Method, device, robot and robot station for boom tube handling

Abstract

The embodiment of the present application provides a method, device, robot and robot workstation for boom oil pipe mounting and dismounting, and belongs to the field of engineering machinery and robots. The method for boom oil pipe mounting and dismounting is applied to a robot, the robot comprises a mechanical arm and a gripper mechanism, the gripper mechanism is arranged at the tail end of the mechanical arm, and the method comprises the following steps: acquiring parameter information of a boom to be subjected to oil pipe mounting and / or oil pipe dismounting; determining a joint position of an oil cylinder of the boom according to the parameter information based on a pre-stored corresponding relationship between boom parameters and oil cylinder joint positions; in the case that an oil pipe mounting instruction is received, controlling the gripper mechanism to grab the oil pipe and controlling the mechanical arm to move to the joint position, so as to mount the oil pipe on the oil cylinder; and in the case that an oil pipe dismounting instruction is received, controlling the mechanical arm to move to the joint position and controlling the gripper mechanism to act, so as to dismount the oil pipe from the oil cylinder. The embodiment of the present application can reduce labor cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering machinery and robots, in particular to a method and device for installing and uninstalling oil pipes of a boom, a robot and a robot workstation. BACKGROUND

[0002] At present, in the field of engineering machinery, when a boom is being debugged, an oil pipe is usually manually installed on a cylinder of the boom by a worker, hydraulic oil is delivered to the cylinder of the boom through the oil pipe to test whether various parameters of the boom are normal, and after the debugging of the boom is completed, the oil pipe is further manually uninstalled by the worker. Since the installation and uninstallation of the oil pipe need to be handled by the worker, there is a problem of high labor cost. SUMMARY

[0003] The present application aims to provide a method, processor, device, robot and robot workstation for installing and uninstalling oil pipes of a boom to solve the problem of high labor cost in the prior art.

[0004] To achieve the above-mentioned purpose, the first aspect of the present application provides a method for installing and uninstalling oil pipes of a boom, applied to a robot, the robot comprising a mechanical arm and a gripper mechanism, the gripper mechanism being arranged at the end of the mechanical arm, and the method comprising:

[0005] obtaining parameter information of a boom to be installed with an oil pipe and / or unloaded with an oil pipe;

[0006] determining a joint position of a cylinder of the boom based on a pre-stored correspondence between boom parameters and cylinder joint positions according to the parameter information;

[0007] in the case of receiving an oil pipe installation instruction, controlling the gripper mechanism to grab the oil pipe and controlling the mechanical arm to move to the joint position to install the oil pipe on the cylinder;

[0008] in the case of receiving an oil pipe uninstallation instruction, controlling the mechanical arm to move to the joint position and controlling the gripper mechanism to act to uninstall the oil pipe from the cylinder.

[0009] In the present application, the determination of the pre-stored correspondence between the boom parameters and the cylinder joint positions comprises: determining the joint position of the cylinder joint of the boom corresponding to different boom parameters in the robot coordinate system through robot teaching; and obtaining the pre-stored correspondence between the boom parameters and the cylinder joint positions according to the joint position of the cylinder joint in the robot coordinate system and the boom parameters.

[0010] In the embodiment of the present application, the number of the cylinder joint of the boom is multiple; after determining the joint position of the cylinder joint of the boom corresponding to different boom parameters in the robot coordinate system through robot teaching, the method further comprises: acquiring a first boom image collected by an image acquisition device at a preset collection position, wherein the first boom image comprises the cylinder joint of the boom; determining the pixel point distance of any two cylinder joints in the multiple cylinder joints in a preset image coordinate system, wherein the preset image coordinate system is an image coordinate system with a preset reference point as the origin, and the pixel point distance comprises a horizontal axis pixel point distance and a vertical axis pixel point distance; determining the position difference value between the joint positions corresponding to any two cylinder joints, wherein the position difference value comprises a horizontal axis position difference value and a vertical axis position difference value in the robot coordinate system, and the horizontal axis and the vertical axis of the preset image coordinate system correspond to the horizontal axis and the vertical axis of the robot coordinate system respectively; and obtaining the actual distance corresponding to the pixel points in the preset image coordinate system according to the pixel point distance and the position difference value.

[0011] In the embodiment of the present application, after determining the joint position of the cylinder of the boom according to the parameter information, the method further comprises: acquiring a second boom image collected by an image acquisition device at a preset collection position, wherein the second boom image comprises the joint of the cylinder of the boom; comparing the second boom image with the pre-stored first boom image to obtain the pixel offset value of the joint in the first boom image and the second boom image, wherein the pixel offset value comprises a horizontal axis pixel offset value and a vertical axis pixel offset value in the preset image coordinate system; and compensating the joint position according to the pixel offset value and the actual distance corresponding to the pixel points to obtain the compensated joint position.

[0012] In the embodiment of the present application, the claw mechanism comprises an oil pipe claw, an oil pipe unloading claw and a claw switching component, the oil pipe claw is used for grabbing the oil pipe to realize the position movement and installation of the oil pipe, the oil pipe unloading claw is used for loosening the buckle at the connection between the oil pipe and the cylinder joint to realize the unloading of the oil pipe, and the claw switching component is used for switching between the oil pipe claw and the oil pipe unloading claw.

[0013] In the embodiment of the present application, the claw switching component comprises a claw conversion cylinder.

[0014] In the embodiment of the present application, the image acquisition device is arranged on the mechanical arm and / or fixedly arranged at the preset collection position.

[0015] The second aspect of the embodiment of the present application provides a processor configured to execute the method for boom oil pipe loading and unloading described above.

[0016] The third aspect of the embodiment of the present application provides a device for boom oil pipe loading and unloading, comprising: the processor described above.

[0017] In the embodiment of the present application, the device for boom oil pipe loading and unloading further comprises: an image acquisition device for collecting a boom image.

[0018] The fourth aspect of the embodiment of the present application provides a robot, comprising: a mechanical arm; a gripper mechanism arranged at the end of the mechanical arm; and the processor according to the above.

[0019] The fifth aspect of the embodiment of the present application provides a robot workstation, comprising: a tubing placement platform for placing a tubing; and the robot according to the above.

[0020] In the embodiment of the present application, the robot workstation further comprises: an image acquisition device for acquiring the image of the boom.

[0021] The above technical solution, by acquiring the parameter information of the boom to be installed and / or unloaded with the tubing, and then determining the joint position of the oil cylinder of the boom based on the pre-stored corresponding relationship between the boom parameter and the joint position of the oil cylinder, and in the case of receiving the tubing installation instruction, controlling the gripper mechanism to grab the tubing and controlling the mechanical arm to move to the joint position to install the tubing on the oil cylinder, and in the case of receiving the tubing unloading instruction, controlling the mechanical arm to move to the joint position and controlling the gripper mechanism to act to unload the tubing from the oil cylinder. The above solution can realize the automatic installation and unloading of the tubing on the oil cylinder of the boom, without the need for manual installation and unloading, greatly reducing the labor cost, according to the pre-stored corresponding relationship between the boom parameter and the joint position of the oil cylinder, after acquiring the parameter information of the boom, the joint position of the oil cylinder of the boom can be directly determined according to the corresponding relationship, so that the movement of the mechanical arm of the robot and the action of the gripper mechanism can be controlled according to the joint position, to realize the installation and unloading of the tubing, greatly shortening the time of manual tubing installation and unloading, speeding up the debugging process, and improving the intelligent degree of tubing installation and unloading.

[0022] Other features and advantages of the embodiments of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0024] Figure 1 The flowchart of the method for tubing installation and unloading of the boom in the embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0025] The specific embodiments of the embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the embodiments of the present application, and do not limit the embodiments of the present application.

[0026] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, motion condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0027] In addition, if the embodiments of the present application involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0028] Figure 1 The flowchart of the method for installing and uninstalling the oil pipe of the boom in an embodiment of the present application is schematically shown. Figure 1 As shown in the figure, in the embodiment of the present application, a method for installing and uninstalling the oil pipe of the boom is provided, which is applied to a robot, the robot including a mechanical arm and a gripper mechanism, the gripper mechanism being arranged at the end of the mechanical arm. Taking the processor as an example, the method can include the following steps:

[0029] In step S102, the parameter information of the boom to be installed and / or uninstalled with the oil pipe is acquired.

[0030] It can be understood that the parameter information of the boom is the relevant information of the boom, which can include but is not limited to the model, size, identification, etc. of the boom.

[0031] Specifically, the processor can acquire the parameter information (for example, the model of the boom) of the boom to be installed with the oil pipe and / or to be uninstalled with the oil pipe, further, the parameter information of the boom can be obtained by user input or by scanning the identification code of the boom. The form of the identification code can include but is not limited to a two-dimensional code sticker, laser coding, inkjet marking, etc.

[0032] In step S104, based on the pre-stored corresponding relationship between the boom parameters and the joint positions of the oil cylinder, the joint position of the oil cylinder of the boom is determined according to the parameter information.

[0033] It can be understood that the correspondence between the pre-stored boom parameter and the cylinder joint position can be in the form of a table, or other forms including the correspondence between the boom parameter and the cylinder joint position. Understandably, the boom parameter and the cylinder joint position are in a one-to-one correspondence. Further, the number of cylinder joint positions on the same boom can be one or more. For example, the boom parameter is the boom model information, such as model 123. If the boom of model 123 includes three cylinder joints, the positions of the three cylinder joints can correspond to serial numbers 111, 222, and 333, respectively. Different serial numbers can correspond to different specific position information. That is, in the pre-stored correspondence between the boom parameter and the cylinder joint position, the cylinder joint positions corresponding to the boom of model 123 can be 111, 222, and 333. Understandably, the joint position of the cylinder of the boom is a coordinate position in the robot coordinate system.

[0034] Specifically, the processor can determine the joint position of the cylinder of the boom based on the pre-stored correspondence between the boom parameter and the cylinder joint position according to the acquired parameter information of the boom. For example, when the correspondence between the boom parameter and the cylinder joint position is in the form of a table, the joint position of the cylinder of the boom corresponding to the parameter information can be determined by looking up the table.

[0035] In one embodiment, the determination of the pre-stored correspondence between the boom parameter and the cylinder joint position includes: determining the joint position of the cylinder joint of the boom corresponding to different boom parameters in the robot coordinate system through robot teaching; and obtaining the pre-stored correspondence between the boom parameter and the cylinder joint position according to the joint position of the cylinder joint in the robot coordinate system and the boom parameter.

[0036] It can be understood that the robot needs to be taught (set the steps of the robot to complete the task) when it is to deal with a new work task, that is, the robot is controlled to perform a predetermined instruction action through pre-teaching or offline programming. The teaching process of the robot can be completed through a robot teach pendant or the like. The robot teach pendant is a handheld device used for manual operation of the robot, program writing, parameter configuration, and monitoring.

[0037] Specifically, the processor can determine the joint position of the cylinder joint of the boom corresponding to different boom parameters in the robot coordinate system through robot teaching, that is, the joint position of the cylinder of the boom corresponding to different parameter information is obtained through teaching in advance. Since the joint position is obtained through robot teaching, the specific coordinates of the joint position are relative to the robot coordinate system. According to the joint position and the boom parameter corresponding to the boom, the correspondence between the cylinder joint position and the boom parameter can be obtained, that is, the pre-stored correspondence between the boom parameter and the cylinder joint position.

[0038] Step S106, in the case of receiving the oil pipe installation instruction, the control gripper mechanism to grab the oil pipe and control the mechanical arm to move to the joint position to install the oil pipe on the oil cylinder.

[0039] It can be understood that the oil pipe installation instruction is a command instructing the robot to install the oil pipe, and further, the oil pipe installation instruction can be triggered by an external condition such as a user, or triggered by a pre-set timing trigger program. The gripper mechanism is arranged at the end of the mechanical arm of the robot, and is used to grab the oil pipe and install the oil pipe.

[0040] Specifically, after receiving the oil pipe installation instruction, the processor can control the mechanical arm of the robot to act, and then control the gripper mechanism to grab one end of the oil pipe, and control the mechanical arm to move to the joint position of the oil cylinder of the boom, so as to realize the butt joint of the oil pipe and the oil cylinder joint, thereby installing the oil pipe on the oil cylinder.

[0041] Step S108, in the case of receiving the oil pipe unloading instruction, the control mechanical arm to move to the joint position and control the gripper mechanism to act, so as to unload the oil pipe from the oil cylinder.

[0042] It can be understood that the oil pipe unloading instruction is a command instructing the robot to unload the oil pipe, and further, the oil pipe unloading instruction can be triggered by an external condition such as a user, or triggered by a pre-set timing trigger program. When it is necessary to unload the oil pipe, the gripper mechanism can also be used to unload the oil pipe.

[0043] Specifically, after receiving the oil pipe unloading instruction, the processor can control the mechanical arm of the robot to move to the joint position of the oil cylinder of the boom, and control the gripper mechanism at the end of the mechanical arm to act, thereby unloading the oil pipe from the oil cylinder.

[0044] The above method for boom oil pipe installation and unloading, by obtaining the parameter information of the boom to be installed and / or unloaded, and then based on the pre-stored corresponding relationship between the boom parameter and the oil cylinder joint position, the joint position of the oil cylinder of the boom is determined according to the parameter information, and in the case of receiving the oil pipe installation instruction, the control gripper mechanism to grab the oil pipe and control the mechanical arm to move to the joint position to install the oil pipe on the oil cylinder, in the case of receiving the oil pipe unloading instruction, the control mechanical arm to move to the joint position and control the gripper mechanism to act to unload the oil pipe from the oil cylinder. The above method can realize the automatic installation and unloading of the oil pipe on the boom oil cylinder, without the need for manual installation and unloading, greatly reducing the labor cost. According to the pre-stored corresponding relationship between the boom parameter and the oil cylinder joint position, after obtaining the parameter information of the boom, the joint position of the boom oil cylinder can be directly determined according to the corresponding relationship, so that the movement of the mechanical arm of the robot and the action of the gripper mechanism can be controlled according to the joint position, to realize the installation and unloading of the oil pipe, greatly shorten the time of manual installation and unloading of the oil pipe, speed up the debugging process, and improve the intelligent degree of oil pipe installation and unloading.

[0045] In one embodiment, the number of the cylinder joint of the boom is multiple; after determining the joint position of the cylinder joint of the boom corresponding to different boom parameters in the robot coordinate system through robot teaching, the method further comprises: acquiring a first boom image collected by the image acquisition device at a preset collection position, wherein the first boom image comprises the cylinder joint of the boom; determining the pixel distance between any two cylinder joints in the multiple cylinder joints in a preset image coordinate system, wherein the preset image coordinate system is an image coordinate system with a preset reference point as the origin, and the pixel distance comprises a horizontal pixel distance and a vertical pixel distance; determining the position difference between the joint positions corresponding to any two cylinder joints, wherein the position difference comprises a horizontal position difference and a vertical position difference in the robot coordinate system, and the horizontal axis and the vertical axis of the preset image coordinate system correspond to the horizontal axis and the vertical axis of the robot coordinate system, respectively; and obtaining the actual distance corresponding to the pixel points in the preset image coordinate system according to the pixel distance and the position difference.

[0046] It can be understood that the image acquisition device is a device for image acquisition, such as a camera. The preset collection position is a position for image acquisition by the image acquisition device, such as a fixed shooting point. The first boom image is an image obtained by the image acquisition device after the robot determines the joint position of the cylinder joint in the robot coordinate system through teaching. It can be understood that the first boom image comprises the cylinder joint of the boom, for example, when the number of the cylinder joint of the boom is 3, the first boom image comprises the three cylinder joints of the boom. The preset image coordinate system is an image coordinate system with a preset reference point as the origin. The preset reference point is a reference point set in advance. The principle of selecting the preset reference point is a point fixed in the image collected by the same image acquisition device at the preset collection position, such as a certain feature point or fixed point on the pin used to fix the boom. It can be understood that for booms with different parameter information, the boom image collected by the same image acquisition device at the preset collection position contains the preset reference point, and the image parameter information (such as the number of pixel points) of the boom image remains the same.

[0047] Since the preset image coordinate system includes a horizontal axis and a vertical axis, the pixel point distance can include a horizontal axis pixel point distance and a vertical axis pixel point distance in the preset image coordinate system, the horizontal axis pixel point distance is a number of interval pixel points on the horizontal axis in the preset image coordinate system, and the vertical axis pixel point distance is a number of interval pixel points on the vertical axis in the preset image coordinate system. The position difference value is equivalent to the robot coordinate system, and the position difference value can include a horizontal axis position difference value and a vertical axis position difference value in the robot coordinate system, the horizontal axis position difference value is a horizontal axis coordinate difference value in the robot coordinate system, and the vertical axis position difference value is a vertical axis coordinate difference value in the robot coordinate system. It is worth noting that the horizontal axis and the vertical axis of the robot coordinate system correspond to the horizontal axis and the vertical axis of the preset image coordinate system one by one, and the position value of the third axis of the robot coordinate system is not considered here, and the position value of the third axis of the robot coordinate system can be a fixed value.

[0048] Specifically, when the number of cylinder joint of the boom is multiple, after determining the joint position of the cylinder joint in the robot coordinate system through robot teaching, the processor can acquire a first boom image collected by the image acquisition device at a preset collection position, and determine the pixel point distance of any two cylinder joints in the preset image coordinate system, and then determine the position difference value between the joint positions corresponding to any two cylinder joints, and obtain the actual distance corresponding to the pixel point in the preset image coordinate system according to the pixel point distance and the position difference value. Specifically, the actual distance corresponding to the pixel point in the preset image coordinate system is determined according to the quantitative relationship (such as the ratio) between the horizontal axis pixel point distance and the horizontal axis position difference value, or the actual distance corresponding to the pixel point in the preset image coordinate system is determined according to the quantitative relationship (such as the ratio) between the vertical axis pixel point distance and the vertical axis position difference value. For example, the horizontal axis pixel point distance of point A and point B is 1000, that is, the interval is 1000 pixels in the horizontal direction, and the horizontal axis position difference value (that is, the actual distance in the robot coordinate system) is 10 cm, then the actual distance corresponding to the horizontal side length of one pixel point is 0.1 mm.

[0049] In an embodiment, after determining the joint position of the cylinder of the boom according to the parameter information, the method further includes: acquiring a second boom image collected by the image acquisition device at a preset collection position, wherein the second boom image includes the joint of the cylinder of the boom; comparing the second boom image with the pre-stored first boom image to obtain a pixel offset value of the joint in the first boom image and the second boom image, wherein the pixel offset value includes a horizontal axis pixel offset value and a vertical axis pixel offset value in the preset image coordinate system; and compensating the joint position according to the pixel offset value and the actual distance corresponding to the pixel point to obtain a compensated joint position.

[0050] Specifically, after determining the joint position of the oil cylinder of the boom according to the parameter information based on the correspondence between the pre-stored boom parameter and the joint position of the oil cylinder, since the joint of the oil cylinder is artificially installed, the joint position of the oil cylinder of the boom with the same parameter information can also have a small error. In order to obtain a more accurate joint position of the oil cylinder, the processor can acquire a second boom image collected by the image acquisition device at a preset collection position, and compare the second boom image with the pre-stored first boom image. Since the booms in the first boom image and the second boom image compared are booms with the same parameter information, the joint position can be compensated according to the pixel offset value of the joint in the first boom image and the second boom image, that is, the actual offset distance corresponding to the pixel offset value is determined according to the pixel offset value and the actual distance corresponding to the pixel point, the joint position is compensated according to the actual offset distance, to obtain the compensated joint position. For example, by comparing the first boom image and the second boom image, it is found that the center position of the joint A in the second boom image is offset by 3 pixels in the longitudinal axis direction of the preset image coordinate system and is offset by 2 pixels in the transverse axis direction of the preset image coordinate system. If the actual distance corresponding to the pixel point is 0.1 mm, it can be determined that 0.3 mm needs to be compensated in the longitudinal axis direction of the robot coordinate system and 0.2 mm needs to be compensated in the transverse axis direction of the robot coordinate system, so as to obtain the compensated joint position.

[0051] In the embodiment of the application, the second boom image is compared with the first boom image to obtain the pixel offset value, so that the joint position is compensated according to the pixel offset value and the actual distance corresponding to the pixel point, the accuracy of the joint position of the oil cylinder of the boom is improved, and the oil pipe is installed and removed according to the compensated joint position, so that the robot can more accurately realize the oil pipe installation and removal work.

[0052] In one embodiment, the claw mechanism includes an oil pipe claw, an oil pipe unloading claw, and a claw switching component. The oil pipe claw is used to grasp the oil pipe to realize the position movement and installation of the oil pipe. The oil pipe unloading claw is used to loosen the buckle at the connection between the oil pipe and the joint of the oil cylinder to realize the unloading of the oil pipe. The claw switching component is used to realize the switching between the oil pipe claw and the oil pipe unloading claw.

[0053] It can be understood that the oil pipe clamping jaw can be implemented by a common clamping jaw for grabbing the oil pipe to realize the position movement and installation of the oil pipe, that is, when the oil pipe needs to be installed on the oil cylinder, the oil pipe can be grabbed by the oil pipe clamping jaw to move the oil pipe while grabbing the oil pipe, so that the oil pipe is connected with the oil cylinder, and the oil pipe is installed on the oil cylinder. The oil pipe clamping jaw is different from the oil pipe clamping jaw (that is, the common clamping jaw), which is used to loosen the buckle at the joint between the oil pipe and the oil cylinder, for example, the oil pipe clamping jaw can move backward after clamping the buckle at the joint between the oil pipe and the oil cylinder to loosen the buckle, so as to realize the unloading of the oil pipe. Further, when the buckle is loosened, the clamping jaw switching part can switch the oil pipe clamping jaw back to the oil pipe clamping jaw to grab the oil pipe to realize the position movement of the oil pipe.

[0054] In one embodiment, the clamping jaw switching part comprises a clamping jaw conversion cylinder.

[0055] In some embodiments, the clamping jaw mechanism can only comprise an oil pipe clamping jaw, which can realize the functions of oil pipe grabbing and oil pipe unloading, for example, when the function of oil pipe unloading is realized, the oil pipe can be grabbed by the oil pipe clamping jaw, and the force of the action of the mechanical arm is controlled to realize the unloading of the oil pipe.

[0056] In one embodiment, the image acquisition device is arranged on the mechanical arm and / or is fixedly arranged at a preset acquisition position.

[0057] It can be understood that the image acquisition device can be arranged on the mechanical arm to move with the movement of the mechanical arm, and the image acquisition device only performs image acquisition when reaching the preset acquisition position. In some embodiments, the image acquisition device can also be arranged at the preset acquisition position. In other embodiments, the image acquisition device can be arranged on the mechanical arm and at the preset acquisition position, and the image acquisition device arranged on the mechanical arm only performs image acquisition when reaching the preset acquisition position, and the processor only acquires the image acquired by the image acquisition device at the preset acquisition position.

[0058] The embodiment of the present application provides a processor configured to execute the method for boom oil pipe loading and unloading according to the above-mentioned embodiments.

[0059] The embodiment of the present application provides a device for boom oil pipe loading and unloading, comprising: the processor according to the above-mentioned embodiments.

[0060] In one embodiment, the device for boom oil pipe loading and unloading further comprises: an image acquisition device for acquiring an image of the boom.

[0061] The embodiment of the present application provides a robot, comprising: a mechanical arm; a clamping jaw mechanism arranged at the end of the mechanical arm; and the processor according to the above-mentioned embodiments.

[0062] The embodiment of the application provides a robot workstation, comprising: a tubing placement platform for placing tubing; and a robot according to the above-mentioned embodiments.

[0063] In one embodiment, the base platform of the robot is arranged on the tubing placement platform.

[0064] In one embodiment, the robot workstation further comprises: an image acquisition device for acquiring a boom image.

[0065] In one specific embodiment, a robot workstation is provided, which can efficiently realize automatic loading and unloading of tubing for a boom cylinder. The workstation is mainly realized through three parts: a tubing placement platform (including a robot base platform), a six-axis robot control system, and a visual positioning system.

[0066] 1. Tubing placement platform

[0067] The tubing placement platform is composed of three tubing placement supports and a robot base platform.

[0068] The three tubes will be placed on the three supports, and the concave structure of the supports ensures that the tubing will not sway left and right, and ensures that the tubing is placed aesthetically. The robot base platform can place a six-axis robot.

[0069] 2. Six-axis robot control system

[0070] The functions of the six-axis robot can include: (1) used for grabbing tubing from the tubing support → moving the tubing → interfacing with the cylinder to install the tubing on the cylinder; (2) grabbing tubing from the cylinder → unloading the tubing → moving the tubing → placing the tubing on the tubing support; (3) communicating with the PLC and the camera for information exchange.

[0071] There will be two grippers on the robot for rotating switching, one is a normal tubing gripper, and the other is an unloading tubing gripper. The gripper mechanism is different from the normal gripper mechanism. When the gripper is closed, the gripper will also have a backward movement of a certain distance, which can successfully unload the tubing.

[0072] 3. Visual positioning system

[0073] It can be understood that the visual positioning system is used to position the coordinates of the cylinder.

[0074] After the boom is loaded, the camera takes a picture, and then sends the offset value of the cylinder position to the robot. The robot revises the original set value according to the offset value, and records the value in the current boom movement cycle. In this way, the robot can correctly complete the action of loading and unloading tubing.

[0075] The specific work flow can be as follows:

[0076] Loading tubing:

[0077] 1) For different types of boom, the robot will first select different oil pipe mounting and dismounting procedures according to the boom type information transmitted by the PLC. (Determine the position value of the oil cylinder, the motion coordinates of all axes)

[0078] 2) The camera starts shooting and sends the oil cylinder offset value to the robot, which corrects the oil cylinder position value and records the oil cylinder position value for the current boom movement cycle.

[0079] 3) The robot grabs the oil pipe from the support, then moves the oil pipe to the oil cylinder position, inserts the oil pipe into the oil cylinder, sends the general clamp jaw, and the robot returns to the original position, waiting for the next command. The oil pipe mounting is completed. Understandably, the oil pipe connection is a quick connection.

[0080] Dismounting the oil pipe:

[0081] 1) The robot receives the dismounting instruction sent by the PLC, and uses the previously recorded oil cylinder position value. The robot runs to the specified dismounting position.

[0082] 2) The robot first uses the oil pipe dismounting clamp to dismount the oil pipe from the oil cylinder.

[0083] 3) The robot rotates the clamp cylinder using the general clamp jaw to pull out the oil pipe and tilt it downward at an angle, leaving some oil in the oil pipe.

[0084] 4) Then the robot moves and places the oil pipe on the oil pipe support.

[0085] 5) Loosen the clamp jaw, and the robot returns to the original position and waits for the next command.

[0086] In the embodiment of the application, the robot detects the horizontal axis coordinates and vertical axis coordinates (for example, X coordinates and Y coordinates) of the oil cylinder joint in the boom according to the camera, then grabs the relevant oil pipe from the shelf, and automatically installs it. For different types of booms, different Z coordinates (that is, a third coordinate axis in addition to the horizontal axis coordinates and the vertical axis coordinates) are preset, and the robot combines the preset Z coordinates and the horizontal axis coordinates and the vertical axis coordinates (for example, X coordinates and Y coordinates) detected by the camera to realize automatic mounting and dismounting of the oil pipe on the boom oil cylinder. By automatically mounting and dismounting the oil pipe by the robot, the need for personnel to mount and dismount is eliminated, which can reduce labor costs. After the oil pipe is mounted and dismounted, the oil pipe is placed on the oil pipe support, solving the problem of messy and unattractive placement caused by oil pipes scattered on the ground.

[0087] In another embodiment, the method for mounting and dismounting the oil pipe of the boom can be divided into a boom 1 (including three oil pipe interfaces) debugging stage and a working stage:

[0088] The boom 1 debugging stage can include:

[0089] 1) Robot teach the coordinate position of 3 pipe interfaces (robot coordinate system), store in robot program. The 3 pipe interface coordinate preset in robot program of boom 1 is completed. (Posture, etc. is written when teaching programming)

[0090] 2) Robot teach to fixed point (camera shooting point), camera gets a photo P1, select a reference point in P1, form an XY coordinate system, find the coordinate position of 3 pipe center points in P1 (photo coordinate system)

[0091] 3) According to the pixel distance of two points (point A and point B) in the photo, then calculate the actual distance of point A and point B in the robot coordinate system, for example: the pixel distance of point A and point B is 1000 pixels, the actual distance is 10 cm, so the distance of one pixel point is 0.1 mm.

[0092] Debugging stage is completed: (1) 3 interface coordinate preset value of boom 1 and robot preset program; (2) Corresponding relationship between pixel and actual distance.

[0093] The working stage can include:

[0094] 1) Select boom 1 for production, the robot will call the previously preset robot program and coordinate value according to the boom 1 model information transmitted by PLC.

[0095] 2) After starting the program, the robot can run to the specified fixed position with the camera first to take a photo and get P2.

[0096] 3) The 3 pipe interface center positions in P2 are compared with the center positions in P1 before, for example: it is found that the center position of point A in P2 is offset by 3 pixels in Y+ direction (i.e. Y axis positive direction) and 2 pixels in X+ direction (i.e. X axis positive direction), then after internal calculation, it tells the robot that the coordinate value of point A needs to be compensated by 0.3 mm in Y+ direction (i.e. Y axis positive direction) and 0.2 mm in X+ direction (i.e. X axis positive direction).

[0097] 4) The robot installs and uninstalls the oil pipe according to the compensated coordinate value.

[0098] In some embodiments, the camera can not be installed on the robot hand, and can be tried to be installed on a bracket or other places. In some embodiments, when the placement of each boom is accurate enough and the position of the oil cylinder can always be kept within an allowable accuracy range, the camera can not be used, and the preset oil cylinder position value (i.e. oil cylinder joint position value) in the robot can be directly used.

[0099] The embodiment of the present application further provides a machine readable storage medium, which has instructions stored thereon, and the instructions cause a processor to execute the method for hoist arm oil pipe loading and unloading according to the above-mentioned embodiments when executed by the processor.

[0100] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. In addition, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0101] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the functions specified in one or more flows and / or blocks.

[0102] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the functions specified in one or more flows and / or blocks.

[0103] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable data processing apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a process for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the functions specified in one or more flows and / or blocks.

[0104] In a typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memories.

[0105] Memory can include non-persistent memory, Random Access Memory (RAM), and / or non-volatile memory, such as read only memory (ROM) or flash memory, in a computer readable medium. Memory is an example of computer readable media.

[0106] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0107] It should also be noted that the terms "comprising", "containing", or any other variant thereof, are intended to encompass a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements in the list, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0108] The above merely provides an example of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method for boom pipe make-up and break-out, characterized in that, The application is applied to a robot, the robot comprising a mechanical arm and a gripper mechanism, the gripper mechanism being arranged at the end of the mechanical arm, and the method comprising: obtaining parameter information of a boom to be installed and / or unloaded with a tubing; based on a pre-stored corresponding relationship between boom parameters and cylinder joint positions, determining a joint position of a cylinder of the boom according to the parameter information; in the case of receiving a tubing installation instruction, controlling the gripper mechanism to grab a tubing and controlling the mechanical arm to move to the joint position to install the tubing on the cylinder; in the case of receiving a tubing unloading instruction, controlling the mechanical arm to move to the joint position and controlling the gripper mechanism to act to unload the tubing from the cylinder; wherein the determination of the pre-stored corresponding relationship between boom parameters and cylinder joint positions comprises: determining the joint position of the cylinder joint of the boom corresponding to different boom parameters in the robot coordinate system through robot teaching; obtaining the pre-stored corresponding relationship between boom parameters and cylinder joint positions according to the joint position of the cylinder joint in the robot coordinate system and the boom parameters; wherein the number of cylinder joints of the boom is multiple; after determining the joint position of the cylinder joint of the boom corresponding to different boom parameters in the robot coordinate system, the method further comprises: obtaining a first boom image collected by an image collection device at a preset collection position, wherein the first boom image comprises the cylinder joint of the boom; determining the pixel point distance between any two cylinder joints in a preset image coordinate system, wherein the preset image coordinate system is an image coordinate system with a preset reference point as the origin, and the pixel point distance comprises a horizontal axis pixel point distance and a vertical axis pixel point distance; determining the position difference value between the joint positions corresponding to the any two cylinder joints, wherein the position difference value comprises a horizontal axis position difference value and a vertical axis position difference value in the robot coordinate system, and the horizontal axis and the vertical axis of the preset image coordinate system correspond to the horizontal axis and the vertical axis of the robot coordinate system, respectively; obtaining the actual distance corresponding to the pixel points in the preset image coordinate system according to the pixel point distance and the position difference value.

2. The method of claim 1, wherein, after determining the joint position of the cylinder of the boom according to the parameter information, the method further comprises: obtaining a second boom image collected by the image collection device at the preset collection position, wherein the second boom image comprises the joint of the cylinder of the boom; comparing the second boom image with the pre-stored first boom image to obtain a pixel offset value of the joint in the first boom image and the second boom image, wherein the pixel offset value comprises a horizontal axis pixel offset value and a vertical axis pixel offset value in the preset image coordinate system; compensating the joint position according to the pixel offset value and the actual distance corresponding to the pixel points to obtain a compensated joint position.

3. The method of claim 1, wherein, The claw mechanism comprises a tubing claw, a tubing unloading claw and a claw switching component, the tubing claw is used to grab the tubing to realize the position movement and installation of the tubing, the tubing unloading claw is used to loosen the buckle at the joint between the tubing and the oil cylinder to realize the unloading of the tubing, and the claw switching component is used to realize the switching between the tubing claw and the tubing unloading claw.

4. The method of claim 3, wherein, The claw switching component comprises a claw switching cylinder.

5. The method according to claim 1 or 2, characterized in that, The image acquisition device is arranged on the mechanical arm and / or fixedly arranged at the preset acquisition position.

6. A processor, comprising: A processor configured to perform the method for boom tubing loading and unloading according to any one of claims 1 to 5.

7. A device for boom pipe loading and unloading, characterized in that, Comprising: A processor according to claim 6.

8. The apparatus of claim 7, wherein, The device further comprises: An image acquisition device for acquiring boom images.

9. A robot, characterized in that Comprising: A mechanical arm; A claw mechanism arranged at the end of the mechanical arm; And A processor according to claim 6.

10. A robotic work station characterized by, Comprising: A tubing placement platform for placing the tubing; and A robot according to claim 9.

11. The robotic work station of claim 10, wherein, Further comprising: An image acquisition device for acquiring boom images.

Images