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Composite robot man-machine interaction grinding control system and method based on teleoperation

A technology of human-computer interaction and control system, applied in the field of robotics, can solve problems such as poor adaptability, high requirements for grinding shape, and poor grinding quality

Inactive Publication Date: 2021-09-14
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

It effectively solves the problem of poor adaptability of the existing remote control grinding robot due to complex operation, poor grinding quality and high requirements for grinding shape when faced with complex and changeable grinding work environment

Method used

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  • Composite robot man-machine interaction grinding control system and method based on teleoperation
  • Composite robot man-machine interaction grinding control system and method based on teleoperation
  • Composite robot man-machine interaction grinding control system and method based on teleoperation

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Embodiment Construction

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] Such as figure 1As shown, the human-computer interactive grinding control system based on remote operation of the compound robot in this embodiment includes a mobile robot platform 1 based on four-wheel differential, a six-axis mechanical arm 2 equipped with an active and compliant grinding device, and a Human-computer interaction equipment 3, a control platform 4 for terminal control, and a wireless transmission device 5 for control signal and image data transmission. The mobile robot platform 1 based on the four-wheel differential is the mobile carrier of the entire equipment and is placed on the ground. The six-axis mechanical arm 2 loaded with the active and smooth grinding device moves through the flange and the four-wheel differential. The robot platform 1 is connected, and the two constitute the main body of the composite grinding robot. The staff in th...

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Abstract

The invention discloses a composite robot man-machine interaction grinding control system and method based on teleoperation. The composite robot man-machine interaction grinding control system comprises a mobile robot platform, a grinding mechanical arm, man-machine interaction equipment, a terminal control platform and a wireless transmission device. The related method comprises the steps that a worker remotely controls the man-machine interaction equipment, a control instruction is transmitted to the terminal composite robot control platform through the wireless transmission device, and grinding operation of a terminal composite robot formed by combining the remote control mobile robot platform and the grinding mechanical arm is achieved; and meanwhile, the real-time state information of the grinding operation of the terminal composite robot is fed back to the man-machine interaction equipment by the terminal control platform through the wireless transmission device and is used for manual judgment and processing. The grinding condition of the robot can be judged and processed in real time through the remote man-machine interaction equipment while the safety is guaranteed, and the system and the method are suitable for high-precision and high-quality grinding operation in a complex environment.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a human-computer interaction grinding control system and method for a composite robot based on remote operation. Background technique [0002] The body of an electric bus is an important part of a new energy bus. Its function is to withstand external resistance, sound insulation, vibration reduction and heat preservation. It has the characteristics of super large size, complex structure shape, variable / weak rigidity, and difficult processing. Its processing involves multiple grinding and polishing processes. The manufacturing level represents the competitiveness of the country's core technology. A key link in the technical route of the automotive field. At present, for the body grinding and polishing process of large electric passenger cars, manual methods are generally used in China, which has high labor intensity, low production efficiency, serious dust pollution, a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J11/00B25J13/00B25J19/02
CPCB25J9/1602B25J9/161B25J11/0065B25J13/006B25J19/023
Inventor 陈明松王冠强邹奋扬蔺永诚曾维栋王秋吴敏杰
Owner CENT SOUTH UNIV
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