Multi-robot coordination control device and method

A coordinated control and multi-robot technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems that are difficult to meet the diversification of industrial production line products, increase wiring and wiring work, reduce system reliability, etc., to achieve extended production performance , the use of less wiring harness, the effect of improving flexibility

Active Publication Date: 2013-12-11
716TH RES INST OF CHINA SHIPBUILDING INDAL CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the processing process is complicated, the number of installed sensors increases accordingly, which increases a lot of wiring and wiring work, thus reducing the reliability of the system, and also reducing the flexibility of the system, making it difficult to meet the diverse needs of actual industrial production line products

Method used

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  • Multi-robot coordination control device and method
  • Multi-robot coordination control device and method
  • Multi-robot coordination control device and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0043] according to figure 1 , taking the system with two robots and one processing equipment as an example to illustrate the system operation process:

[0044] In the motion controller 2, the loading register, processing operation register and retrieving register respectively store the station status of the robot and the processing equipment, so as to fully coordinate the actions of each equipment. The operation process of the feeding robot 7 is divided into a material retrieving action and a material discharging action. The retrieving process automatically calculates the grabbing position according to the reduction of materials in the material stacking area. After grabbing, according to the preset trajectory, the material is lifted to a specific position next to the workbench. After the processing equipment is finished, the material is discharged, and the material is placed at a specific position on the workbench. The specific process is as follows:

[0045]When the device ...

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PUM

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Abstract

The invention discloses a multi-robot coordination control device and a multi-robot coordination control method. The device comprises an industrial personal computer, a motion controller, a loading robot controller, board processing equipment, an unloading robot controller, a loading robot and an unloading robot, wherein the industrial personal computer is connected with the motion controller, the motion controller is connected with the loading robot controller, the board processing equipment is connected with the loading robot controller and the unloading robot controller respectively, the loading robot controller is connected with the loading robot, and the unloading robot controller is connected with the unloading robot. Through reading values stored in a process register in the motion controller for judging whether the processing equipment processes materials or not, if not, the loading robot is used for executing a loading task, and the unloading robot is in a wait state, and after the loading is finished, the values in the process register are negated, then the unloading robot is used for executing an unloading task. The multi-robot processing course has better consistency, so that the production efficiency is greatly improved.

Description

technical field [0001] The invention relates to the field of industrial automatic production, in particular to a multi-robot coordinated control device and method thereof. Background technique [0002] With the development of society, the application fields of robots continue to expand. From automated production lines to the exploration of marine resources and even space operations, robots are everywhere. Different from single-robot systems, multi-robot systems show great advantages due to the distribution characteristics of time, space, function, information and resources. [0003] Multi-robot coordination means that in a multi-robot system, when each robot takes action, it must consider the actions of other robots in the system, so as to achieve the coordination among robots and complete tasks with high performance. That is to say, multi-robot coordination refers to the synchronization of the response actions taken by each robot for a certain event. At present, there are...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 朱文亮花磊洪草根窦新民
Owner 716TH RES INST OF CHINA SHIPBUILDING INDAL CORP
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