Double-mechanical-arm robot, control method thereof, control equipment and readable storage medium

Abstract

The invention discloses a double-mechanical-arm robot and a control method, control equipment and a readable storage medium thereof, and relates to the technical field of robotics.The double-mechanical-arm robot comprises a base mechanism, a first driving unit and a second driving unit, the base mechanism comprises a fixed base and a base rotating part, and the base rotating part is driven by a first driving unit to rotate around a first rotating shaft relative to the fixed base; the first mechanical arm mechanism is mounted on the base rotating part and comprises a first rotating arm and a first moving joint, the first rotating arm is driven by a second driving unit to rotate around a second rotating shaft, and the first moving joint is driven by a third driving unit to rotate around a third rotating shaft; the first moving joint is driven by a fourth driving unit to move in the direction of the third rotating shaft; and the second mechanical arm mechanism is mounted on the base rotating piece. The problems that the production cost is high, and the robot placing space is limited can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a dual-arm robot and a control method, a control device, and a readable storage medium thereof. Background Art

[0002] SCARA robots (Selective Compliance Assembly Robot Arm) generally have four axes and four degrees of freedom (including translation in the X, Y, and Z directions and rotational freedom around the Z axis). SCARA robots are compliant in the X and Y directions and have good rigidity in the Z axis direction. This feature is particularly suitable for assembly work. SCARA robots can be used on production lines to achieve assembly, positioning or grasping of some parts. Generally, multiple SCARA robots are arranged on the production line. Since the conventional single-arm SCARA robot includes a base, a first robotic arm connected to the base through a drive unit, and a second robotic arm connected to the first robotic arm through another drive unit, it also includes related components for achieving movement and rotation around the Z axis.

[0003] Especially in some specific processing links, two SCARA robots are needed, and these two SCARA robots need to be set up close. However, due to the limited space in the processing link, if two SCARA robots are set up at the same time, the production and processing space will become more tight. On the other hand, the price of the drive unit in the SCARA robot is relatively expensive, and two SCARA robots require 8 drive units, which leads to a relatively high overall manufacturing cost and lack of market competitiveness. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a dual-arm robot and its control method, control device, and readable storage medium, which can solve the problems of high production costs and limited space for placing the robot.

[0005] The specific technical solution of the embodiment of the present invention is:

[0006] A dual-manipulator robot, the dual-manipulator robot comprising:

[0007] A base mechanism, comprising a fixed base and a base rotating member, wherein the base rotating member is driven by a first driving unit to rotate relative to the fixed base about a first rotating axis;

[0008] A first mechanical arm mechanism installed on the base rotating member comprises: a first rotating arm and a first moving joint, wherein the first rotating arm can be driven by a second driving unit to rotate about a second rotating axis, the first moving joint can be driven by a third driving unit to rotate about a third rotating axis, and the first moving joint can be driven by a fourth driving unit to move along the direction of the third rotating axis;

[0009] A second mechanical arm mechanism installed on the base rotating member includes: a second rotating arm and a second moving joint, the second rotating arm can be driven by a fifth driving unit to rotate about a fourth rotating axis, the second moving joint can be driven by a sixth driving unit to rotate about a fifth rotating axis, and the second moving joint can be driven by a seventh driving unit to move along the direction of the fifth rotating axis;

[0010] A control unit, wherein the control unit is used to control the dual-arm robot to have a first working mode. In the first working mode, the first arm mechanism and the first driving unit are controlled to be in an operational state, and the second arm mechanism is controlled to be in a locked state.

[0011] Preferably, the control unit is used to control the dual-robotic-arm robot to have a second working mode. In the second working mode, the second robotic arm mechanism and the first driving unit are controlled to be in an operational state, and the first robotic arm mechanism is in a locked state.

[0012] Preferably, the control unit is used to control the dual-robotic-arm robot to have a third working mode. In the third working mode, the first driving unit is controlled to be in an operational state, and the first robotic arm mechanism and the second robotic arm mechanism are in a locked state.

[0013] Preferably, in the first working mode, the first robot arm mechanism and the base mechanism form a first robot system, and the first robot system is a four-axis Scara robot;

[0014] In the second working mode, the second robot arm mechanism and the base mechanism form a second robot system, and the second robot system is a four-axis Scara robot.

[0015] Preferably, the second robotic arm mechanism further includes a third rotating arm, and the third rotating arm can be driven by an eighth driving unit to rotate around the sixth rotating axis.

[0016] Preferably, the control unit comprises:

[0017] A switching unit, the switching unit is used to switch the dual-arm robot between the first working mode, the second working mode and the third working mode;

[0018] The control unit is used to receive a command signal, process the command signal to form a working mode command, and send the working mode command to the switching unit, wherein the command signal includes the required working mode information of the dual-arm robot. The switching unit is used to receive the working mode command and switch the dual-arm robot between the first working mode, the second working mode and the third working mode according to the working mode command.

[0019] Preferably, the control unit further comprises: a first instruction operation unit;

[0020] When the switching unit switches the dual-arm robot to the first working mode, the first robotic arm mechanism and the base mechanism form a first robotic system, and the first instruction operation unit is used to receive instruction signals, which include instruction speeds of each drive unit in the first robotic system, and process the instruction signals to form instruction positions in the coordinate system of the first robotic system, and then calculate the instruction positions of each drive unit in the first robotic system based on the instruction positions in the coordinate system of the first robotic system.

[0021] Preferably, the control unit further comprises: a second instruction operation unit;

[0022] When the switching unit switches the dual-arm robot to the second working mode, the second robotic arm mechanism and the base mechanism form a second robotic system, and the second instruction operation unit is used to receive instruction signals, which include instruction speeds of each drive unit in the second robotic system, and process the instruction signals to form instruction positions in the coordinate system of the second robotic system, and then calculate the instruction positions of each drive unit in the second robotic system based on the instruction positions in the coordinate system of the second robotic system.

[0023] Preferably, the control unit further comprises: a base mechanism instruction operation unit;

[0024] When the switching unit switches the dual-arm robot to the third working mode, the base mechanism command operation unit is used to receive a command signal, which includes a command speed of the first drive unit in the base mechanism, and processes the command signal to form a command position of the first drive unit in the base mechanism.

[0025] A control method for a dual-manipulator robot, the dual-manipulator robot comprising:

[0026] A base mechanism, comprising a fixed base and a base rotating member, wherein the base rotating member is driven by a first driving unit to rotate relative to the fixed base about a first rotating axis;

[0027] A first mechanical arm mechanism installed on the base rotating member comprises: a first rotating arm and a first moving joint, wherein the first rotating arm can be driven by a second driving unit to rotate about a second rotating axis, the first moving joint can be driven by a third driving unit to rotate about a third rotating axis, and the first moving joint can be driven by a fourth driving unit to move along the direction of the third rotating axis;

[0028] A second mechanical arm mechanism installed on the base rotating member includes: a second rotating arm and a second moving joint, the second rotating arm can be driven by a fifth driving unit to rotate about a fourth rotating axis, the second moving joint can be driven by a sixth driving unit to rotate about a fifth rotating axis, and the second moving joint can be driven by a seventh driving unit to move along the direction of the fifth rotating axis;

[0029] The control method comprises:

[0030] Receiving a command signal, wherein the command signal includes required working mode information of the dual-arm robot;

[0031] According to the command signal, the first robot arm mechanism and the first driving unit are controlled to be in an operational state, and the second robot arm mechanism is controlled to be in a locked state.

[0032] Preferably, the control method further includes:

[0033] According to the command signal, the second robot arm mechanism and the first driving unit are controlled to be in an operable state, and the first robot arm mechanism is in a locked state.

[0034] Preferably, the control method further includes:

[0035] The first driving unit is controlled to be in an operational state according to the command signal, and the first robot arm mechanism and the second robot arm mechanism are in a locked state.

[0036] Preferably, in the step, the first robot arm mechanism and the first driving unit are controlled to be in an operable state according to the command signal, the second robot arm mechanism is in a locked state, and the first robot arm mechanism and the base mechanism form a first robot system;

[0037] The control method further comprises:

[0038] The various drive units in the first robot system are controlled based on the command signal, wherein the command signal includes the command speed of each drive unit in the first robot system, specifically including: processing the command signal to form a command position in the coordinate system of the first robot system; calculating the command position of each drive unit in the first robot system according to the command position in the coordinate system of the first robot system; and controlling each drive unit in the first robot system according to the command position of each drive unit in the first robot system.

[0039] Preferably, in the step, the second robot arm mechanism and the first drive unit are controlled to be in an operable state according to the command signal, the first robot arm mechanism is in a locked state, and the second robot arm mechanism and the base mechanism form a second robot system;

[0040] The control method further comprises:

[0041] The respective drive units in the second robot system are controlled based on the command signal, wherein the command signal includes the command speed of the respective drive units in the second robot system, specifically comprising: processing the command signal to form a command position in the coordinate system of the second robot system, and then calculating the command position of the respective drive units in the second robot system according to the command position in the coordinate system of the second robot system; and controlling the respective drive units in the second robot system according to the command position of the respective drive units in the second robot system.

[0042] Preferably, the control method further includes:

[0043] The first drive unit in the base mechanism is controlled based on the command signal, wherein the command signal includes a command speed of the first drive unit in the base mechanism, specifically comprising: processing the command signal to form a command position of the first drive unit in the base mechanism; and controlling the first drive unit in the base mechanism according to the command position of the first drive unit in the base mechanism.

[0044] A control device for a dual-arm robot comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the control methods described above when executing the computer program.

[0045] A computer-readable storage medium stores a computer program for executing any one of the control methods described above.

[0046] The technical solution of the present invention has the following significant beneficial effects:

[0047] 1. The dual-arm robot in the present application is equipped with a first mechanical arm mechanism and a second mechanical arm mechanism on a base mechanism that can be rotated, wherein the base mechanism has only one first drive unit, and the first mechanical arm mechanism has a second drive unit, a third drive unit and a fourth drive unit, and the second mechanical arm mechanism has a fifth drive unit, a sixth drive unit and a seventh drive unit, and the first mechanical arm mechanism cooperates with the first working mode of the base mechanism to realize the function of a four-axis Scara robot, and the second mechanical arm mechanism cooperates with the second working mode of the base mechanism to realize the function of another four-axis Scara robot, so that the work required to be completed by two four-axis Scara robots with eight drive units can be realized by a dual-arm robot with seven drive units, thus saving the number of drive units used and reducing the manufacturing cost of the dual-arm robot. In addition, compared with two independent four-axis Scara robots, which require two bases in contact with the ground, the present application only requires a fixed base in contact with the ground, which can save the placement space of the robot.

[0048] 2. On the basis of the above structure, only the third working mode in which the first drive unit in the base mechanism operates can cause the positions of the first mechanical arm mechanism and the second mechanical arm mechanism to change significantly at the same time. By controlling the cyclic switching of the dual-manipulator robot between the first working mode, the second working mode and the third working mode, the cyclic operation of the dual-manipulator robot in production and processing can be realized. Compared with the dual-manipulator robot realizing a significant change in the position of the first mechanical arm mechanism in the first working mode and a significant change in the position of the second mechanical arm mechanism in the second working mode, the above cyclic switching can improve the working efficiency.

[0049] With reference to the following description and drawings, specific embodiments of the present invention are disclosed in detail, indicating the manner in which the principles of the present invention can be adopted. It should be understood that the embodiments of the present invention are not limited in scope. Features described and / or shown for one embodiment can be used in one or more other embodiments in the same or similar manner, combined with features in other embodiments, or replace features in other embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings described herein are only for explanation purposes and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the figures are only schematic, used to help understand the present invention, and are not specifically limited to the shapes and proportional dimensions of the various components of the present invention. Those skilled in the art can select various possible shapes and proportional dimensions to implement the present invention according to the teachings of the present invention.

[0051] Figure 1This is a schematic diagram of the structure of a dual-arm robot in an embodiment of the present invention in one implementation manner;

[0052] Figure 2 Schematic diagram of the structure of a dual-arm robot in another implementation manner in an embodiment of the present invention;

[0053] Figure 3 The operating states of the first mechanical arm mechanism, the second mechanical arm mechanism and the first driving unit of the dual mechanical arm robot in different working modes in the embodiment of the present invention;

[0054] Figure 4 is a schematic diagram of a control unit in an embodiment of the present invention;

[0055] Figure 5 The figure is a flow chart of processing the command signal in the embodiment of the present invention.

[0056] Reference numerals in the above drawings:

[0057] 1. Fixed base; 2. Base rotating member; 3. First driving unit; 4. First rotating axis; 5. First robot arm mechanism; 51. First rotating arm; 52. First moving joint; 53. Second driving unit; 54. Second rotating axis; 55. Third rotating axis; 56. Third driving unit; 57. Fourth driving unit; 58. First base; 6. Second robot arm mechanism; 61. Second rotating arm; 62. Second moving joint; 63. Fifth driving unit; 64. Fourth rotating axis; 65. Fifth rotating axis; 66. Sixth driving unit; 67. Seventh driving unit; 68. Second base; 69. Third rotating arm; 610. Sixth rotating axis; 611. Eighth driving unit; 7. Control unit; 71. Switching unit; 72. First instruction operation unit; 73. Second instruction operation unit; 74. Base mechanism instruction operation unit; 75. First robot system control subunit; 76. Second robot system control subunit. DETAILED DESCRIPTION

[0058] The details of the present invention can be more clearly understood by combining the accompanying drawings and the description of the specific embodiments of the present invention. However, the specific embodiments of the present invention described herein are only used for the purpose of explaining the present invention and cannot be understood as limiting the present invention in any way. Under the guidance of the present invention, technicians can conceive of any possible variations based on the present invention, which should be regarded as belonging to the scope of the present invention. It should be noted that when an element is referred to as "arranged on" another element, it can be directly on another element or there can also be a central element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there may be a central element at the same time. The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, or it can be the communication between the two elements, it can be directly connected, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only implementation method.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0060] In order to solve the problem of high production cost and limited space for placing robots, a dual-arm robot is proposed in this application. Figure 1 FIG. 1 is a schematic diagram of the structure of a dual-arm robot in an embodiment of the present invention in one implementation manner. Figure 1As shown, the dual-manipulator robot may include: a base mechanism, including a fixed base 1 and a base rotating member 2, the base rotating member 2 is driven by a first driving unit 3 to rotate relative to the fixed base 1 about a first rotating axis 4; a first manipulator arm mechanism 5 installed on the base rotating member 2, including: a first rotating arm 51 and a first movable joint 52, the first rotating arm 51 is driven by a second driving unit 53 to rotate about a second rotating axis 54, the first movable joint 52 is driven by a third driving unit 56 to rotate around a third rotating axis 55, and the first movable joint 52 is driven by a fourth driving unit 57 to move along the direction of the third rotating axis 55; a second manipulator arm mechanism 6 installed on the base rotating member 2, including: a second rotating arm 61 and a second movable joint 62, the second rotating arm 61 is driven by a fifth driving unit 63 to rotate about a fourth rotating axis 64, the second movable joint 62 is driven by a sixth driving unit 66 to rotate around a fifth rotating axis 65, and the second movable joint 62 is driven by a seventh driving unit 67 to move along the direction of the fifth rotating axis 65.

[0061] like Figure 1 As shown, the base mechanism may include a fixed base 1 and a base rotating member 2 disposed on the fixed base 1. The fixed base 1 and the base rotating member 2 may be connected via a first driving unit 3. The base rotating member 2 is driven by the first driving unit 3 to rotate relative to the fixed base 1 about a first rotating axis 4.

[0062] like Figure 1As shown, the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 can be installed on the base rotating member 2. The first mechanical arm mechanism 5 may include: a first rotating arm 51 and a first moving joint 52. The first rotating arm 51 can be driven by the second driving unit 53 to rotate about the second rotating axis 54. For example, the first rotating arm 51 can be connected to the base rotating member 2 through the second driving unit 53. The second rotating axis 54 can be parallel to the first rotating axis 4. The second rotating axis 54 does not overlap with the first rotating axis 4. For another example, the first mechanical arm mechanism 5 may include a first base 58, the first base 58 is fixedly connected to the base rotating member 2, and the first rotating arm 51 can be connected to the first base 58 through the second driving unit 53. The first moving joint 52 can be arranged on the first rotating arm 51, and the first moving joint 52 can be connected to the first rotating arm 51 through the third driving unit 56. The first moving joint 52 can be driven by the third driving unit 56 to rotate around the third rotating axis 55. The third rotating axis 55 can be parallel to the second rotating axis 54. The third rotation axis 55 does not coincide with the second rotation axis 54. The third rotation axis 55 may be the axis of the first movable joint 52. The first movable joint 52 is driven by the fourth driving unit 57 to move along the direction of the third rotation axis 55. One end of the first movable joint 52 may be connected to the third driving unit 56, and the other end of the first movable joint 52 may be a tool mounting portion, and the other end of the first movable joint 52 may move along the direction of the third rotation axis 55 relative to one end of the first movable joint 52.

[0063] Similarly, the second mechanical arm mechanism 6 may include: a second rotating arm 61 and a second moving joint 62, and the second rotating arm 61 can be driven by the fifth driving unit 63 to rotate about the fourth rotating axis 64. For example, the second rotating arm 61 can be connected to the base rotating member 2 through the fifth driving unit 63. The fourth rotating axis 64 can be parallel to the first rotating axis 4. The fourth rotating axis 64 does not overlap with the first rotating axis 4. As feasible, the fourth rotating axis 64 does not overlap with the second rotating axis 54. For another example, the second mechanical arm mechanism 6 may include a second base 68, the second base 68 is fixedly connected to the base rotating member 2, and the second rotating arm 61 can be connected to the second base 68 through the fifth driving unit 63. The second moving joint 62 can be arranged on the second rotating arm 61, and the second moving joint 62 can be connected to the second rotating arm 61 through the sixth driving unit 66. The second moving joint 62 can be driven by the sixth driving unit 66 to rotate around the fifth rotating axis 65. The fifth rotating axis 65 can be parallel to the fourth rotating axis 64. The fifth rotation axis 65 does not coincide with the fourth rotation axis 64. The fifth rotation axis 65 may be the axis of the second movable joint 62. The second movable joint 62 may be driven by the seventh drive unit 67 to move along the direction of the fifth rotation axis 65. One end of the second movable joint 62 may be connected to the seventh drive unit 67, and the other end of the second movable joint 62 may be a tool mounting portion, and the other end of the second movable joint 62 may be movable along the direction of the fifth rotation axis 65 relative to one end of the second movable joint 62.

[0064] As a feasible option, the first robotic arm mechanism 5 and the second robotic arm mechanism 6 can be installed at opposite ends of the base rotating member 2, and the first rotating shaft 4 can be located between the two ends of the base rotating member 2, for example, can be located in the middle of the base rotating member 2, so as to avoid interference between the first robotic arm mechanism 5 and the second robotic arm mechanism 6 during operation as much as possible. In addition, when only the base rotating member 2 rotates, the positions of the first robotic arm mechanism 5 and the second robotic arm mechanism 6 can be greatly changed at the same time.

[0065] As feasible, the driving unit may include a servo motor, or may include a servo motor connected to a reducer.

[0066] The dual-arm robot may include a control unit 7. The control unit 7 may be used to control the entire dual-arm robot, for example, the first drive unit 3 may be controlled to realize the rotation of the base mechanism, that is, the rotation of the base rotating member 2 relative to the fixed base 1, the second drive unit 53 may be controlled to realize the rotation of the first rotating arm 51, that is, the rotation of the first rotating arm 51 relative to the base rotating member 2, the third drive unit 56 may be controlled to realize the rotation of the first moving joint 52, the fourth drive unit 57 may be controlled to realize the movement of the first moving joint 52 along the direction of the third rotating axis 55, and similarly, the control unit 7 may also control the fifth drive unit 63, the sixth drive unit 66 and the seventh drive unit 67.

[0067] Figure 3 : is the operating state of the first mechanical arm mechanism, the second mechanical arm mechanism 6 and the first driving unit 3 of the dual mechanical arm robot in different working modes in the embodiment of the present invention, such as Figure 3 As shown, the control unit 7 is used to control the dual-arm robot to have a first working mode. In the first working mode, the control unit 7 can control the first arm mechanism 5 and the first drive unit 3 to be in an operational state, and the second arm mechanism 6 to be in a locked state. The operational state may refer to that the first drive unit 3 can drive the base rotating member 2 to rotate relative to the fixed base 1 about the first rotating axis 4, and each drive unit in the first arm mechanism 5 can drive the first rotating arm 51 and the first moving joint 52 to move, so as to realize the first operation of the tool installed on the tool mounting part of the first arm mechanism 5. The locked state may refer to that each drive unit in the second arm mechanism 6 cannot drive the second rotating arm 61 and the second moving joint 62 to move.

[0068] In the first working mode, the first robot arm mechanism 5 and the base mechanism form a first robot system, which is a four-axis Scara robot. The first robot system can have four axes and four degrees of freedom, including translation along the X, Y, and Z directions and rotational freedom around the Z axis.

[0069] like Figure 3 As shown, the control unit 7 can be used to control the dual-arm robot to have a second working mode. In the second working mode, the second manipulator mechanism 6 and the first drive unit 3 are controlled to be in an operational state, and the first manipulator mechanism 5 is in a locked state. After the tool installed on the tool mounting portion of the first manipulator mechanism 5 completes the second operation, the control unit 7 can control the dual-arm robot to enter the second working mode, so that the tool installed on the tool mounting portion of the second manipulator mechanism 6 performs the second operation. The first operation can be the same type of operation as the second operation, or a different type of operation.

[0070] Similarly, in the second working mode, the second robot arm mechanism 6 and the base mechanism form a second robot system, which is a four-axis Scara robot. The second robot system can also have four axes and four degrees of freedom, including translation along the X, Y, and Z directions and rotational freedom around the Z axis.

[0071] like Figure 3 As shown, the control unit 7 can be used to control the dual-arm robot to have a third working mode. In the third working mode, the first drive unit 3 is controlled to be in an operational state, and the first and second robotic arm mechanisms 5 and 6 are in a locked state. When the operation of the tool installed on the tool mounting portion of the first robotic arm mechanism 5 is completed, and when the operation of the tool installed on the tool mounting portion of the second robotic arm mechanism 6 is completed, when the rotation angle of the base mechanism needs to be adjusted, the control unit 7 can control the dual-arm robot to enter the third working mode, and the base rotating member 2 rotates relative to the fixed base 1, which can simultaneously change the positions of the first and second robotic arm mechanisms 5 and 6, so that the tools installed on the tool mounting portions of the first and second robotic arm mechanisms 5 and 6 can perform a second round of operations. The first operation performed by the tool installed on the tool mounting portion of the first robotic arm mechanism 5 and the second operation performed by the tool installed on the tool mounting portion of the second robotic arm mechanism 6 in the above part can be defined as the first round of operations.

[0072] In the next round of operation, the working positions of the tools installed on the tool mounting parts of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 may have changed significantly. At this time, the control unit 7 controls the dual mechanical arm robot to enter the first working mode. For example, in the first working mode, the tool installed on the tool mounting part of the first mechanical arm mechanism 5 can perform the second operation. After that, the control unit 7 controls the dual mechanical arm robot to enter the second working mode, and the tool installed on the tool mounting part of the second mechanical arm mechanism 6 can perform the first operation. The tool installed on the tool mounting part of a mechanical arm mechanism performs the first operation and the second operation to complete a complete operation process. After that, the control unit 7 can control the dual mechanical arm robot to enter the third working mode, and the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 can be changed back to the positions in the first round of operation at the same time. After that, the above process can be continuously repeated, so as to realize the cyclic operation of the dual mechanical arm robot in production and processing. That is to say, the control unit 7 can control the dual mechanical arm robot to switch to the first working mode, the second working mode and the third working mode in sequence, and switch in this way continuously.

[0073] Specifically, for example, the first operation of the first robotic arm mechanism 5 may be to pick up an object from area A and perform certain processing operations, and the second operation of the first robotic arm mechanism 5 may be to place the object after the processing operation in area B. The second operation of the second robotic arm mechanism 6 may be to place the object after the processing operation in area C, and the first operation of the second robotic arm mechanism 6 may be to pick up an object from area D and perform certain processing operations. The control unit 7 may control the dual robotic arm robot to switch to the first working mode, the second working mode, and the third working mode in sequence, and such continuous cyclic switching may realize the transport of multiple objects from area A to area B and perform certain processing operations, and the transport of multiple objects from area D to area C and perform certain processing operations. As is feasible, area A is farther than area B, and area C is farther than area D. Through the third working mode of the dual-arm robot, the first robotic arm mechanism 5 and the second robotic arm mechanism 6 can be moved significantly at the same time, and the first robotic arm mechanism 5 can be moved between area A and area B, and the second robotic arm mechanism 6 can be moved between area C and area D. This can avoid moving the first robotic arm mechanism 5 between area A and area B in the first working mode and moving the second robotic arm mechanism 6 between area C and area D in the second working mode, thereby improving working efficiency.

[0074] Figure 4 Schematic diagram of a control unit in an embodiment of the present invention, Figure 4 As shown, the control unit 7 may include: a switching unit 71 , a first instruction operation unit 72 , a second instruction operation unit 73 and a base mechanism instruction operation unit 74 .

[0075] The switching unit 71 is used to switch the dual-arm robot between the first working mode, the second working mode and the third working mode. Figure 5 FIG. 1 is a flow chart of processing a command signal in an embodiment of the present invention. Figure 5 As shown, the control unit 7 is used to receive the command signal, process the command signal to form a working mode command, and send the working mode command to the switching unit 71. The command signal may include the required working mode information of the dual robotic arm robot. The switching unit 71 is used to receive the working mode command and switch the dual robotic arm robot between the first working mode, the second working mode and the third working mode according to the working mode command.

[0076] In the above process, the required working mode information of the dual-arm robot specifically refers to the working mode that the dual-arm robot needs to enter, such as the first working mode, the second working mode or the third working mode.

[0077] When the switching unit 71 switches the dual-arm robot to the first working mode, the first arm mechanism 5 and the base mechanism form a first robot system. Figure 5 As shown, the first instruction operation unit 72 is used to receive instruction signals, which include instruction speeds of each drive unit in the first robot system, and process the instruction signals to form instruction positions in the first robot system coordinate system, and then calculate the instruction positions of each drive unit in the first robot system according to the instruction positions in the first robot system coordinate system.

[0078] The control unit 7 may also include a first robot system control subunit 75, which is used to control each drive unit in the first robot system according to the command position of each drive unit in the first robot system, so that each drive unit in the first robot system moves to a corresponding position, and finally realizes the operation of the tool installed on the tool mounting part of the first robot arm mechanism 5.

[0079] When the switching unit 71 switches the dual-arm robot to the second working mode, the second arm mechanism 6 and the base mechanism form a second robot system. At this time, the second instruction operation unit 73 is used to receive the instruction signal, which includes the instruction speed of each drive unit in the second robot system, and processes the instruction signal to form the instruction position in the second robot system coordinate system, and then calculates the instruction position of each drive unit in the second robot system according to the instruction position in the second robot system coordinate system.

[0080] Similarly, the control unit 7 may also include a second robot system control subunit 76, which is used to control each drive unit in the second robot system according to the command position of each drive unit in the second robot system, so that each drive unit in the second robot system moves to a corresponding position, and finally realizes the operation of the tool installed on the tool mounting part of the second robot arm mechanism 6.

[0081] When the switching unit 71 switches the dual-manipulator robot to the third working mode, the base mechanism command operation unit 74 is used to receive a command signal, which includes a command speed of the first drive unit 3 in the base mechanism, and processes the command signal to form a command position of the first drive unit 3 in the base mechanism. Afterwards, the control unit 7 can directly control the first drive unit 3 in the base mechanism alone, so that the first drive unit 3 moves to a corresponding position, thereby realizing the rotation of the base rotating member 2, so that the positions of the first manipulator mechanism 5 and the second manipulator mechanism 6 are changed at the same time.

[0082] As a feasible method, the control unit 7 can also be used to detect the command position of each drive unit in the first robot system, the command position of each drive unit in the second robot system, and the command position of the first drive unit 3 in the base mechanism to confirm whether the command position of each drive unit is within the normal range. If so, a command is issued, and if not, an error warning is issued.

[0083] Further, the second robot arm mechanism 6 may also include a third rotating arm 69, which is driven by the eighth drive unit 611 to rotate around the sixth rotating axis 610. For example, the third rotating arm 69 is connected to the base rotating member 2 through the eighth drive unit 611, and the second rotating arm 61 is connected to the third rotating arm 69 through the fifth drive unit 63. In the second working mode, the second robot arm mechanism 6 can also form a second robot system, and the second robot system is a four-axis Scara robot. Therefore, in the second working mode, the second robot arm mechanism 6 is controlled to be in an operational state, and the first robot arm mechanism 5 and the first drive unit 3 are in a locked state.

[0084] A control method for a dual-arm robot is also proposed in the present application. The control method for the dual-arm robot may include:

[0085] Receive a command signal, the command signal includes the required working mode information of the dual-arm robot. The command signal can be sent to the dual-arm robot from the outside, or sent by the action program inside the dual-arm robot.

[0086] According to the command signal, the first mechanical arm mechanism 5 and the first driving unit 3 are controlled to be in an operational state, and the second mechanical arm mechanism 6 is in a locked state. In this step, the required working mode information of the dual mechanical arm robot is the first working mode. The first mechanical arm mechanism 5 and the base mechanism form a first robot system.

[0087] After controlling the first robot arm mechanism 5 and the first drive unit 3 to be in an operational state and the second robot arm mechanism 6 to be in a locked state, each drive unit in the first robot system can be controlled based on the command signal, and the command signal includes the command speed of each drive unit in the first robot system.

[0088] This step may specifically include: processing the command signal to form a command position in the first robot system coordinate system; calculating the command position of each drive unit in the first robot system according to the command position in the first robot system coordinate system; and controlling each drive unit in the first robot system according to the command position of each drive unit in the first robot system. Through the above steps, each drive unit in the first robot system can be moved to a corresponding position, and finally the tool installed on the tool mounting part of the first robot arm mechanism 5 can be operated.

[0089] After controlling each drive unit in the first robot system, the second robot arm mechanism 6 and the first drive unit 3 are controlled to be in an operational state according to the command signal, and the first robot arm mechanism 5 is in a locked state. In this step, the command signal can be sent to the dual robot arm robot for the second time from the outside, or it can be sent for the second time by the action program inside the dual robot arm robot. In this step, the required working mode information of the dual robot arm robot is the second working mode. The second robot arm mechanism 6 and the base mechanism form a second robot system.

[0090] After controlling the second robot arm mechanism 6 and the first drive unit 3 to be in an operational state and the first robot arm mechanism 5 to be in a locked state, each drive unit in the second robot system can be controlled based on the command signal, and the command signal includes the command speed of each drive unit in the second robot system.

[0091] This step may specifically include: processing the command signal to form the command position in the second robot system coordinate system, and then calculating the command position of each drive unit in the second robot system according to the command position in the second robot system coordinate system; and controlling each drive unit in the second robot system according to the command position of each drive unit in the second robot system. Through the above steps, each drive unit in the second robot system can be moved to a corresponding position, and finally the tool installed on the tool mounting part of the second robot arm mechanism 6 can be operated.

[0092] According to the command signal, the first drive unit 3 is controlled to be in an operational state, and the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are in a locked state. In this step, the command signal can be sent to the dual-manipulator robot for the third time from the outside, or sent for the third time by the action program inside the dual-manipulator robot. In this step, the required working mode information of the dual-manipulator robot is the third working mode.

[0093] After each driving unit in the second robot system is controlled based on the command signal, the first driving unit 3 in the base mechanism can be controlled based on the command signal, and the command signal includes a command speed of the first driving unit 3 in the base mechanism.

[0094] The above steps may specifically include: processing the command signal to form the command position of the first drive unit 3 in the base mechanism; and controlling the first drive unit 3 in the base mechanism according to the command position of the first drive unit 3 in the base mechanism. Through the above steps, the first drive unit 3 in the base mechanism can be moved to the corresponding position, so that the base rotating member 2 can be rotated according to the required requirements, so that the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are changed at the same time to reach the required position.

[0095] As feasible, the above steps may be repeatedly performed in sequence to achieve cyclic operation of the dual-arm robot in production and processing.

[0096] The dual-arm robot in the present application is installed with a first mechanical arm mechanism 5 and a second mechanical arm mechanism 6 on a base mechanism that can be rotated, wherein the base mechanism has only a first drive unit 3, and the first mechanical arm mechanism 5 has a second drive unit 53, a third drive unit 56 and a fourth drive unit 57, and the second mechanical arm mechanism 6 has a fifth drive unit 63, a sixth drive unit 66 and a seventh drive unit 67, the first mechanical arm mechanism 5 cooperates with the first working mode of the base mechanism to realize the function of a four-axis Scara robot, and the second mechanical arm mechanism 6 cooperates with the second working mode of the base mechanism to realize the function of another four-axis Scara robot, so that the work required to be completed by two four-axis Scara robots with eight drive units can be realized by a dual-arm robot with seven drive units, thus saving the number of drive units used and reducing the manufacturing cost of the dual-arm robot. In addition, compared with two independent four-axis Scara robots, which require two bases in contact with the ground, the present application only requires a fixed base 1 in contact with the ground, so that the placement space of the robot can be saved.

[0097] Moreover, based on the above structure, only the third working mode in which the first drive unit 3 in the base mechanism operates can cause the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 to change significantly at the same time. By controlling the cyclic switching of the dual-manipulator robot between the first working mode, the second working mode and the third working mode, the cyclic operation of the dual-manipulator robot in production and processing can be achieved. Compared with the dual-manipulator robot realizing a significant change in the position of the first mechanical arm mechanism 5 in the first working mode and a significant change in the position of the second mechanical arm mechanism 6 in the second working mode, the above cyclic switching can improve the working efficiency.

[0098] The present application also proposes a control device for a dual-arm robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above control methods when executing the computer program. Specifically, the control device may be a computer terminal, a server, or a similar computing device.

[0099] The present application also proposes a computer-readable storage medium, which stores a computer program for executing any of the above control methods.

[0100] All articles and references disclosed, including patent applications and publications, are incorporated herein by reference for various purposes. The term "consisting essentially of ... " describing a combination should include determined elements, ingredients, parts or steps and other elements, ingredients, parts or steps that do not substantially affect the basic novel features of the combination. The use of the terms "comprising" or "including" to describe the combination of elements, ingredients, parts or steps here also contemplates the implementation method consisting essentially of these elements, ingredients, parts or steps. Here, by using the term "may", it is intended to illustrate that any attribute described that "may" includes is optional. Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure "one" or "one" used to describe an element, ingredient, part or step is not said to exclude other elements, ingredients, parts or steps.

[0101] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other. The above embodiments are only for illustrating the technical concept and features of the present invention. The purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the scope of protection of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A dual-arm robot, characterized in that: The dual-arm robot comprises: A base mechanism, comprising a fixed base and a base rotating member, wherein the base rotating member is driven by a first driving unit to rotate relative to the fixed base about a first rotating axis; A first mechanical arm mechanism installed on the base rotating member comprises: a first rotating arm and a first moving joint, wherein the first rotating arm can be driven by a second driving unit to rotate about a second rotating axis, the first moving joint can be driven by a third driving unit to rotate about a third rotating axis, and the first moving joint can be driven by a fourth driving unit to move along the direction of the third rotating axis; A second mechanical arm mechanism installed on the base rotating member includes: a second rotating arm and a second moving joint, the second rotating arm can be driven by a fifth driving unit to rotate about a fourth rotating axis, the second moving joint can be driven by a sixth driving unit to rotate about a fifth rotating axis, and the second moving joint can be driven by a seventh driving unit to move along the direction of the fifth rotating axis; A control unit, wherein the control unit is used to control the dual-arm robot to have a first working mode. In the first working mode, the first arm mechanism and the first driving unit are controlled to be in an operational state, and the second arm mechanism is controlled to be in a locked state.

2. The dual-arm robot according to claim 1, characterized in that: The control unit is used to control the dual-arm robot to have a second working mode. In the second working mode, the second arm mechanism and the first driving unit are controlled to be in an operational state, and the first arm mechanism is controlled to be in a locked state.

3. The dual-arm robot according to claim 2, characterized in that: The control unit is used to control the dual-robotic-arm robot to have a third working mode. In the third working mode, the first driving unit is controlled to be in an operational state, and the first robotic arm mechanism and the second robotic arm mechanism are in a locked state.

4. The dual-arm robot according to claim 3, characterized in that: In the first working mode, the first robot arm mechanism and the base mechanism form a first robot system, and the first robot system is a four-axis Scara robot; In the second working mode, the second robot arm mechanism and the base mechanism form a second robot system, and the second robot system is a four-axis Scara robot.

5. The dual-arm robot according to claim 1, characterized in that: The second robot arm mechanism further includes a third rotating arm, and the third rotating arm can be driven by an eighth driving unit to rotate around a sixth rotating axis.

6. The dual-arm robot according to claim 3, characterized in that: The control unit comprises: A switching unit, the switching unit is used to switch the dual-arm robot between the first working mode, the second working mode and the third working mode; The control unit is used to receive a command signal, process the command signal to form a working mode command, and send the working mode command to the switching unit, wherein the command signal includes the required working mode information of the dual-arm robot. The switching unit is used to receive the working mode command and switch the dual-arm robot between the first working mode, the second working mode and the third working mode according to the working mode command.

7. The dual-arm robot according to claim 6, characterized in that: The control unit further comprises: a first instruction operation unit; When the switching unit switches the dual-arm robot to the first working mode, the first robotic arm mechanism and the base mechanism form a first robotic system, and the first instruction operation unit is used to receive instruction signals, which include instruction speeds of each drive unit in the first robotic system, and process the instruction signals to form instruction positions in the coordinate system of the first robotic system, and then calculate the instruction positions of each drive unit in the first robotic system based on the instruction positions in the coordinate system of the first robotic system.

8. The dual-arm robot according to claim 7, characterized in that: The control unit further comprises: a second instruction operation unit; When the switching unit switches the dual-arm robot to the second working mode, the second robotic arm mechanism and the base mechanism form a second robotic system, and the second instruction operation unit is used to receive instruction signals, which include instruction speeds of each drive unit in the second robotic system, and process the instruction signals to form instruction positions in the coordinate system of the second robotic system, and then calculate the instruction positions of each drive unit in the second robotic system based on the instruction positions in the coordinate system of the second robotic system.

9. The dual-arm robot according to claim 8, characterized in that: The control unit also includes: a base mechanism instruction operation unit; When the switching unit switches the dual-arm robot to the third working mode, the base mechanism command operation unit is used to receive a command signal, which includes a command speed of the first drive unit in the base mechanism, and processes the command signal to form a command position of the first drive unit in the base mechanism.

10. A control method for a dual-arm robot, characterized in that: The dual-arm robot comprises: A base mechanism, comprising a fixed base and a base rotating member, wherein the base rotating member is driven by a first driving unit to rotate relative to the fixed base about a first rotating axis; A first mechanical arm mechanism installed on the base rotating member comprises: a first rotating arm and a first moving joint, wherein the first rotating arm can be driven by a second driving unit to rotate about a second rotating axis, the first moving joint can be driven by a third driving unit to rotate about a third rotating axis, and the first moving joint can be driven by a fourth driving unit to move along the direction of the third rotating axis; A second mechanical arm mechanism installed on the base rotating member includes: a second rotating arm and a second moving joint, the second rotating arm can be driven by a fifth driving unit to rotate about a fourth rotating axis, the second moving joint can be driven by a sixth driving unit to rotate about a fifth rotating axis, and the second moving joint can be driven by a seventh driving unit to move along the direction of the fifth rotating axis; The control method comprises: Receiving a command signal, wherein the command signal includes required working mode information of the dual-arm robot; According to the command signal, the first robot arm mechanism and the first driving unit are controlled to be in an operational state, and the second robot arm mechanism is controlled to be in a locked state.

11. The control method of the dual-arm robot according to claim 10, characterized in that: The control method further comprises: According to the command signal, the second robot arm mechanism and the first driving unit are controlled to be in an operable state, and the first robot arm mechanism is in a locked state.

12. The control method of the dual-arm robot according to claim 11, characterized in that: The control method further comprises: The first driving unit is controlled to be in an operational state according to the command signal, and the first robot arm mechanism and the second robot arm mechanism are in a locked state.

13. The control method of the dual-arm robot according to claim 10, characterized in that: In step 1, according to the command signal, the first robot arm mechanism and the first driving unit are controlled to be in an operable state, the second robot arm mechanism is in a locked state, and the first robot arm mechanism and the base mechanism form a first robot system; The control method further comprises: The various drive units in the first robot system are controlled based on the command signal, wherein the command signal includes the command speed of each drive unit in the first robot system, specifically including: processing the command signal to form a command position in the coordinate system of the first robot system; calculating the command position of each drive unit in the first robot system according to the command position in the coordinate system of the first robot system; and controlling each drive unit in the first robot system according to the command position of each drive unit in the first robot system.

14. The control method of the dual-arm robot according to claim 11, characterized in that: In step 2, according to the command signal, the second robot arm mechanism and the first drive unit are controlled to be in an operational state, the first robot arm mechanism is in a locked state, and the second robot arm mechanism and the base mechanism form a second robot system; The control method further comprises: The respective drive units in the second robot system are controlled based on the command signal, wherein the command signal includes the command speed of the respective drive units in the second robot system, specifically comprising: processing the command signal to form a command position in the coordinate system of the second robot system, and then calculating the command position of the respective drive units in the second robot system according to the command position in the coordinate system of the second robot system; and controlling the respective drive units in the second robot system according to the command position of the respective drive units in the second robot system.

15. The control method of the dual-arm robot according to claim 12, characterized in that: The control method further comprises: The first drive unit in the base mechanism is controlled based on the command signal, wherein the command signal includes a command speed of the first drive unit in the base mechanism, specifically comprising: processing the command signal to form a command position of the first drive unit in the base mechanism; and controlling the first drive unit in the base mechanism according to the command position of the first drive unit in the base mechanism.

16. A control device for a dual-arm robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the control method according to any one of claims 10 to 15 is implemented.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for executing the control method according to any one of claims 10 to 15.

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