Flexible transfer robot and intelligent identification system thereof

Abstract

The invention relates to the technical field of intelligent recognition of transfer robots, and discloses a flexible transfer robot and an intelligent recognition system thereof.The flexible transfer robot comprises a chassis and a V-shaped groove feeding and discharging storage position, the upper surface of the chassis is fixedly connected with a truss supporting assembly, and a lifting assembly is arranged in the truss supporting assembly; compared with an existing operation system, compared with use of a mechanical arm moving device, the device is high in bearing capacity and low in maintenance cost, and compared with a track arranged on the mechanical arm moving device, the occupied area is small; compared with a truss manipulator, although the bearing capacity is high, the occupied space is large, equipment and site construction needs to be carried out in the two schemes, the equipment cost is high, by means of the flexible robot, the comprehensive cost can be saved by more than 2 million yuan, the equipment cost can be saved by 1.5 million yuan, the flexible robot can serve multiple production lines at the same time, no space is occupied, and the flexible robot is suitable for large-scale production. Construction transformation is not needed on site, and the product can be quickly switched within 10 minutes through the input-and-play flexible robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent identification of carrying robots, in particular to a flexible carrying robot and an intelligent identification system thereof. BACKGROUND

[0002] With the transformation of manufacturing industry to "multi-variety, small batch, flexibility" production, the automation of long shaft workpieces such as cylinder (especially 180-280 specifications, length 500-2000mm, maximum load 1.5 tons) and the demand for feeding and unloading are increasingly urgent. Such workpiece production process involves scraping and rolling machining, numerical control machine cutting, cleaning and inspection, multi-station transfer and other links, which puts forward high requirements for the positioning accuracy, load capacity, production line adaptability and cost control of the carrying equipment. However, the current carrying scheme used in the industry still has many technical bottlenecks, and the specific problems are as follows: Traditional cylinder carrying relies on manual or simple mechanical assistance. Manual operation not only has high labor intensity and low efficiency, but also cannot guarantee the feeding and unloading accuracy of ±0.5mm, which is easy to cause workpiece scratches or equipment collision due to operation errors; semi-automatic equipment (such as simple conveyor belt) can only realize linear carrying between fixed stations, and cannot adapt to the "multi-station, variable path" demand in multi-variety mixed production, and manual feeding and unloading is required, which cannot realize real production line automation closed loop.

[0003] Although the existing mechanical arm moving device can improve the carrying accuracy, it needs to lay special tracks (such as ground guide rails, suspended guide rails), which not only occupies a large area (especially in the multi-production line parallel scene, the track intersection layout is easy to cause space congestion), and the track laying needs to be constructed on site (such as ground slotting, fixed support installation), which has long construction period and high equipment cost; at the same time, the load capacity of the mechanical arm is generally low (mostly less than 1 ton), which is difficult to adapt to the heavy load demand of 1.5 ton cylinder, and the maintenance cost is high (track wear, joint parts are easy to damage), and the track positioning needs to be re-adjusted when changing production, which cannot realize 10-minute quick switching of products.

[0004] Although the truss manipulator has strong load capacity (some can reach 5 tons), it has a large structure and volume, which needs to occupy a large space above or beside the production line, resulting in poor flexibility of workshop layout, especially not suitable for old production line transformation (the original workshop space is difficult to accommodate the truss structure); in addition, the installation of the truss manipulator needs to reinforce the workshop building structure (such as the modification of the top bearing beam), which has high construction complexity and high cost (the cost of a single production line equipment and construction is often more than 1.5 million yuan), and can only serve a single production line, which cannot realize the sharing demand of "one device connecting multiple cylinder lines", and the equipment utilization rate is low.

[0005] Whether it is a mechanical arm moving device or a truss manipulator, it is difficult to deeply cooperate with upper management systems such as MES (Manufacturing Execution System), MOM (Manufacturing Operation Management System), LES (Logistics Execution System) and the like, manual intervention is required for production scheduling and path planning, and the carrying process cannot be automatically adjusted based on the production plan; at the same time, the comprehensive cost of the existing scheme is high, the investment of a single cylinder tube line automatic carrying equipment is often more than 2 million yuan, and when multiple lines are parallel, the equipment needs to be repeatedly invested, which further aggravates the cost burden of enterprises.

[0006] In summary, the current carrying scheme of long axis workpieces such as cylinder tubes generally has the above problems, and therefore a flexible carrying solution with high positioning accuracy, heavy load capacity, immediate use and low cost advantage is urgently needed. SUMMARY

[0007] (I) Technical problems to be solved In view of the shortcomings of the prior art, the present application provides a flexible carrying robot and its intelligent identification system, which solves the problem of high cost of existing equipment systems.

[0008] (II) Technical scheme In order to achieve the above purpose, the present application provides the following technical scheme: a flexible carrying robot, comprising a chassis and a V-shaped groove feeding and discharging storage position, the upper surface of the chassis is fixedly connected with a truss support assembly, the inside of the truss support assembly is provided with a lifting assembly, the inside of the lifting assembly is provided with a connecting assembly, the lower end of the connecting assembly is provided with a suction assembly, the upper surface of the truss support assembly is fixedly connected with a 3D laser + SLAM navigation module processing box, and the outer surface of the connecting assembly is fixedly connected with an infrared sensing assembly.

[0009] Preferably, the 3D laser + SLAM navigation module processing box comprises 2-3 industrial grade 3D laser radars and processor chips, and the infrared sensing assembly is used for positioning the centering position on the machine tool, and can also assist the 3D laser for accurate positioning; The suction assembly realizes the grabbing and releasing of the cylinder by suction force, cooperates with the pose recognition of the intelligent 3D vision processing module, and can accurately align the cylinder grabbing point; The V-shaped groove feeding and discharging storage position is used as a material transfer buffer component for temporarily storing the to-be-processed cylinder or the processed cylinder, the chassis bears the weight of all components and materials of the whole machine, the bottom moving wheel system is used to realize the horizontal movement of the whole machine in X / Y axis direction, the lifting assembly is used as an execution component for vertical movement and is driven by the lifting sub-module, so as to drive the connecting assembly, the suction assembly and the grabbed cylinder to move vertically, and the truss support assembly is used as the rigid skeleton of the whole machine, which bears the weight of the lifting assembly, the connecting assembly, the suction assembly and the cylinder material.

[0010] An intelligent identification system of a flexible carrying robot, characterized in that: comprising a task scheduling module and a state feedback module, the task scheduling module is responsible for task decomposition and collaborative scheduling, the task scheduling module comprises a navigation positioning module, a visual identification module and a multi-freedom driving module, the navigation positioning module is composed of a 3D laser + SLAM navigation module, the visual identification module comprises an intelligent 3D visual processing module, and the multi-freedom driving module comprises a lifting sub-module, a translation sub-module and a rotation / deflection sub-module.

[0011] Preferably, the state feedback module can collect multi-dimensional state information, and the 3D laser + SLAM navigation module can realize whole-machine level positioning and path planning.

[0012] Preferably, the intelligent 3D visual processing module can realize material level accurate positioning, and the three-dimensional point cloud data of the material is collected through a 3D visual sensor, and the position, posture and length of the cylinder barrel are analyzed by combining an intelligent algorithm.

[0013] Preferably, the lifting sub-module can drive a lifting assembly to control the vertical height of the Z axis, and adapt to the height difference of the feeding height of different stations, such as the feeding port of a scraper roller and the clamping position of a numerical control machine tool.

[0014] Preferably, the translation sub-module can drive a truss structure / chassis wheel system to control the horizontal movement of the X / Y axis, and realize the position transfer of the whole robot or the grabbing mechanism.

[0015] Preferably, the rotation / deflection sub-module drives a connecting assembly / adsorption assembly to control the X axis deflection and the Z axis rotation, and adjusts the spatial posture of the cylinder barrel, such as aligning the clamping interface of the scraper roller and realizing the turning action of the second numerical control machine tool.

[0016] (Three) beneficial effects Compared with the prior art, the present application provides a flexible carrying robot and an intelligent identification system thereof, which has the following beneficial effects: 1、The flexible carrying robot and the intelligent identification system thereof, compared with the existing operation system, compared with the use of the mechanical arm moving device, the device has strong carrying capacity, low maintenance cost, and the track set by the mechanical arm moving device occupies small area; compared with the truss manipulator, although the carrying capacity is strong, the space occupation is large, and the above two schemes need to be constructed on the equipment and site, and the equipment cost is high, the use of the flexible robot can save more than 2 million yuan of comprehensive cost, save 1.5 million yuan of equipment cost, can serve multiple production lines at the same time, does not occupy space, does not need to be constructed and transformed on site, and the flexible robot can quickly switch products in 10 minutes. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1It is a flexible carrying robot and an intelligent identification system structure schematic view of the present application; Fig. 2 It is a flexible carrying robot position schematic view of the present application; Fig. 3 It is a flexible carrying robot intelligent identification system flow schematic view of the present application.

[0018] In the figure: 1, truss support assembly; 2, lifting assembly; 3, chassis; 4, V-shaped groove feeding and discharging storage position; 5, adsorption assembly; 6, connecting assembly; 7, 3D laser + SLAM navigation module processing box; 8, infrared sensing positioning assembly. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0020] Please refer to Figs. 1-3 The present application provides a new technical solution: a flexible carrying robot and an intelligent identification system, which comprises a chassis 3 and a V-shaped groove feeding and discharging storage position 4, the upper surface of the chassis 3 is fixedly connected with a truss support assembly 1, the inside of the truss support assembly 1 is provided with a lifting assembly 2, the inside of the lifting assembly 2 is provided with a connecting assembly 6, the lower end of the connecting assembly 6 is provided with an adsorption assembly 5, the upper surface of the truss support assembly 1 is fixedly connected with a 3D laser + SLAM navigation module processing box 7, and the outer surface of the connecting assembly 6 is fixedly connected with an infrared sensing assembly 8. The 3D laser + SLAM navigation module processing box 7 comprises 2-3 industrial-grade 3D laser radars and processor chips and other electronic components, the infrared sensing assembly 8 is used for positioning the centering position on the machine tool, and can also assist the 3D laser in precise positioning, the connecting assembly 6 drives the adsorption assembly 5 to move vertically along the Z axis; on the other hand, the rotating / deflecting power of the rotating / deflecting sub-module drives the adsorption assembly 5 to realize X-axis deflection and Z-axis rotation, so as to ensure that the adsorption assembly 5 can complete the composite action of lifting and posture adjustment at the same time; The adsorption component 5 uses adsorption force (such as vacuum adsorption or electromagnetic adsorption, adapted to the cylinder material) to grasp and release the cylinder. Combined with the pose recognition of the intelligent 3D vision processing module, it can accurately align the cylinder grasping point with a grasping accuracy of ±0.5mm, solving the problem of "where the material should be grasped / released". Driven indirectly by the rotation / deflection module, it transmits power through the connecting component 6 and can deflect along the X-axis and rotate along the Z-axis with the connecting component 6 to adjust the spatial posture of the cylinder. In the "turning process" of the CNC machine tool 2, the adsorption component 5 can adjust the cylinder axis direction by rotation to ensure alignment with the machine tool clamping interface. When feeding the scraper, the cylinder angle can be adjusted by deflection to adapt to the posture requirements of the clamping mechanism. Among them, the V-shaped groove loading and unloading storage position 4 serves as a material transfer buffer component, used to temporarily store cylinders to be processed (before being loaded onto the scraper) or processed cylinders (before inspection / unloading), solving the need for temporary material storage between workstations and avoiding material accumulation that occupies the production line channel. The V-shaped structure has an "automatic centering" characteristic. When the adsorption component 5 places the cylinder into the V-shaped groove, the cylinder will automatically return to the center of the groove along the V-shaped surface. With the positioning of the intelligent 3D vision processing module, it ensures that the initial posture is consistent during subsequent gripping, further improving the gripping accuracy of ±0.5mm. Among them, chassis 3 bears the weight of all components and materials of the whole machine. It achieves horizontal movement of the X / Y axis of the whole machine through the bottom moving wheel system. With the drive command of the translation sub-module, it can move along the path planned by the 3D laser + SLAM navigation module, with a positioning accuracy of ±5mm. Among them, the lifting component 2, as the actuator for movement in the Z-axis direction, is driven by the lifting submodule and can drive the connecting component 6, the adsorption component 5 and the gripping cylinder to rise and fall vertically, accurately adapting to the height requirements of different workstations (such as the height difference between the loading port of the scraper and the clamping position of the CNC machine tool), providing vertical positional assurance for loading and unloading accuracy of ±0.5mm. During the lifting process, it bears the supporting force of the truss support component 1, and at the same time smoothly transmits the lifting power to the connecting component 6 and the adsorption component 5, ensuring that there is no shaking or deviation when lifting under heavy load (maximum 1.5-ton cylinder); Among them, the truss support assembly 1 serves as the rigid frame of the whole machine, bearing the weight of the lifting assembly 2, connecting assembly 6, adsorption assembly 5, and cylinder material. Together with the chassis 3, it achieves a maximum load capacity of 5 tons, ensuring structural stability during heavy-duty handling.

[0021] An intelligent recognition system for a flexible handling robot includes a task scheduling module and a status feedback module. The task scheduling module is responsible for task decomposition and collaborative scheduling. The task scheduling module includes a navigation and positioning module, a vision recognition module, and a multi-degree-of-freedom drive module. The navigation and positioning module consists of a 3D laser + SLAM navigation module. The vision recognition module includes an intelligent 3D vision processing module. The multi-degree-of-freedom drive module includes a lifting sub-module, a translation sub-module, and a rotation / deflection sub-module. The status feedback module can collect multi-dimensional status information, including whether the lifting height is in place, whether the X / Y axis movement has reached the target point, whether the deflection / rotation angle is accurate, and whether the visual grasping / placement is successful. This information is then fed back to the task scheduling module to form a closed-loop control, allowing the system to correct errors in real time and ensure motion accuracy. Among them, the 3D laser + SLAM navigation module can realize whole-machine-level positioning and path planning. Through 3D laser scanning + SLAM algorithm, it can build a map in real time in a production line environment without reflectors, determine the robot's own position (±5mm accuracy), and plan the movement path from the current position to the target area (such as the material area or next to the scraper), guiding the translation sub-module to perform horizontal movement on the X / Y axis. Among them, the intelligent 3D vision processing module can achieve precise material-level positioning. It collects three-dimensional point cloud data of materials through 3D vision sensors and combines intelligent algorithms to analyze information such as the position, attitude, and length of the cylinder (±0.5mm accuracy). This provides the lifting, rotating / biased rotor module with precise position and attitude references for where to grab and place the material, ensuring the accuracy of loading and unloading. Among them, the lifting submodule can drive the lifting component, control the vertical height of the Z-axis, and adapt to the loading and unloading height of different workstations, such as the height difference between the loading port of the scraper and the clamping position of the CNC machine tool. Among them, the translation submodule can drive the truss structure / chassis wheel system, control the horizontal movement of the X / Y axis, and realize the position transfer of the whole robot or the grasping mechanism; Among them, the rotary / biased rotor module drives the connecting component / adsorption component, controls the X-axis deflection and Z-axis rotation, and adjusts the spatial posture of the cylinder, such as aligning with the scraper clamping interface and realizing the turning action of the second CNC machine tool.

[0022] Furthermore, during use, when a production scheduling task is issued by a higher-level system such as the MES Manufacturing Execution System, MOM Manufacturing Operation Management System, or LES Logistics Execution System, a cylinder of a certain specification is moved from the material area to the scraper for processing. The task scheduling module of the intelligent control system is immediately activated, breaking down the abstract production scheduling task into three specific sub-tasks: navigation and positioning, visual recognition, and multi-degree-of-freedom motion execution. At the same time, it sends collaborative instructions to the 3D laser + SLAM navigation module, intelligent 3D vision processing module, and multi-degree-of-freedom drive module, so that each module can enter the working state simultaneously. Next, the 3D laser + SLAM navigation module scans the production line environment with 3D laser and constructs a real-time production line spatial map using SLAM algorithms. Simultaneously, it determines the position of chassis 3, equipped with a moving wheel system, with a positioning accuracy of ±5 mm, and plans the movement path of the entire robot from its current position to the material rack. Meanwhile, the intelligent 3D vision processing module collects 3D point cloud data of the target cylinder using 3D vision sensors and then uses intelligent algorithms to analyze the cylinder's spatial position, placement posture, and other information, with a positioning accuracy of ±0.5 mm. The two modules complete dual positioning almost simultaneously. The navigation module determines where the robot should move, and the vision module determines where the material should be grasped / released. They then transmit the robot's movement path and the precise pose information of the material to the multi-degree-of-freedom drive module. Upon receiving two types of information, the multi-degree-of-freedom drive module coordinates its internal sub-modules and the various structural components to work together: First, the translation sub-module drives the truss support component 1 or the wheel system of the chassis 3 to move along the X and Y axes, allowing the robot to reach the vicinity of the target area according to the overall movement path; then, the lifting sub-module drives the lifting component 2 to adjust its height in the Z axis direction to adapt to the material gripping / placement height; subsequently, the rotation / deflection rotor module drives the connecting component 6, causing the adsorption component 5 to adjust its posture by deflecting along the X axis and rotating along the Z axis, ensuring that the adsorption component 5 accurately grips the cylinder or accurately places the cylinder into the clamping interface of the V-groove loading and unloading storage position 4, the scraper, and other workstations; Throughout the entire execution of the above actions, the status feedback unit collects the operating status of each sub-module and structure in real time. It collects whether the lifting height is in place and the load status from the lifting sub-module of the drive lifting component 2; it collects whether the X / Y axis has reached the target point and the movement status from the translation sub-module of the drive truss support component 1 or chassis 3; and it collects whether the deflection / rotation angle is accurate from the rotation / deflection rotor module of the drive connection component 6. At the same time, it also obtains the visual detection results of the adsorption component 5 grasping / placing from the intelligent 3D vision processing module, whether it is firmly grasped and placed on the V-groove loading and unloading storage position 4, and whether the accuracy of the V-groove loading and unloading storage position 4 meets the standard. It also obtains the deviation between the actual position of chassis 3 and the planned path from the 3D laser + SLAM navigation module. These status information are transmitted back to the task scheduling module in real time. The task scheduling module judges the accuracy of the action based on the feedback. If deviations are found, such as the offset of the moving path of chassis 3 or the inaccurate gripping posture of adsorption component 5, the subsequent actions will be dynamically adjusted immediately (such as correcting the moving path of chassis 3 and recalibrating the gripping posture of adsorption component 5). This forms a closed loop of task issuance → execution by multiple modules and structural components → status feedback → optimization and adjustment, making the entire handling and loading / unloading process both coherent and precise.

[0023] Compared to existing operating systems and robotic arm mobile devices, this invention offers advantages such as higher load-bearing capacity, lower maintenance costs, and smaller footprint compared to the tracks used in robotic arm mobile devices. While gantry robots offer higher load-bearing capacity, they require more space. Both of these solutions require equipment and site construction, resulting in high equipment costs. The use of this flexible robot can save over 2 million yuan in overall costs and 1.5 million yuan in equipment costs. It can serve multiple production lines simultaneously, does not occupy space, requires no on-site construction or modification, and is ready to use immediately. The flexible robot can quickly switch products within 10 minutes.

[0024] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flexible handling robot, characterized in that: It includes a chassis (3) and a V-groove loading and unloading storage position (4). A truss support assembly (1) is fixedly connected to the upper surface of the chassis (3). A lifting assembly (2) is provided inside the truss support assembly (1). A connecting assembly (6) is provided inside the lifting assembly (2). An adsorption assembly (5) is provided at the lower end of the connecting assembly (6). A 3D laser + SLAM navigation module processing box (7) is fixedly connected to the upper surface of the truss support assembly (1). An infrared sensing assembly (8) is fixedly connected to the outer surface of the connecting assembly (6).

2. The flexible handling robot according to claim 1, characterized in that: The 3D laser + SLAM navigation module processing box (7) includes 2-3 industrial-grade 3D laser radars and processor chips. The infrared sensing component (8) is used to locate the centering position on the machine tool and can also assist the 3D laser in precise positioning. The adsorption component (5) grasps and releases the cylinder through adsorption force. Combined with the pose recognition of the intelligent 3D vision processing module, it can accurately align the cylinder grasping point. The V-groove loading and unloading storage position (4) serves as a material transfer buffer component, used for temporary storage of cylinders to be processed or already processed. The chassis (3) bears the weight of all components and materials of the whole machine. The whole machine moves horizontally along the X / Y axis through the bottom moving wheel system. The lifting component (2) serves as the execution component for movement in the Z-axis direction. Driven by the lifting submodule, it can drive the connecting component (6), the adsorption component (5), and the gripped cylinder to rise and fall vertically. The truss support component (1) serves as the rigid skeleton of the whole machine, bearing the weight of the lifting component (2), the connecting component (6), the adsorption component (5), and the cylinder material.

3. An intelligent recognition system for a flexible handling robot, characterized in that: It includes a task scheduling module and a status feedback module. The task scheduling module is responsible for task decomposition and collaborative scheduling. The task scheduling module includes a navigation and positioning module, a vision recognition module, and a multi-degree-of-freedom drive module. The navigation and positioning module consists of a 3D laser + SLAM navigation module. The vision recognition module includes an intelligent 3D vision processing module. The multi-degree-of-freedom drive module includes a lifting sub-module, a translation sub-module, and a rotation / eccentricity sub-module.

4. The intelligent recognition system for a flexible handling robot according to claim 3, characterized in that: The status feedback module can collect multi-dimensional status information, and the 3D laser + SLAM navigation module can realize whole-machine-level positioning and path planning.

5. The intelligent recognition system for a flexible handling robot according to claim 3, characterized in that: The intelligent 3D vision processing module can achieve precise material-level positioning. It collects three-dimensional point cloud data of the material through a 3D vision sensor and combines it with intelligent algorithms to analyze the position, orientation, and length of the cylinder.

6. The intelligent recognition system for a flexible handling robot according to claim 3, characterized in that: The lifting submodule can drive the lifting component and control the vertical height of the Z-axis to adapt to the loading and unloading heights of different workstations, such as the height difference between the loading port of a scraper roller and the clamping position of a CNC machine tool.

7. The intelligent identification system for a flexible handling robot according to claim 3, characterized in that: The translation submodule can drive the truss structure / chassis wheel system, control the horizontal movement of the X / Y axes, and realize the position transfer of the entire robot or the gripping mechanism.

8. The intelligent recognition system for a flexible handling robot according to claim 3, characterized in that: The rotary / biased rotor module drives the connecting assembly / adsorption assembly, controls the X-axis deflection and Z-axis rotation, and adjusts the spatial posture of the cylinder, such as aligning with the scraper clamping interface and realizing the turning action of the second CNC machine tool.

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