical leg to rotate, the second shaft of the second mechanical leg is internally provided with a third motor, the third motor is connected with the second shaft of the first mechanical leg so as to drive the second shaft of the first mechanical leg to rotate, and the second motor and the third motor are both provided with an encoder.
4. The streaking robot as in claim 1 wherein: the first shaft comprises first connecting blocks and second connecting blocks which are arranged at intervals, each manipulator is rotatably connected with the corresponding first connecting block, and each second shaft is rotatably connected with the corresponding manipulator through the second connecting blocks.
5. The streaking robot as in claim 1 wherein: each manipulator comprises a third shaft, a fourth shaft and a fifth shaft which are sequentially connected and can rotate relatively, a fourth motor is arranged in the first shaft, the fourth motor drives the corresponding third shaft to rotate through a first synchronous belt assembly, a fifth motor is arranged in the third shaft, the fifth motor is connected with the corresponding second shaft through a first coupler so as to drive the second shaft to rotate, and the fourth motor and the fifth motor are both provided with an encoder.
6. The streaking robot as in claim 1 wherein: the scribing head comprises a first scribing head and a second scribing head, the first scribing head is arranged at the tail end of the first manipulator, and the second scribing head is arranged at the tail end of the second manipulator.
7. The streaking robot as in claim 1 wherein: and each base is provided with a calibration line so as to determine a first space coordinate system and a second space coordinate system.
8. Scribing robot system, characterized by comprising:
a first spatial coordinate system;
the second space coordinate system has a conversion relation with the first space coordinate system;
the data acquisition unit is used for acquiring physical coordinates of each axis of the scribing robot;
the data processing unit comprises a first processing module and a second processing module, wherein the first processing module is used for converting the physical coordinates of each axis of the scribing robot into first space coordinates by taking the first space coordinate system as a reference coordinate system; the second processing module is used for converting the physical coordinates of each axis of the scribing robot into second space coordinates by taking the second space coordinate system as a reference coordinate system;
the judging unit is used for judging whether the first space coordinates and the second space coordinates of each axis of the scribing robot accord with the conversion relation or not and sending out a judging result signal;
the control unit is used for responding to the judging result signal sent by the judging unit and controlling the marking robot to correct the deviation;
and the storage unit is used for storing the conversion relation between the first space coordinate system and the second space coordinate system, the information data acquired in the process and the used program.
9. A scribing method, comprising the steps of:
the scribing robot performs path planning according to the scribing planning chart to obtain a planned path and a scribing sequence, and determines an initial point position and an initial pose of the scribing robot;
the scribing robot mobilizes each mechanical leg and each mechanical arm to move according to a preset pose according to the obtained planning path and scribing sequence, and scribing is carried out through a scribing head;
during scribing, the scribing robot performs forward or backward movement by rotating the second shaft of the first mechanical leg and the second shaft of the second mechanical leg.
10. The scribing method as in claim 9, wherein: the physical coordinates of each axis of the scribing robot are obtained through an encoder set, a first processing module converts the physical coordinates of each axis of the scribing robot into first space coordinates by taking a first space coordinate system as a reference coordinate system, and a second processing module converts the physical coordinates of each axis of the scribing robot into second space coordinates by taking a second space coordinate system as a reference coordinate system; the first space coordinate system and the second space coordinate system have a conversion relation; if the first space coordinate and the second space coordinate of the shaft do not accord with the conversion relation, correcting is needed; otherwise, correction is not needed.
CN202311735827.2A 2023-12-15 2023-12-15 Scribing robot, scribing robot system and scribing method Pending CN117605276A (en)

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CN202311735827.2A CN117605276A (en) 2023-12-15 2023-12-15 Scribing robot, scribing robot system and scribing method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311735827.2A CN117605276A (en) 2023-12-15 2023-12-15 Scribing robot, scribing robot system and scribing method

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Publication Number Publication Date
CN117605276A true CN117605276A (en) 2024-02-27

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