A multi-robot intelligent collaborative production system

A production system and multi-robot technology, applied in the field of robotics, can solve problems such as difficult to meet dynamic response and light load, difficult to meet continuous improvement of production efficiency, general flexibility of production adaptability, etc., to achieve good motion/force transmission characteristics, structure Compact, avoiding the effect of turning singularity

Active Publication Date: 2019-05-21
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The series mechanism is an open-loop structure formed by connecting kinematic pairs in sequence. It has the advantages of large working space and high flexibility. However, the disadvantages are: the accumulation of errors of each kinematic pair leads to general end accuracy, general stiffness, large load inertia, and general speed. Meet the requirements of high-speed, high-acceleration dynamic response and light load in the mentioned industries
The simple combination of single robot or multiple robots on the production line is difficult to complete complex tasks, and the environmental adaptability is average, so it is difficult to meet the trend of continuous improvement in production efficiency
In addition, the material supply and transportation between different processes are carried out through the conveyor belt, the production relationship is fixed, and the flexibility of production adaptability is average. Once a certain link of the entire production line is shut down, the entire production system will stop working.
And this relatively fixed supply and feeding mode is difficult to adapt to the customer-oriented development mode of the future manufacturing industry

Method used

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  • A multi-robot intelligent collaborative production system
  • A multi-robot intelligent collaborative production system
  • A multi-robot intelligent collaborative production system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] The structure of a multi-robot intelligent collaborative production system in this embodiment is as follows: figure 1 As shown, it includes a reconfigurable rack I, the first high-speed parallel pick-and-place robot II, the second high-speed parallel pick-and-place robot III, the production line transmission part IV, the first pose-adjustable material handling robot VI, and the second pose-adjustable robot Adjustable material handling robot VIII, material handling robot X with adjustable third pose.

[0026] The substructure of a multi-robot intelligent collaborative production system in this embodiment is now described as follows:

[0027] ① Reconfigurable Rack I

[0028] The structure of the reconfigurable frame I included in the multi-robot intelligent collaborative production system of this embodiment is as follows: figure 2 As shown, the reconfigurable frame I is a truss structure as a whole, including 4 columns (I-1a, I-1b, I-1c, I-1d), 4 arched columns (I-2a, I-...

Embodiment 2

[0046] The structure of a multi-robot intelligent collaborative production system in this embodiment is as follows: Figure 7 As shown, the main difference with Embodiment 1 is that the reconfigurable rack 1 is split into multiple sub-racks I'-1, I'-2 at the connecting rod I-5, and a lifting device is provided at the bottom of each sub-rack. The base of the fixed function (the size and shape of the base should be determined according to the actual situation of the project, the plane of the base in this embodiment is triangular), through the disassembly of the reconfigurable frame I, the first high-speed parallel pick-and-place robot II and the second The second high-speed parallel pick-and-place robot III is divided into two sub-cooperative systems. This enables the two-sub-cooperative system to adapt to longer production lines. And according to the space size and shape of the production line, the sub-cooperation system can be flexibly arranged, for example, on the same side ...

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Abstract

The invention relates to a multi-robot intelligent joint production system, and belongs to the field of industrial robots. The multi-robot intelligent joint production system comprises a re-constructable rack, a production line conveying component, a plurality of high-speed parallel picking and placing robots and a plurality of posture adjustable material carrying robots. The re-constructable rack is of a truss structure, the high-speed parallel picking and placing robots are fixedly connected with the re-constructable rack, the production line conveying component is located in the lower space of the re-constructable rack, and the posture adjustable material carrying robots move on the two sides of the production line conveying component. To-be-treated goods are conveyed to one end of the production line conveying component from the previous production link through the posture adjustable material carrying robots, and after being subjected to sorting or assembling treatment through the high-speed parallel picking and placing robots, the to-be-treated goods are carried to the next production link through the posture adjustable material carrying robots located at the other end of the production line conveying component. The multi-robot intelligent joint production system has the beneficial effects that production resource configuration is flexible, the production efficiency is high, the rapidness of picking and placing subsystems is good, and the moving flexibility and stability of carrying subsystems are high.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a multi-robot intelligent collaborative production system that is applied to packaging, sorting, assembling, dismantling, etc., and has goods picking and putting links. Background technique [0002] The plastics industry, electronic product industry, pharmaceutical industry and food industry have made important contributions to the national economy of our country. In order to improve the production efficiency of the above-mentioned industries, the production lines of various products are continuously developed and used. However, most of the tasks of packaging, sorting, assembling and dismantling of goods on the light-duty production line of our country's current industry still use manual labor. potential productivity. The competitiveness of the industries mentioned in our country is declining, and the degree of industrial automation needs to be improved urgently. The introduc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B65G47/90
CPCB65G47/902
Inventor 刘辛军谢福贵韩刚孟齐志乔飞杨超
Owner TSINGHUA UNIV
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