Material insertion device and method for robot collaborative operation

Abstract

This invention provides a material implantation device and method for collaborative robot operation. The material implantation device includes: a first robot, a second robot; a controller; and a turntable for carrying a fixture. The fixture has a first acupoint group and a second acupoint group. The controller controls the turntable to rotate the fixture in a first direction, thereby controlling the first robot to implant material into the first acupoint group of the fixture at the first robot location, and simultaneously controlling the second robot to implant material into the second acupoint group of the fixture at the second robot location. The controller is also used to: determine whether the fixture at the second robot location is full of material; based on the fact that the fixture at the second robot location is full of material, determine whether there is material on the first gripper of the first robot; if there is material on the first gripper of the first robot, control the second robot to wait, and simultaneously control the first robot to implant the material currently on its first gripper into the first acupoint group of the fixture before controlling the turntable to rotate.

Description

Technical Field

[0001] This invention relates to the field of robot collaborative operation technology, and specifically to a device and method for robot collaborative operation. Background Technology

[0002] Against the backdrop of the rapid development of the internet, an increasing number of intelligent terminal devices are replacing human labor to complete various complex operations, with robots being a typical example. As the complexity of the tasks increases, a single robot can no longer meet the needs, and collaboration among multiple robots is becoming increasingly common.

[0003] Currently, when multiple robots are used for collaborative operations, they generally operate according to a predetermined program, such as several robots feeding materials simultaneously. However, the workshop situation is complex, and it is impossible to feed materials simultaneously. Robot malfunctions are inevitable. When any of the multiple robots malfunctions, it is often necessary to stop the machine and replace it manually. This causes normal robots to wait for the malfunctioning robots, which not only incurs high costs but also delays the work progress, resulting in low work efficiency. Summary of the Invention

[0004] In view of the above, it is necessary to provide a material implantation device and method for robot collaborative operation, so as to realize real-time intelligent control of multiple robots working together, thereby improving the efficiency of robot collaborative operation.

[0005] This application provides a material implantation device for robot collaborative operation, including:

[0006] A first robot and a second robot, wherein the first robot has a first claw and the second robot has a second claw;

[0007] A controller, coupled to the first robot and the second robot;

[0008] A turntable, coupled to the controller, is used to carry a fixture. The fixture has a first acupoint group and a second acupoint group. The controller controls the turntable to rotate the fixture in a first direction, thereby controlling the first robot to implant material into the first acupoint group of the fixture located at the first robot, and simultaneously controlling the second robot to implant material into the second acupoint group of the fixture located at the second robot; wherein, the controller is further used to:

[0009] Determine whether the fixture at the second robot is fully loaded with material;

[0010] Based on the fact that the fixture at the second robot is filled with material, it is determined whether there is material on the first gripper of the first robot;

[0011] Based on the material on the first gripper of the first robot, the second robot is controlled to wait, while the first robot is controlled to implant the material on its first gripper into the first acupoint group of the fixture before the turntable is rotated.

[0012] The material implantation device for robot collaborative operation provided in this embodiment controls the collaborative operation of the first robot and the second robot according to the material implantation progress on the first and second acupoint groups of the fixture. Real-time intelligent control of multiple robot collaborative operations can be achieved through information transmission between the first robot and the second robot, reducing labor costs and improving the efficiency of robot collaborative operations.

[0013] In some embodiments, the control is further configured to:

[0014] Since there is no material on the first gripper of the first robot, the control turntable drives the fixture at the first robot to the second robot, and then the control of the second robot continues to implant material into the fixture at the second robot.

[0015] In some embodiments, the controller is further configured to:

[0016] Determine whether the implantation progress of the first robot and the second robot is consistent;

[0017] Based on the inconsistency in the implantation progress between the first robot and the second robot, it is determined whether the fixture at the second robot is fully implanted with material.

[0018] In some embodiments, the material implantation device further includes a material tray for supplying materials to the first robot and the second robot, defining the time from when the first robot picks up material from the material tray, moves to the position of any acupoint in the first acupoint group of the fixture, to when the material implantation begins as the material picking time; wherein, the controller is further configured to:

[0019] Determine whether the current implantation time falls within a time period that is a preset proportion prior to the material extraction time;

[0020] When the current implantation time does not fall within a preset proportion of the material retrieval time, the second robot is controlled to wait, while the first robot is controlled to implant the material on its first claw into the first acupoint group of the fixture before the turntable is rotated; wherein, the current implantation time is determined by whether there is material on the first claw of the first robot.

[0021] In some embodiments, the pre-preset ratio is one-half; wherein, the controller is further configured to:

[0022] Determine whether the current implantation time belongs to the first half of the material retrieval time period.

[0023] This application also provides a material implantation method for robot collaborative operations, using the material implantation device for robot collaborative operations described in the above embodiments. The material implantation method includes:

[0024] The first robot is controlled to implant materials into the first acupoint group of the jig located at the first robot on the turntable, and at the same time, the second robot is controlled to implant materials into the second acupoint group of the jig located at the second robot on the turntable.

[0025] Determine whether the fixture at the second robot is fully loaded with material;

[0026] Based on the fact that the fixture at the second robot is full of material, it is determined whether there is material on the first gripper of the first robot;

[0027] If there is material on the first gripper of the first robot, the second robot is controlled to wait. At the same time, the first robot is controlled to implant the material on its first gripper into the first acupoint group of the fixture before the turntable is rotated.

[0028] The material implantation method for robot collaborative operation provided in this embodiment controls the collaborative operation of the first robot and the second robot according to the material implantation progress on the first acupoint group and the second acupoint group of the fixture. Real-time intelligent control of multiple robot collaborative operations can be achieved through information transmission between the first robot and the second robot, reducing labor costs and improving the efficiency of robot collaborative operation.

[0029] In some embodiments, the step of determining whether there is material on the first gripper of the first robot based on the fact that the fixture at the second robot is filled with material further includes:

[0030] If there is no material on the first gripper of the first robot, the turntable is controlled to move the fixture at the first robot to the second robot, and the second robot is controlled to continue to implant material into the fixture at the second robot.

[0031] In some embodiments, the step of controlling the turntable to rotate the fixture at the first robot to the second robot based on the absence of material on the first gripper of the first robot, and controlling the second robot to continue material implantation onto the fixture at the second robot, includes:

[0032] The turntable is controlled to rotate the fixture at the first robot to the second robot;

[0033] Obtain the number of empty acupoints in the first acupoint group of the fixture transferred to the second robot;

[0034] The second robot is controlled to continue implanting materials into the fixture based on the number of empty acupoints in the first acupoint group of the fixture.

[0035] In some embodiments, the step prior to determining whether the fixture at the second robot is fully implanted includes:

[0036] Determine whether the implantation progress of the first robot and the second robot is consistent;

[0037] Based on the inconsistency in the implantation progress between the first robot and the second robot, it is determined whether the fixture at the second robot is fully implanted with material.

[0038] In some embodiments, the material implantation device further includes a material tray for supplying materials to the first robot and the second robot, defining the time from when the first robot picks up material from the material tray, moves to the position of any acupoint in the first acupoint group of the fixture, to when the material implantation begins as the material picking time, characterized in that the step of controlling the first robot to implant the material currently on the first gripper of the first robot into the first acupoint group of the fixture and then controlling the turntable to rotate includes:

[0039] Determine whether the current implantation time falls within a time period that is a preset proportion prior to the material extraction time;

[0040] Based on the fact that the current implantation time does not fall within a preset proportion of the material retrieval time, the second robot is controlled to wait, while the first robot is controlled to implant the material on its first claw into the first acupoint group of the fixture before the turntable is rotated; wherein, the current implantation time is determined by whether there is material on the first claw of the first robot.

[0041] In some embodiments, the pre-preset ratio is the first half, characterized in that the step of determining whether the current implantation time belongs to the time period of the pre-preset ratio of the material extraction time includes:

[0042] Determine whether the current implantation time belongs to the first half of the material retrieval time period.

[0043] In some embodiments, the step of determining whether the current implantation time belongs to a time period prior to the preset proportion of the material extraction time further includes:

[0044] Based on the fact that the current implantation time falls within a preset proportion of the material retrieval time, the turntable is controlled to rotate the fixture at the first robot to the second robot, thereby enabling the second robot to implant material into the second acupoint group of the fixture that has been rotated to the second robot.

[0045] In some embodiments, it also includes:

[0046] Determine whether either the first robot or the second robot is stationary;

[0047] If one of the first robot and the second robot stops for a period of time longer than a preset time, the turntable is controlled to rotate the fixture to the robot that is not stopping, and the robot that is not stopping is controlled to implant materials into the fixture. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the structure of a material implantation device according to an embodiment of this application.

[0049] Figure 2 This is a top view of a material implantation device according to another embodiment of this application.

[0050] Figure 3 This is a schematic diagram of the acupoints of the jig for a material implantation device according to another embodiment of this application.

[0051] Figure 4 This is a flowchart illustrating the steps of the material implantation method according to an embodiment of this application.

[0052] Explanation of main component symbols

[0053] Material implantation device 100

[0054] First Robot 110

[0055] First Claw 111

[0056] First ontology 112

[0057] First connecting joint 113

[0058] Second Robot 120

[0059] Second hand claw 121

[0060] Second Body 122

[0061] Second connecting joint 123

[0062] Turntable 130

[0063] 140 trays

[0064] 141 silos

[0065] 150 bearing platform

[0066] Bracket 160

[0067] Visual camera 170

[0068] Jig 180

[0069] First acupoint group 181

[0070] Second acupoint group 182

[0071] Controller 190

[0072] First direction R

[0073] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0074] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0075] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "multiple" means two or more, unless otherwise explicitly specified.

[0076] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0077] The following disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0078] The embodiments of the present invention described above will be described in detail below with reference to the accompanying drawings.

[0079] Please see Figure 1 This invention provides a material implantation device 100 for robot collaborative operation, including a first robot 110, a second robot 120, a turntable 130, and a controller 190.

[0080] Please see further. Figure 2 and Figure 3 Specifically, the first robot 110 has a first gripper 111, and the second robot 120 has a second gripper 121. A controller 190 is coupled to the first robot 110 and the second robot 120. A turntable 130 is coupled to the controller 190 and is used to support a fixture 180. The fixture 180 has a first acupoint group 181 and a second acupoint group 182, each having multiple acupoints for receiving materials. The controller 190 controls the turntable 130 to rotate the fixture 180 in a first direction, thereby controlling the first robot 110 to implant materials into the first acupoint group 181 of the fixture 180 located at the first robot 110, and simultaneously controlling the second robot 120 to implant materials into the second acupoint group 182 of the fixture 180 located at the second robot 120.

[0081] Furthermore, the first robot 110 includes a first body 112 and a first connecting joint 113, the first connecting joint 113 being connected to the first body 112, and a first gripper 111 being disposed at the output end of the first connecting joint 113. The second robot 120 includes a second body 122 and a second connecting joint 123, the second connecting joint 123 being connected to the second body 122, and a second gripper 121 being disposed at the output end of the second connecting joint 123.

[0082] It should be noted that the jig 180 located at the first robot 110 refers to the jig 180 on the turntable 130 near the first body 112. The jig 180 located at the second robot 120 refers to the jig 180 on the turntable 130 near the second body 122. The first direction refers to the direction in which the turntable 130 rotates the jig 180 from the first robot 110 to the second robot 120, for example, counterclockwise.

[0083] In this embodiment, under normal operating conditions, the controller 190 controls the first robot 11 to cyclically implant material into the first acupoint group 181 of the fixture 180 flowing into the vicinity of the first robot 110. Simultaneously, the controller controls the second robot 120 to cyclically implant material into the second acupoint group 182 of the fixture 180 flowing into the vicinity of the second robot 120. When a fixture 180 flows into the vicinity of the first robot 110 and the second robot 120 in sequence along the first direction, the acupoints of the fixture 180 are filled with material. The fixture 180 filled with material is then driven by the turntable 130 along the first direction into the fixture clamping station or fixture unloading station for the next process. At the same time, the next fixture 180 without material flows into the vicinity of the first robot 110, so that the first robot 111 can implant material into the newly flowing fixture 180 without material. This cycle repeats continuously, so that with the cooperation of the first robot 110 and the second robot 120, the material implantation of multiple fixtures 180 can be completed uninterruptedly.

[0084] In some embodiments, the material implantation device 100 further includes a material tray 140 for supplying materials to the first robot 110 and the second robot 120. For example, the material tray 140 is a flexible vibrating plate.

[0085] Furthermore, both the first robot 110 and the second robot 120 are equipped with material trays 140 on their left and right sides to ensure sufficient material supply.

[0086] Furthermore, the material implantation device 100 also includes a hopper 141, the outlet of which extends to the upper side of the tray 140 for supplying material into the tray 140.

[0087] In some embodiments, the material implantation device 100 further includes a support platform 150, on which a first robot 110, a second robot 120, a turntable 130, and a material tray 140 are all disposed. The first robot 110 and the second robot 120 are disposed on the outside of the turntable 130, and the material tray 140 is disposed next to the first robot 110 and the second robot 120, so as to facilitate the first gripper 111 and the second gripper 121 to pick up the material in the material tray 140 and implant the material into the fixture 180 on the turntable 130.

[0088] In some embodiments, a support 160 is provided on the support platform 150, and a vision camera 170 is suspended on the support 160. The vision camera 170 is directed toward the tray 140 and is coupled to the controller 190. For example, the vision camera 170 may be a CCD industrial camera.

[0089] In the above embodiment, the material tray 140 shakes the material apart, and the vision camera 170 takes a picture of the material tray 140 to obtain the position information of the material to be implanted and feeds the position information of the material to be implanted back to the controller 190. The controller 190 controls the first gripper 111 of the first robot 110 and the second gripper 121 of the second robot 120 to pick up the material from the corresponding material tray 140 and implant it into the fixture 180 of the support platform 150 according to the position information of the material to be implanted.

[0090] In some embodiments, the controller 190 is further configured to: determine whether the fixture 180 at the second robot 120 is filled with material; based on the fact that the fixture 180 at the second robot 120 is filled with material, determine whether there is material on the first claw 111 of the first robot 110; based on the fact that there is material on the first claw 111 of the first robot 110, control the first robot 110 to implant the material on the first claw 111 of the first robot 110 into the first acupoint group 181 of the fixture 180 and then control the turntable 130 to rotate.

[0091] It should be noted that the first acupoint group 181 and the second acupoint group 182 include the same number of acupoints. For example, the jig 180 includes 10 acupoints, each numbered from 1 to 10. The first acupoint group 181 includes acupoints 1 to 5, and the second acupoint group 182 includes acupoints 6 to 10. Under normal operating conditions, the controller 190 controls the first robot 110 to implant materials into acupoints 1 to 5 of the jig 180 according to the plan, while simultaneously controlling the second robot 120 to implant materials into acupoints 6 to 10 of the jig 180.

[0092] In this embodiment, the controller 190 can determine whether the fixture 180 at the second robot 120 is fully loaded with material in several ways. For example, it can make a comprehensive judgment based on the cyclic movement trajectory of the second robot 120 throughout the space and the pressure value change of the vacuum pressure sensor of the second gripper 121; or it can make a judgment based on the feedback information sent to the controller 190 each time the second robot 120 loads material; or it can make a judgment based on the image captured by a vision camera 170 mounted above the robot 130.

[0093] Specifically, controller 190 controls the second robot 120 to implant material into the second acupoint group 182 of the jig 180 at the second robot 120, and simultaneously controls the first robot 110 to implant material into the first acupoint group 181 of the jig 180 at the first robot 110 where no material has been implanted. When the second acupoint group 182 of the jig 180 at the second robot 120 is full of material, it indicates that all acupoints of the jig 180 at the second robot 120 have been filled with material, then controller 190 determines whether there is material on the first claw 111 of the first robot 110. If there is material on the first claw 111 of the first robot 110, it indicates that the first acupoint group 181 of the jig 180 at the first robot 110 has not yet been filled with material, then controller 190 controls the first robot 110 to implant the material currently on the first claw 111 of the first robot 110 into the first acupoint group 181 of the jig 180 before controlling the turntable 130 to rotate.

[0094] In some embodiments, the controller 190 is further configured to: based on the fact that there is no material on the first gripper 111 of the first robot 110, control the turntable 130 to rotate the fixture 180 at the first robot 110 to the second robot 120, and then control the second robot 120 to continue to implant material into the fixture 180 at the second robot 120.

[0095] In some embodiments, the controller 190 is further configured to: determine whether the implantation progress of the first robot 110 and the second robot 120 is consistent; and determine whether the fixture 180 at the second robot 120 is fully implanted with material based on the inconsistency between the implantation progress of the first robot 110 and the second robot 120.

[0096] In the above embodiments, when the implantation progress of the first robot 110 and the second robot 120 is consistent, it means that while the second robot 120 has filled the second acupoint group 182 of the fixture 180 at the second robot 120 with material, the first robot 110 has also filled the first acupoint group 181 of the fixture 180 at the first robot 110 with material. Therefore, it is no longer necessary to determine whether the fixture 180 at the second robot 120 is filled with material.

[0097] In some embodiments, the time from when the first robot 110 picks up material from the tray 140, moves to the position of any acupoint in the first acupoint group 181 of the fixture 180, to when the material begins to be implanted is defined as the material retrieval time. The controller 190 is further configured to: determine whether the current implantation time falls within a preset proportion of the material retrieval time; based on the fact that the current implantation time does not fall within a preset proportion of the material retrieval time, control the second robot 120 to wait, while simultaneously controlling the first robot 110 to implant the material into the first acupoint group 181 of the fixture 180 before controlling the turntable 130 to rotate. The current implantation time is determined by whether there is material on the first gripper 111 of the first robot 110.

[0098] In this embodiment, the preset ratio is the first half, and the controller 190 is also used to determine whether the current implantation time belongs to the first half of the material retrieval time period.

[0099] In the above embodiments, if the current implantation time is not in the first half of the material retrieval time, it indicates that the first robot 110 has implanted more than half of the material on the first gripper 111 into the corresponding acupoint of the first acupoint group 181. Then the controller 190 controls the first robot 110 to implant the material on the first gripper 111 into the first acupoint group 181 of the fixture 180 and then controls the turntable 130 to rotate.

[0100] In other embodiments, depending on the actual situation, the preset ratio can be one-third or one-quarter, etc.

[0101] In the material implantation device 100 for robot collaborative operation provided in the above embodiment, the controller 190 controls the collaborative operation of the first robot 110 and the second robot 120 according to the material implantation progress on the first acupoint group 181 and the second acupoint group 182 of the fixture 180. Real-time intelligent control of multiple robot collaborative operations can be realized through information transmission between the first robot 110 and the second robot 120, thereby reducing labor costs and improving the efficiency of robot collaborative operations.

[0102] Please refer to further information. Figure 4 This application also provides a material implantation method for robot collaborative operations, applied to the material implantation device 100 for robot collaborative operations described in the above embodiments.

[0103] Specifically, the material implantation methods include:

[0104] S100: Control the first robot to implant material into the first acupoint group of the fixture located at the first robot on the turntable; at the same time, control the second robot to implant material into the second acupoint group of the fixture located at the second robot on the turntable.

[0105] It should be noted that, in the initial state, the first acupoint group 181 of the jig 180 at the second robot 120 has already been filled with materials by the first robot 110.

[0106] Furthermore, the method by which the controller 190 controls the first robot 110 or the second robot 120 to implant materials into the fixture 120 is as follows: the controller 190 acquires spatial coordinates and controls the movement of the first gripper 111 on the first robot 110 and the second gripper 121 on the second robot 120 respectively according to the motion coordinate trajectories of the first robot 110 and the second robot 120 in the set space.

[0107] S200, determine whether either the first robot or the second robot is stationary.

[0108] Specifically, when the controller 190 sends a work instruction to the first robot 110 and the second robot 120, if the controller 190 does not receive feedback information from either the first robot 110 or the second robot 120, it indicates that one of the first robot 110 and the second robot 120 is stationary; if the controller 190 receives feedback information from both the first robot 110 and the second robot 120, it indicates that no robot is stationary.

[0109] In some embodiments, the material implantation method further includes:

[0110] S210, if one of the first robot and the second robot stops and the stopping time is longer than a preset time, then control the turntable to drive the fixture to the robot that did not stop, and control the robot that did not stop to implant materials into the fixture.

[0111] Specifically, if one of the first robot 110 and the second robot 120 stops, and the current stopping time is greater than a preset time, it indicates that one of the first robot 110 and the second robot 120 has malfunctioned. The controller 190 controls the turntable 130 to drive the fixture 180 to the robot that is not stopping in the first robot 110 and the second robot 120. Then, the controller controls the robot that is not stopping to implant materials into the fixture 180.

[0112] In some embodiments, the material implantation method further includes:

[0113] S220, based on the fact that neither the first robot nor the second robot is stationary, determine whether the implantation progress of the first robot and the second robot is consistent.

[0114] Specifically, the controller 190 determines whether the implantation progress of the first robot 110 and the second robot 120 is consistent based on the implantation progress information fed back by the first robot 110 and the second robot 120.

[0115] For example, if the controller 190 receives information from the first robot 110 that the first robot 110 has filled the acupoints 1-2 in the first acupoint group 181 of the jig 180 at the first robot 110 with material, and at the same time receives information from the second robot 120 that the second robot 120 has filled the acupoints 6-7 in the second acupoint group 182 of the jig 180 at the second robot 120 with material, it indicates that the implantation progress of the first robot 110 and the second robot 120 is consistent.

[0116] It should be noted that in some embodiments, steps S210 and S220 may be omitted, or may be performed periodically after a preset time period.

[0117] In some embodiments, the material implantation method further includes:

[0118] S230, based on the inconsistency in the implantation progress of the first robot and the second robot, determine whether the fixture at the second robot is fully implanted with material.

[0119] Specifically, if the implantation progress of the first robot 110 and the second robot 120 is inconsistent, it indicates that the material implantation of the first robot 110 and the second robot 120 is not synchronized. In this case, it is necessary to determine whether the jig 180 transferred to the second robot 120 is fully implanted so that the first robot 110 and the second robot 120 can work together to improve the material implantation efficiency.

[0120] For example, if the controller 190 receives information from the first robot 110 that the first robot 110 has filled acupoints 1-3 in the first acupoint group 181 of the jig 180 at the first robot 110 with material, and at the same time receives information from the second robot 120 that the second robot 120 has filled acupoints 6-9 in the second acupoint group 182 of the jig 180 at the second robot 120 with material, it indicates that the implantation progress of the first robot 110 and the second robot 120 is inconsistent.

[0121] For example, if the number of materials implanted in the first acupoint group 181 reported by the first robot 110 received by the controller 190 is not equal to the number of materials implanted in the second acupoint group 182 reported by the second robot 120 received by the controller 190, it is determined that the implantation progress of the first robot 110 and the second robot 120 is inconsistent.

[0122] In some embodiments, if the implantation progress of the first robot 110 and the second robot 120 is consistent, it means that while the second robot 120 has filled the second acupoint group 182 of the fixture 180 at the second robot 120, the first robot 110 has also filled the first acupoint group 181 of the fixture 180 at the first robot 110. In this case, it is not necessary to determine whether the fixture 180 at the second robot 120 is filled.

[0123] Therefore, if the implantation progress of the first robot 110 and the second robot 120 is consistent, then step S100 is executed to control the first robot to implant materials into the first acupoint group of the jig located at the first robot on the turntable, and at the same time, control the second robot to implant materials into the second acupoint group of the jig located at the second robot on the turntable.

[0124] In some embodiments, the material implantation method further includes:

[0125] S240, based on the fact that the fixture at the second robot is full of material, determine whether there is material on the first gripper of the first robot.

[0126] Specifically, if the controller 190 receives information from the second robot 120 that the fixture 180 at the second robot 120 is full of material, it determines whether there is material on the first gripper 111 of the first robot 110.

[0127] In some embodiments, if the controller 190 does not receive feedback from the second robot 120 that the fixture 180 at the second robot 120 is fully implanted, it needs to continue executing step S100, controlling the first robot to implant material into the first acupoint group of the fixture located at the first robot on the turntable, and simultaneously controlling the second robot to implant material into the second acupoint group of the fixture located at the second robot on the turntable, until the fixture 180 at the second robot 120 is fully implanted with material.

[0128] In some embodiments, the material implantation method further includes:

[0129] S250, based on the fact that there is material on the first gripper of the first robot, it is determined whether the current implantation time belongs to the time period of the preset proportion of the material picking time.

[0130] Specifically, the material retrieval time is defined as the time from when the first robot 110 picks up material from the material tray 140, moves to the position of any acupoint on the first acupoint group 181 of the fixture 180, and then begins to implant material. Among them, the current implantation time is step S240. Based on the fact that the fixture at the second robot is full of material, it is determined whether there is material on the first gripper of the first robot.

[0131] In this embodiment, the pre-preset ratio is the first half. The time period for determining whether the current implantation time belongs to the pre-preset ratio of the material retrieval time is the time period for determining whether the current implantation time belongs to the first half of the material retrieval time.

[0132] Specifically, based on step S230, it can be determined that materials have been implanted into acupoints 1 to 3 within the first acupoint group 181 of the jig 180 at the first robot 110. If there is material on the first claw 111 of the first robot 110, it indicates that the first robot 110 is currently implanting material into acupoint 4 within the first acupoint group 181.

[0133] In some embodiments, the material implantation method further includes:

[0134] S260, based on the time period that the current implantation time does not belong to the pre-preset proportion of the material retrieval time, the second robot is controlled to wait, while the first robot is controlled to implant the material on the first gripper of the first robot into the first acupoint group of the fixture.

[0135] Specifically, if the current implantation time is not in the first half of the material retrieval time, it indicates that the first robot 110 has implanted more than half of the material on the first gripper into the corresponding acupoint of the first acupoint group 181. Then, control the first robot 110 to implant the material on the first gripper of the first robot 110 into the first acupoint group 181 of the fixture 180.

[0136] For example, if the first robot 110 is currently implanting material into acupoint 4, and the current implantation time is not in the first half of the material retrieval time, it indicates that the first robot 110 has implanted more than half of the material on the first gripper into acupoint 4 of the first acupoint group 181. Then, the first robot 110 is controlled to implant the material on the first gripper of the first robot 110 into acupoint 4 in the first acupoint group 181 of the fixture 180.

[0137] S270, control the turntable to move the fixture at the first robot to the second robot.

[0138] For example, when the controller 190 receives feedback from the first robot 110 that the first robot 110 has implanted the material on the first gripper of the first robot 110 into the acupoint 4 in the first acupoint group 181 of the fixture 180, it controls the turntable 130 to rotate so that the turntable 130 drives the fixture 180 at the first robot 110 to the second robot 120.

[0139] S280, obtain the number of empty acupoints in the first acupoint group of the jig transferred to the second robot.

[0140] For example, if materials have been implanted in acupoints 1 to 4 of the first acupoint group 181 of the current fixture 180, it means that materials have not been implanted in acupoint 5 of the first acupoint group 181. In other words, the number of empty acupoints in the first acupoint group 181 of the current fixture 180 is 1.

[0141] S290, based on the number of empty acupoints in the first acupoint group of the fixture, control the second robot to continue implanting materials into the fixture.

[0142] For example, acupoint 5 in the first acupoint group 181 of the current fixture 180 has not yet been implanted with material, and acupoints 6 to 10 in the second acupoint group 182 of the fixture 180 have also not been implanted with material. In other words, the controller needs to control the second robot 120 to implant material starting from acupoint 5 and fill acupoints 5 to 10.

[0143] In some embodiments, step S230 can be omitted from the above steps. In other words, the controller can directly determine whether the progress of the first robot 110 and the second robot 120 is consistent through step S240 and the steps after step S240.

[0144] In some embodiments, if it is determined in step S240 that there is no material on the first gripper 111 of the first robot 110, then steps S270 to S290 are executed.

[0145] It should be noted that at this time, the first robot 110 can implant materials into the first acupoint group of the newly flowing treatment tool according to the original progress, or the progress can be adjusted. The movement mode of the first robot 110 is not limited here.

[0146] For example, based on step S230, it can be determined that acupoints 1 to 3 in the first acupoint group 181 of the jig 180 at the first robot 110 have been implanted with materials. If there is no material on the first claw 111 of the first robot 110, it indicates that the first robot 110 has not yet implanted materials into acupoint 4. Then, the turntable 130 is controlled to rotate so that the turntable 130 drives the jig 180 at the first robot 110 to rotate to the second robot 120.

[0147] At this time, no material has been implanted in acupoints 4-5 in the first acupoint group 181 of the current fixture 180, and no material has been implanted in acupoints 6-10 in the second acupoint group 182 of the fixture 180. In other words, the controller 190 needs to control the second robot 120 to implant material starting from acupoint 4 and fill acupoints 4-10.

[0148] In some embodiments, if it is determined in step S250 that the current implantation time belongs to a time period of a preset proportion prior to the material extraction time, then steps S270 to S290 are executed.

[0149] For example, based on step S230, it can be determined that materials have been implanted into acupoints 1 to 3 in the first acupoint group 181 of the fixture 180 at the first robot 110. When the first robot 110 is currently implanting materials into acupoint 4, if the current implantation time is within a preset proportion of the material retrieval time, that is, the current implantation time is within the first half of the material retrieval time, it indicates that the first robot 110 has not implanted more than half of the materials on the first gripper into acupoint 4 of the first acupoint group 181. Then, the turntable 130 is controlled to rotate so that the turntable 130 drives the fixture 180 at the first robot 110 to the second robot 120.

[0150] At this time, no material has been implanted in acupoints 4-5 in the first acupoint group 181 of the current fixture 180, and no material has been implanted in acupoints 6-10 in the second acupoint group 182 of the fixture 180. In other words, the controller needs to control the second robot 120 to implant material starting from acupoint 4 and fill acupoints 4-10.

[0151] The material implantation method for robot collaborative operation provided in this embodiment allows the controller 190 to control the collaborative operation of the first robot 110 and the second robot 120 based on the material implantation progress on the first acupoint group 181 and the second acupoint group 182 of the fixture 180. Real-time intelligent control of multiple robot collaborative operations can be achieved through information transmission between the controller 190 and the first robot 110 and the second robot 120, thereby reducing labor costs and improving the efficiency of robot collaborative operations.

[0152] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be incorporated into the present invention.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A material implantation device for collaborative robot operation, characterized in that, include: A first robot and a second robot, wherein the first robot has a first claw and the second robot has a second claw; A controller, coupled to the first robot and the second robot; A turntable, coupled to the controller, is used to carry a fixture. The fixture has a first acupoint group and a second acupoint group. The controller controls the turntable to rotate the fixture in a first direction, thereby controlling the first robot to implant material into the first acupoint group of the fixture located at the first robot, and simultaneously controlling the second robot to implant material into the second acupoint group of the fixture located at the second robot; wherein, the controller is further used to: Determine whether the fixture at the second robot is fully loaded with material; Based on the fact that the fixture at the second robot is filled with material, it is determined whether there is material on the first gripper of the first robot; Based on the material on the first gripper of the first robot, the second robot is controlled to wait, while the first robot is controlled to implant the material on its first gripper into the first acupoint group of the fixture before the turntable is rotated.

2. The material implantation device for robot collaborative operation as described in claim 1, characterized in that, The control is also used for: Since there is no material on the first gripper of the first robot, the control turntable drives the fixture at the first robot to the second robot, and then the control of the second robot continues to implant material into the fixture at the second robot.

3. The material implantation device for robot collaborative operation as described in claim 1, characterized in that, The controller is also used for: Determine whether the implantation progress of the first robot and the second robot is consistent; Based on the inconsistency in the implantation progress between the first robot and the second robot, it is determined whether the fixture at the second robot is fully implanted with material.

4. The material implantation device for robot collaborative operation as described in claim 1, characterized in that, The material implantation device further includes a material tray for supplying materials to the first robot and the second robot, defining the time from when the first robot picks up material from the material tray, moves to any acupoint in the first acupoint group of the fixture, to when the material implantation begins as the material retrieval time; wherein, the controller is further configured to: Determine whether the current implantation time falls within a time period that is a preset proportion prior to the material extraction time; Based on a time period that is not within a preset proportion of the material retrieval time at the current implantation time, the second robot is controlled to wait, while the first robot is controlled to implant the material on its first claw into the first acupoint group of the fixture before the turntable is rotated; wherein, the current implantation time is determined by whether there is material on the first claw of the first robot.

5. The material implantation device for robot collaborative operation as described in claim 4, characterized in that, The preset ratio is one-half; wherein, the controller is further configured to: Determine whether the current implantation time belongs to the first half of the material retrieval time period.

6. A method for material implantation in robot collaborative operation, using the material implantation device for robot collaborative operation as described in any one of claims 1-5, characterized in that, The material implantation method includes: The first robot is controlled to implant materials into the first acupoint group of the jig located at the first robot on the turntable, and at the same time, the second robot is controlled to implant materials into the second acupoint group of the jig located at the second robot on the turntable. Determine whether the fixture at the second robot is fully loaded with material; Based on the fact that the fixture at the second robot is filled with material, it is determined whether there is material on the first gripper of the first robot; If there is material on the first gripper of the first robot, the second robot is controlled to wait. At the same time, the first robot is controlled to implant the material on its first gripper into the first acupoint group of the fixture before the turntable is rotated.

7. The material implantation method for robot collaborative operation as described in claim 6, characterized in that, The step of determining whether there is material on the first gripper of the first robot, based on the fact that the fixture at the second robot is filled with material, further includes: If there is no material on the first gripper of the first robot, the turntable is controlled to move the fixture at the first robot to the second robot, and the second robot is controlled to continue to implant material into the fixture at the second robot.

8. The material implantation method for robot collaborative operation as described in claim 7, characterized in that, The steps of controlling the turntable to rotate the fixture at the first robot to the second robot when there is no material on the first gripper of the first robot, and controlling the second robot to continue material implantation on the fixture at the second robot, include: The turntable is controlled to rotate the fixture at the first robot to the second robot; Obtain the number of empty acupoints in the first acupoint group of the fixture transferred to the second robot; The second robot is controlled to continue implanting materials into the fixture based on the number of empty acupoints in the first acupoint group of the fixture.

9. The material implantation method for robot collaborative operation as described in claim 6, characterized in that, The steps prior to determining whether the fixture at the second robot is fully implanted include: Determine whether the implantation progress of the first robot and the second robot is consistent; Based on the inconsistency in the implantation progress between the first robot and the second robot, it is determined whether the fixture at the second robot is fully implanted with material.

10. The material implantation method for collaborative robot operation as described in claim 6, wherein the material implantation device further includes a material tray for supplying materials to the first robot and the second robot, and the time from when the first robot picks up material from the material tray to when it moves to any acupoint in the first acupoint group of the fixture, and then to when the material implantation begins, is defined as the material picking time, characterized in that... The step of controlling the first robot to implant the material on the first gripper of the first robot into the first acupoint group of the fixture, and then controlling the turntable to rotate, includes: Determine whether the current implantation time falls within a time period that is a preset proportion prior to the material extraction time; Based on the fact that the current implantation time does not fall within a preset proportion of the material retrieval time, the second robot is controlled to wait, while the first robot is controlled to implant the material on its first claw into the first acupoint group of the fixture before the turntable is rotated; wherein, the current implantation time is determined by whether there is material on the first claw of the first robot.

11. The material implantation method for robot collaborative operation as described in claim 10, wherein the pre-preset ratio is one-half, characterized in that, The step of determining whether the current implantation time belongs to a time period within a preset proportion of the material extraction time includes: Determine whether the current implantation time belongs to the first half of the material retrieval time period.

12. The material implantation method for robot collaborative operation as described in claim 10, characterized in that, The step of determining whether the current implantation time belongs to a time period within a preset proportion of the material extraction time further includes: Based on the fact that the current implantation time falls within a preset proportion of the material retrieval time, the turntable is controlled to rotate the fixture at the first robot to the second robot, thereby enabling the second robot to implant material into the second acupoint group of the fixture that has been rotated to the second robot.

13. The material implantation method for robot collaborative operation as described in claim 6, characterized in that, Also includes: Determine whether either the first robot or the second robot is stationary; If one of the first robot and the second robot stops for a period of time longer than a preset time, the turntable is controlled to rotate the fixture to the robot that is not stopping, and the robot that is not stopping is controlled to implant materials into the fixture.

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