WO2021012606A1

WO2021012606A1 - High-precision movable robot secondary positioning device

Info

Publication number: WO2021012606A1
Application number: PCT/CN2019/128622
Authority: WO
Inventors: 樊小蒲; 宋宁
Original assignee: 陕西科技大学
Priority date: 2019-07-25
Filing date: 2019-12-26
Publication date: 2021-01-28
Also published as: RU2756190C1; CN110308731B; CN110308731A

Abstract

Disclosed is a high-precision movable robot secondary positioning device (300), comprising an industrial robot base (120), positioners (330, 340, 350), and clamping mechanisms (310, 320), wherein the positioners (330, 340, 350) achieve complete positioning on an industrial robot (100) according to a six-point positioning principle, and the clamping mechanisms (310, 320) enable the base (120) to be tightly clamped towards the positioning faces of the positioners (330, 340, 350). The industrial robot base (120) is provided with a crankshaft (121) corresponding to each of the clamping mechanisms (310, 320), and a driving device on the base (120) drives each crankshaft (121) to rotate, such that the clamping mechanisms (310, 320) can be driven to tightly clamp, firmly lock or rapidly release the base (120). Based on the device (300), by means of interaction with the industrial robot (100) provided with the base (120), positioning, clamping and firm locking of the robot (100) are achieved when the robot (100) is working, such that the rigidity and precision of the industrial robot (100) are improved; and the robot (100) is released when the robot (100) is idle, the robot (100) can be carried on an automated guided vehicle (AGV) (200) to move to a new station, and the working range of the robot (100) is thus widened.

Description

High-precision mobile robot secondary positioning device

Technical field

The invention relates to the technical field of industrial robots, in particular to a secondary positioning device for high-precision mobile robots.

Background technique

Industrial robots are a category of robots that require very high precision, especially manufacturing industrial robots such as processing, assembly, and welding. The existing industrial robots are mainly fixed mechanical arms. At present, the position accuracy and attitude accuracy of fixed manipulators have reached the accuracy levels of 0.01mm and 0.01°, respectively, and have been widely used in fields that require extremely high accuracy, including aerospace.

The mobile robot extends the working range and greatly improves the flexibility of the industrial robot. Industrial robots can move along fixed tracks, tracked, wheeled, and other ways. Among them, the wheeled automatic guided vehicle (Automated Guided Vehicle, hereinafter referred to as AGV) is the most flexible and fast moving method. However, due to the addition of the walking part, the mobile robot system is more complicated, the accuracy of mobile positioning is low, and the rigidity of the support is low, which affects the working accuracy of the robot. There are many problems that need to be solved in the coordination of AGV and industrial robots. At present, there are few researches on the accuracy of mobile robots. Luo Jianming and others used the visual positioning system on the mobile manipulator to calibrate the eyes of the hand through the Levenberg-Marquardt optimization method, and then use the fixed feature points to solve the camera pose, thereby compensating for the positioning error of the mobile car, and achieved certain results, but achieved The accuracy is not ideal for many processing occasions; Chen Dongdong used an industrial camera to calibrate the robot workpiece coordinate system in the research of the accuracy of the secondary hole position in the aircraft assembly, and calculated the industrial robot base caused by the secondary insertion of the AGV according to the error model. Coordinate error, and use the inverse distance weighting method to correct the error, so that the aperture deviation is within ±0.01mm, and a relatively good effect has been achieved. However, because the error correction is not real-time error, the effect of error correction will fluctuate to a certain extent. In addition, as the robot runs for time, mechanical wear and loose fit will increase the error, which will affect the effect of error correction. Therefore, there is an urgent need to provide a device with this positioning accuracy.

Summary of the invention

The embodiment of the present invention provides a high-precision mobile robot secondary positioning device, which can solve the problems in the prior art.

The present invention provides a secondary positioning device for a high-precision mobile robot. The secondary positioning device is installed on a workstation. The industrial robot is transported to the secondary positioning device by an AGV trolley, and the secondary positioning device moves the position of the industrial robot. The base is locked, the secondary positioning device includes a plurality of clamping mechanisms and a plurality of locators, the plurality of clamping mechanisms are respectively located on the left and right sides of the station, and the plurality of locators are respectively located at the Everywhere; each of the clamping mechanisms includes a mounting block and a link mechanism, the mounting block is fixedly installed on the station, the link mechanism is mounted on the mounting block, and the link mechanism has A clamping block, the industrial robot has a driving device and a crankshaft connected to the driving device on the bottom surface of the base, the crankshaft has two journals, the two journals are matched with the connecting rod mechanism, and the drive When the device drives the crankshaft to rotate, the two journals drive the connecting rod mechanism to operate, and the clamping block in the connecting rod mechanism drops or rises to lock or unlock the base of the industrial robot.

The high-precision mobile robot secondary positioning device in the present invention can work with the improved industrial robot base to realize rapid clamping and loosening of the industrial robot base. The device includes: an improved industrial robot base, a positioner, and a clamping mechanism. The positioner realizes the complete positioning of the industrial robot according to the six-point positioning principle, and the clamping mechanism clamps the base to the positioning surface of the positioner. The improved industrial robot base has a crankshaft for each clamping mechanism, and the driving device on the base drives the crankshaft to rotate, which can drive the clamping mechanism to clamp, lock or quickly release the base. By interacting with the industrial robot installed with an improved base, the invention realizes the positioning, clamping and locking of the robot when the robot is working, and improves the rigidity and accuracy of the industrial robot; when the robot is idle, the robot is released so that the robot can carry the AGV trolley Move to a new station to expand the working range of the robot.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Figure 1 is a schematic diagram of the composition of a high-precision mobile robot management and scheduling system;

Figure 2 is a schematic diagram of the structure of the secondary positioning device;

Figure 3 is a top view of the base of the industrial robot clamped in the secondary positioning device;

Figure 4 is a schematic partial cross-sectional view of the base and the secondary positioning device in Figure 3;

Fig. 5 is a schematic partial cross-sectional view of the base and the other side of the secondary positioning device in Fig. 3.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

1, the secondary positioning device of the present invention is applied to a high-precision mobile robot management scheduling system. The system includes an industrial robot 100, an AGV car 200, a secondary positioning device 300, and a host computer 400. The industrial robot 100 includes a mechanical arm And a base 120 fixed at the lower part of the robotic arm, on which a replaceable end tool 110 is installed. The AGV trolley 200 includes a vehicle body and a bracket 210 mounted on the top of the vehicle body. The vehicle body has a walking part, and the vehicle body is communicatively connected with the host computer 400 through wireless communication. The bracket 210 It is detachably connected to the base 120 of the industrial robot 100.

The number of the secondary positioning device 300 is multiple, and each secondary positioning device 300 is fixedly installed on a station, the stations are distributed in the processing site, and each station corresponds to a processing machine tool 500 The processing machine tool 500 is also connected to the host computer 400 through wireless communication.

The upper computer 400 is equipped with scheduling system software and navigation system software. When a certain processing machine tool 500 needs to process parts, a request message is sent to the upper computer 400, and the upper computer 400 responds to the request information by The dispatching system software randomly selects an AGV car 200 in the standby state. The AGV car in the standby state here means that the industrial robot 100 is installed on the AGV car and the industrial robot 100 is in an idle state. Choose the AGV in the standby state. After the trolley 200, the upper computer 400 sends a movement control command to the AGV trolley 200, and the navigation system software navigates the AGV trolley 200 according to the position of the processing machine tool 500 that sends the request information, and the AGV trolley 200 follows the upper position The navigation of the machine 400 moves to the secondary positioning device 300 corresponding to the processing machine tool 500. When the AGV trolley 200 is moved into position, the bracket 210 is disconnected from the base of the industrial robot 100, and then the AGV trolley 200 automatically moves to a designated area.

After the base of the industrial robot 100 is placed on the secondary positioning device 300, it is locked with the secondary positioning device 300, and the secondary positioning device 300 has a socket for providing power to the industrial robot 100 When the base of the industrial robot 100 is locked with the secondary positioning device 300, the power plug of the industrial robot 100 is also plugged into the socket, and then the industrial robot 100 starts to work and cooperates with the processing machine 500 for parts processing .

After the processing task of the processing machine tool 500 ends, the processing machine tool 500 sends a request message to the host computer 400, and the host computer 400 responds to the request information, and the scheduling system software randomly selects an AGV cart 200 in an idle state. The AGV car in the idle state means that the AGV car is not equipped with the industrial robot 100. After the AGV car 200 in the idle state is selected, the host computer 400 sends the movement control command to the AGV car 200, and the navigation system software follows The position of the processing machine tool 500 that sends the request information navigates the AGV trolley 200, and the AGV trolley 200 moves to the secondary positioning device 300 corresponding to the processing machine tool 500 according to the navigation of the host computer 400. When the AGV trolley 200 is moved into position, the secondary positioning device 300 unlocks the industrial robot, and at the same time, the bracket 210 of the AGV trolley 200 is connected to the base of the industrial robot 100, and then the AGV trolley 200 carries The industrial robot 100 automatically moves to the designated area.

Compared with traditional mobile industrial robots, the described high-precision mobile robot management and scheduling system has the following advantages: (1) The industrial robot is fixed when working, just like a fixed mechanical arm, with good rigidity and high precision, and can use the fixed mechanical arm. Technology to improve its work accuracy. (2) Industrial robots and AGV trolleys have a many-to-many "driver-passenger relationship" with flexible working methods. When an AGV trolley fails, it does not affect the movement and work of the industrial robot; vice versa. (3) Compared with mobile industrial robots on fixed tracks, AGV trolleys are more flexible to move, have better site adaptability and lower cost. (4) The working accuracy of the industrial robot does not depend on the positioning accuracy of the AGV trolley. Therefore, the positioning accuracy of the AGV trolley is relatively low, and it is only required to be able to send the industrial robot to the work station.

2 to 5, the present invention will describe the structure of the secondary positioning device 300 in detail.

The secondary positioning device 300 includes a left clamping mechanism 310, a right clamping mechanism 320, a left positioner 330, a right positioner 340, and a rear positioner 350. In this embodiment, the left clamping mechanism The number of the mechanism 310, the right clamping mechanism 320, and the left locator 330 are all two, and the two left clamping mechanisms 310 are respectively located at the left ends of the workstation, and the two right clamping mechanisms The mechanisms 320 are respectively located at the two ends of the right side of the work station, and the two left-side positioners 330 are installed close to the two left-side clamping mechanisms 330 respectively. The right locator 340 is located between the two right clamping mechanisms 320, and the rear locator 350 is located on the rear side of the workstation and between a left clamping mechanism 310 and a right clamping mechanism 320 between.

The left side clamping mechanism 310 includes a left side mounting block 3110 and a left side link mechanism. The left side mounting block 3110 is fixed on the workstation with screws. The left side link mechanism includes a lower mounting shaft 3120 and a middle mounting shaft. The shaft 3130 and the upper mounting shaft 3140 are respectively rotatably mounted on the left mounting block 3110. The axes of the lower mounting shaft 3120, the middle mounting shaft 3130 and the upper mounting shaft 3140 are parallel and all in a horizontal direction . A lower connecting rod is fixedly mounted on the lower mounting shaft 3120, two middle connecting rods are fixedly mounted on the middle mounting shaft 3130, two upper connecting rods are fixedly mounted on the upper mounting shaft 3140, and the lower part is connected The end of the rod is rotationally connected to one of the middle connecting rods through a first connecting rod 3121, and both ends of the first connecting rod 3121 are rotationally connected to the lower connecting rod and the middle connecting rod. The lower connecting rod is also rotatably connected to one of the upper connecting rods through a second connecting rod 3122, and both ends of the second connecting rod 3122 are rotatably connected to the lower connecting rod and the upper connecting rod. The connecting rod and the connecting point of the first connecting rod 3121 and the second connecting rod 3122 coincide.

The top surface of the left mounting block 3110 is provided with two through holes, and a first jack 3150 and a second jack 3160 are respectively inserted into the two through holes, and the first jack 3150 passes through a third connecting rod. The 3132 is rotatably connected to the connection between the first connecting rod 3121 and the middle connecting rod, and both ends of the third connecting rod 3132 are rotatably connected with the first jack 3150 and the first connecting rod 3121 respectively. The second jack 3160 is rotatably connected to another middle connecting rod through a fourth connecting rod 3131, and both ends of the fourth connecting rod 3131 are respectively rotatably connected to the second jack 3160 and the middle connecting rod . The end of the other upper connecting rod is located above the left mounting block 3110, and the end of the upper connecting rod is rotatably installed with a clamping block 3141.

The bottom surface of the base 120 of the industrial robot 100 is provided with two sliding grooves respectively on the left and right sides. The positions of the two sliding grooves on the left side correspond to the positions of the first jack 3150 and the second jack 3160. A crankshaft 121 is installed in the middle rotation. The crankshaft 121 has two journals in opposite directions. The two journals are respectively located in the two sliding grooves. One end of the crankshaft 121 passes through the side wall of the sliding groove and is connected to the driving device. The driving device is a motor and other equipment installed on the bottom surface of the base 120. When the driving device is running, it drives the journals in opposite directions in the two sliding grooves to rotate, thereby pushing the first jack 3150 and the second jack 3160 Moving up and down.

In this embodiment, the components on the left clamping mechanism 310 that are in contact with the base 120 all have gaskets, such as the top end of the first top rod 3150, the top end of the second top rod 3160, and the bottom surface of the clamping block 3141. Replace with different thicknesses. The gasket can adjust the tightness of the clamping.

When the AGV trolley 200 carries the industrial robot 100 into the secondary positioning device 300, the base 120 is inserted from the front side of the secondary positioning device 300, that is, the side opposite to the rear locator 350. At this time, the first The top ends of the top rod 3150 and the second top rod 3160 both protrude from the through hole, and the two sliding grooves on the left side of the bottom surface of the base 120 are respectively located above the first top rod 3150 and the second top rod 3160, along with the AGV trolley 200 moves, and the base 120 is finally completely clamped inside the secondary positioning device 300. At this time, the bottom surface of the base 120 is in contact with the tops of the two left clamping mechanisms 310 and the two right clamping mechanisms 320. The faces are in contact. Then the driving device on the bottom surface of the base 120 rotates to drive the two journals on the crankshaft 121 to rotate to a state of up and down. The first jack 3150 is squeezed by the corresponding journal and starts to descend, which is affected by the connection relationship. The second top rod 3160 rises synchronously, while the clamping block 3141 is synchronously pressed down. Finally, the clamping block 3141 only presses on the top surface of the base 120, so that the base 120 is locked in the vertical direction. .

The right clamping mechanism 320 has all the structural features of the left clamping mechanism 310, and the right clamping mechanism 320 also has a resisting rod 3240. The right clamping mechanism 320 is mounted on the right side The block is provided with a resisting hole on the side wall facing the right side of the base 120, the axis of the resisting hole is perpendicular to the side of the base 120, and the resisting rod 3240 is inserted into the resisting hole and placed in the Sliding along the axis in the holding hole. The end of the resisting rod 3240 facing away from the base 120 is rotatably connected to an upper connecting rod 3220 of the right clamping mechanism 320 through a connecting piece 3230. A clamping block is installed at the end of the upper connecting rod 3220, and the connecting piece Both ends of 3230 are rotatably connected to the resisting rod 3240 and the upper connecting rod 3220. When the upper connecting rod 3220 rotates toward the base 120, the clamping block is pressed against the top surface of the base 120 and resists the rod. The 3240 moves toward the base 120 driven by the connecting member 3230, and finally tightly abuts the side of the base 120, so that the base 120 is locked in the horizontal direction.

After the base 120 is locked by the left clamping mechanism 310 and the right clamping mechanism 320, the left locator 330, the right locator 340, and the rear locator 350 are used to cooperate with each other on the base 120. The error measuring device installed at the position locates the base 120 to improve the positioning accuracy of the industrial robot 100.

Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. In this way, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

The high-precision mobile robot secondary positioning device is characterized in that the secondary positioning device is installed on the workstation, and the industrial robot is transported to the secondary positioning device by the AGV trolley and the secondary positioning device will The base is locked, the secondary positioning device includes a plurality of clamping mechanisms and a plurality of locators, the plurality of clamping mechanisms are respectively located on the left and right sides of the station, and the plurality of locators are respectively located at the Everywhere; each of the clamping mechanisms includes a mounting block and a link mechanism, the mounting block is fixedly installed on the station, the link mechanism is mounted on the mounting block, and the link mechanism has A clamping block, the industrial robot has a driving device and a crankshaft connected to the driving device on the bottom surface of the base, the crankshaft has two journals, the two journals are matched with the connecting rod mechanism, and the drive When the device drives the crankshaft to rotate, the two journals drive the connecting rod mechanism to operate, and the clamping block in the connecting rod mechanism drops or rises to lock or unlock the base of the industrial robot.
The high-precision mobile robot secondary positioning device according to claim 1, wherein the clamping mechanism comprises two left clamping mechanisms and two right clamping mechanisms with the same structure, and the two left The side clamping mechanisms are respectively located at the left ends of the work station, the two right clamping mechanisms are respectively located at the right ends of the work station, and the left clamping mechanism includes a left mounting block and a left connecting rod Mechanism, the left side link mechanism includes a lower mounting shaft, a middle mounting shaft, and an upper mounting shaft that are respectively rotatably mounted on the left mounting block;

A lower connecting rod is fixedly mounted on the lower mounting shaft, two middle connecting rods are fixedly mounted on the middle mounting shaft, two upper connecting rods are fixedly mounted on the upper mounting shaft, and the end of the lower connecting rod The first connecting rod is rotatably connected to one of the middle connecting rods, and the lower connecting rod is also rotatably connected to one of the upper connecting rods through a second connecting rod; there are two connecting rods on the top surface of the left mounting block. Through holes, a first jack and a second jack are inserted into the two through holes, and the first jack is rotatably connected to the connection between the first connecting rod and the middle connecting rod through a third connecting rod, so The second top rod is rotatably connected to the other middle connecting rod through a fourth connecting rod, the end of the other upper connecting rod is located above the left mounting block, and the end of the upper connecting rod is rotatably installed Clamping block.
The secondary positioning device for a high-precision mobile robot according to claim 2, wherein the bottom surface of the industrial robot is provided with two sliding grooves on the left and right sides of the base, and the two sliding grooves on the left side are in position with the first The positions of a jack and a second jack are corresponding, the crankshaft is rotatably installed in the two sliding grooves, and the crankshaft has two journals with opposite directions, and the two journals are respectively located in the two sliding grooves, One end of the crankshaft passes through the side wall of the sliding groove and is connected to the driving device.
The high-precision mobile robot secondary positioning device according to claim 2, wherein the right clamping mechanism further has a resisting rod, and the right clamping mechanism includes a right mounting block and a right connecting rod Mechanism, the right side mounting block is provided with a resisting hole on the side wall facing the right side of the base, the axis of the resisting hole is perpendicular to the side surface of the base, and the resisting rod is inserted into the resisting hole And slide along the axis in the holding hole, the end of the holding rod facing away from the base is rotatably connected with the upper connecting rod in the right link mechanism through the connecting piece, and the end of the upper connecting rod is mounted with the Clamping block.
The secondary positioning device for a high-precision mobile robot according to claim 2, wherein the top end of the first mandrel, the top end of the second mandrel and the bottom surface of the clamping block all have gaskets.
The high-precision mobile robot secondary positioning device according to claim 1, wherein the positioner includes a left positioner, a right positioner, and a rear positioner, and the left positioner is closely located at the work station. The clamping mechanism on the left side of the station is installed, the right locator is located on the right side of the station, and the rear locator is located on the back side of the station.