A pneumatic handling system and control method thereof, and storage medium

Abstract

The present invention discloses a pneumatic handling system and its control method and storage medium. The system includes: a supporting body; a mobile chassis, the mobile chassis is connected to the bottom of the supporting body and is used to move to a work station according to a mobile signal; a mechanical arm, the mechanical arm is connected to the top of the supporting body and is used to control the rotation process through a rotation signal; an air source connector, the air source connector is connected to the end of the mechanical arm; an air source interface, the air source interface is arranged on the work station and is used to output compressed air when connected to the air source connector; a spring air pipe, the spring air pipe is connected to the air source connector and is used to deliver compressed air; a pneumatic end effector, the pneumatic end effector is used to clamp the object to be transported by using the clamping force generated by compressed air when connected to the end of the mechanical arm. The present invention uses compressed air as power, which improves safety and increases the clamping force. The present invention can be widely used in the field of industrial robot technology.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a pneumatic handling system and a control method and a storage medium thereof. Background Art

[0002] Composite mobile robots are a technical direction of industrial robots. They can autonomously navigate and operate across space and can be used to carry objects. When moving in unstructured space, the end effector used on the arm of the composite mobile robot has obvious constraints. The end effector of a robot refers to any tool with certain functions connected to the edge (joint) of the robot. Traditional end effectors are mainly driven by electric energy. In special environments such as high temperature and corrosion, there may be safety hazards such as leakage and low safety. At the same time, the gripping force converted from electric energy is difficult to clamp heavy objects, and the clamping force is small.

[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the invention

[0004] The embodiments of the present invention provide a pneumatic handling system and a control method thereof, and a storage medium, which effectively improve safety and increase clamping force.

[0005] In one aspect, an embodiment of the present invention provides a pneumatic handling system, the system comprising:

[0006] Support the body;

[0007] A mobile chassis connected to the bottom of the supporting body and used to move to a work site according to a mobile signal;

[0008] A mechanical arm connected to the top of the supporting body, and used to control the rotation process through a rotation signal so as to rotate the end of the mechanical arm to the position where the object to be transported is located in the work station;

[0009] An air source connector, the air source connector being connected to the end of the robotic arm;

[0010] An air source interface, which is disposed on the workstation and is used to output compressed air when connected to the air source connector;

[0011] A spring air pipe, the spring air pipe is connected to the air source connector and is used to transport the compressed air;

[0012] A pneumatic end effector, when connected to the end of the robotic arm, is used to clamp the object to be transported using the clamping force generated by the compressed air.

[0013] In some embodiments, the system further comprises:

[0014] A two-dimensional code display component is arranged on the work station and is used to record the position information of the gas source interface.

[0015] In some embodiments, the system further comprises:

[0016] An image acquisition component is connected to the end of the mechanical arm and is used to acquire the two-dimensional code image in the two-dimensional code display component to obtain the position information of the gas source interface.

[0017] In some embodiments, the system further comprises:

[0018] A flipping fixture is arranged on the work station and is used to flip the object to be transported when connected to the end of the mechanical arm.

[0019] In some embodiments, the system further comprises:

[0020] A material warehouse is arranged at the work site and is used for carrying the objects to be transported.

[0021] In some embodiments, the system further comprises:

[0022] A gripping finger position sensor is connected to the pneumatic end effector and is used to obtain the gripping state of the pneumatic end effector.

[0023] In some embodiments, the pneumatic end effector is disposed on the workstation.

[0024] In some embodiments, the pneumatic end effector is connected to the end of the robotic arm via a concave-convex interface.

[0025] On the other hand, an embodiment of the present invention provides a control method applied to the pneumatic handling system, comprising the following steps:

[0026] generating a movement signal, wherein the movement signal is used to control the mobile chassis to move to a work site;

[0027] After determining that the mobile chassis has arrived at the workstation, an air source interface position acquisition signal is generated, and the air source interface position acquisition signal is used to rotate the end of the robot arm to the position where the two-dimensional code display component is located, and control the image acquisition component to collect the two-dimensional code image in the two-dimensional code display component to obtain the position information of the air source interface;

[0028] Generate an air source connection signal according to the position information, wherein the air source connection signal is used to rotate the end of the robot arm to the position where the air source interface is located, and insert the air source connector into the air source interface;

[0029] Generate an air source opening signal according to the connection state of the air source interface, wherein the air source opening signal is used to control the opening of the air source switch to provide the compressed air;

[0030] Generate an actuator access signal, wherein the actuator access signal is used to rotate the end of the robot arm to the position where the pneumatic end effector is located, and connect the pneumatic end effector to the end of the robot arm;

[0031] Generate a rotation signal, wherein the rotation signal is used to rotate the end of the robot arm to the position where the object to be transported is located, and control the pneumatic end effector to clamp the object to be transported;

[0032] Generate an object placement signal, wherein the object placement signal is used to rotate the end of the robot arm to a target object storage position and control the pneumatic end effector to release the object to be transported;

[0033] generating an actuator reset signal according to the gripper finger position sensing state, wherein the actuator reset signal is used to rotate the end of the robot arm to the placement position of the pneumatic end effector and insert the pneumatic end effector into the placement position;

[0034] Generate a gas source closing signal, wherein the gas source closing signal is used to control the gas source switch to close;

[0035] Generate a gas source connector reset signal according to the position information, wherein the gas source connector reset signal is used to rotate the end of the robot arm to the position of the gas source connector and pull the gas source connector out of the gas source interface;

[0036] A robot arm reset signal is generated, wherein the robot arm reset signal is used to control the robot arm to return to an initial position.

[0037] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0038] The beneficial effects of the present invention are as follows:

[0039] The pneumatic handling system provided by the present invention includes a supporting body, a mobile chassis, a mechanical arm, an air source connector, an air source interface, a spring air pipe, and a pneumatic end effector, wherein the mobile chassis is connected to the bottom of the supporting body and is used to move to a workstation according to a mobile signal; the mechanical arm is connected to the top of the supporting body and is used to control the rotation process through a rotation signal; the air source connector is connected to the end of the mechanical arm; the air source interface is arranged on the workstation and is used to output compressed air when connected to the air source connector; the spring air pipe is connected to the air source connector and is used to deliver compressed air; the pneumatic end effector is used to use the clamping force generated by compressed air to clamp the object to be handled when connected to the end of the mechanical arm. The present invention realizes pneumatic handling by using compressed air as power, thereby improving safety and increasing the clamping force.

[0040] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 This is a schematic structural diagram of a pneumatic handling system according to an embodiment of the present invention;

[0043] Figure 2 This is a flow chart of a control method of a pneumatic handling system according to an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of a pneumatic end effector gripping an object to be transported according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0046] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0047] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0049] Before describing the embodiments of the present application in detail, some nouns and terms involved in the embodiments of the present application are first described. The nouns and terms involved in the embodiments of the present application are subject to the following explanations.

[0050] End effector: refers to any tool that is attached to the edge (joint) of a robot and has a certain function. This may include robot grippers, robot tool changers, robot collision sensors, robot rotary connectors, robot pressure tools, compliance devices, robot spray guns, robot deburring tools, robot arc welding guns, robot electric welding guns, etc. Robot end effectors are usually considered to be robot peripherals, robot accessories, robot tools, and end-of-arm tools.

[0051] In the related technologies, the composite mobile robot is the latest technical direction of industrial robots. It can autonomously navigate and operate across space. Due to its movement in unstructured space, the end effectors that can be used on the arms of the composite mobile robot are also subject to obvious constraints. When mobile collaborative robots carry heavy objects, there are few options for large-load end effectors. At present, the end effectors are mainly driven by electric energy, which consumes a lot of energy and has a slow response speed. In the years of development of automation, there are many cost-effective pneumatic tools. If they can be used, the application scenarios of composite mobile robots can be improved, and the user's cost of use can be reduced, because pneumatic tools are widely used and inexpensive.

[0052] The following is a detailed explanation of the embodiments of the present application in conjunction with the accompanying drawings:

[0053] like Figure 1 As shown, an embodiment of the present invention provides a pneumatic handling system, including a supporting body 101, a mobile chassis 102, a mechanical arm 103, an air source connector 104, an air source interface 105, a spring air pipe 106, and a pneumatic end effector 107. In some embodiments, the mobile chassis 102 is connected to the bottom of the supporting body 101, and the mobile chassis can be moved to the work station according to the mobile signal. The mechanical arm 103 is connected to the top of the supporting body 101, and the rotation process of the mechanical arm can be controlled by a rotation signal to rotate the end of the mechanical arm to the position of the object to be transported in the work station. The air source connector 104 is connected to the end of the mechanical arm, wherein the air source connector can be detachably connected to the end of the mechanical arm through a concave and convex interface. The air source interface 105 is arranged on the work station, and compressed air can be output when the air source interface is connected to the air source connector, wherein the compressed air is generated in the work station. The spring air pipe 106 is connected to the air source connector, and compressed air can be delivered to the end of the mechanical arm through the spring air pipe. When the pneumatic end effector 107 is connected to the end of the robot arm, the clamping force generated by the compressed air can be used to clamp the object to be transported, wherein the pneumatic end effector can include a clamping claw. In addition, the pneumatic end effector can be set on the work station to facilitate the access and use of the robot arm; the pneumatic end effector can be connected to the end of the robot arm through a concave-convex interface.

[0054] In some embodiments, a pneumatic handling system provided by an embodiment of the present invention further includes: a two-dimensional code display component 108, an image acquisition component 109, a flip fixture 110, a material library 111, and a clamping finger position sensor. The two-dimensional code display component 108 can be set on the work station to record the position information of the air source interface. The image acquisition component 109 is connected to the end of the mechanical arm and is used to collect the two-dimensional code image in the two-dimensional code display component to obtain the position information of the air source interface, so that the mechanical arm can accurately rotate to the position of the air source interface according to the position information. Among them, the image acquisition component may include a visual sensor. The flip fixture 110 is set on the work station. When the flip fixture is connected to the end of the mechanical arm, the flip fixture can be used to flip the front and back of the object to be transported. The material library 111 is set on the work station, and the material library can be used to carry the object to be transported. The clamping finger position sensor is connected to the pneumatic end effector, and the clamping state of the pneumatic end effector can be obtained through the clamping finger position sensor, wherein the clamping state can include clamping and loosening.

[0055] The beneficial effects of implementing the embodiments of the present invention include: a pneumatic handling system provided by the embodiments of the present invention includes a supporting body, a mobile chassis, a mechanical arm, an air source connector, an air source interface, a spring air pipe, and a pneumatic end effector, wherein the mobile chassis is connected to the bottom of the supporting body, and is used to move to the workstation according to the mobile signal; the mechanical arm is connected to the top of the supporting body, and is used to control the rotation process through the rotation signal; the air source connector is connected to the end of the mechanical arm; the air source interface is arranged on the workstation, and is used to output compressed air when connected to the air source connector; the spring air pipe is connected to the air source connector, and is used to deliver compressed air; the pneumatic end effector is used to use the clamping force generated by compressed air to clamp the object to be transported when connected to the end of the mechanical arm. The present invention realizes pneumatic handling by using compressed air as power, thereby improving safety and increasing the clamping force. At the same time, the present invention can be widely used in scenarios such as mobile robots, and can greatly improve the load usage capacity of collaborative robots, and has a strong application value.

[0056] Figure 2 is an optional flow chart of a control method for a pneumatic handling system provided in an embodiment of the present application. Figure 2 The method may include but is not limited to steps S201 to S211.

[0057] Step S201, generating a moving signal, the moving signal is used to control the mobile chassis to move to the work site;

[0058] Step S202: after determining that the mobile chassis has arrived at the workstation, a gas source interface position acquisition signal is generated, and the gas source interface position acquisition signal is used to rotate the end of the robot arm to the position where the two-dimensional code display component is located, and control the image acquisition component to collect the two-dimensional code image in the two-dimensional code display component to obtain the position information of the gas source interface;

[0059] Step S203: Generate an air source connection signal according to the position information, the air source connection signal is used to rotate the end of the robot arm to the position where the air source interface is located, and insert the air source connector into the air source interface;

[0060] Step S204: Generate an air source opening signal according to the air source interface connection state, the air source opening signal is used to control the air source switch to open to provide compressed air;

[0061] Step S205, generating an actuator access signal, the actuator access signal is used to rotate the end of the robot arm to the position where the pneumatic end effector is located, and connect the pneumatic end effector to the end of the robot arm;

[0062] Step S206, generating a rotation signal, the rotation signal is used to rotate the end of the robot arm to the position where the object to be transported is located, and control the pneumatic end effector to clamp the object to be transported;

[0063] Step S207, generating an object placement signal, the object placement signal is used to rotate the end of the robot arm to the target object storage position, and control the pneumatic end effector to release the object to be transported;

[0064] Step S208, generating an actuator reset signal according to the finger position sensing state, the actuator reset signal being used to rotate the end of the robot arm to the placement position of the pneumatic end effector, and inserting the pneumatic end effector into the placement position;

[0065] Step S209, generating a gas source closing signal, the gas source closing signal is used to control the gas source switch to close;

[0066] Step S210: Generate a gas source connector reset signal according to the position information, the gas source connector reset signal is used to rotate the end of the robot arm to the position of the gas source connector, and pull the gas source connector out of the gas source interface;

[0067] Step S211: Generate a robot arm reset signal, where the robot arm reset signal is used to control the robot arm to return to its initial position.

[0068] In steps S201 to S211 shown in the embodiment of the present application, pneumatic transport is achieved by using compressed air as power, thereby improving safety and increasing the clamping force.

[0069] In some embodiments, a moving signal can be generated first, and the moving chassis can be controlled to move to the work site through the moving signal. After determining that the mobile chassis has arrived at the work site, a gas source interface position acquisition signal is generated, and the end of the mechanical arm can be rotated to the position of the two-dimensional code display component through the gas source interface position acquisition signal, and the image acquisition component is controlled to collect the two-dimensional code image in the two-dimensional code display component to obtain the position information of the gas source interface, so that the subsequent mechanical arm can accurately rotate to the position of the gas source interface. Then, according to the position information, a gas source connection signal is generated, and the end of the mechanical arm can be rotated to the position of the gas source interface through the gas source connection signal, and the gas source connector is inserted into the gas source interface, wherein the position information accurately records the position of the gas source interface in the work site. Then, according to the connection state of the gas source interface, when the connection state of the gas source interface is connected, a gas source opening signal is generated, and the gas source switch can be controlled to open through the gas source opening signal to provide compressed air, wherein the connection state of the gas source interface can include connected and unconnected. Then, an actuator access signal is generated, and the end of the robot arm can be rotated to the position of the pneumatic end effector through the actuator access signal, and the pneumatic end effector is connected to the end of the robot arm, wherein the pneumatic end effector can be connected to the end of the robot arm through a concave-convex interface. Then, a rotation signal is generated, and the end of the robot arm can be rotated to the position of the object to be transported through the rotation signal, and the pneumatic end effector is controlled to clamp the object to be transported. The clamping diagram is shown in the figure below. Figure 3 As shown. Then, an object placement signal is generated, and the end of the robot arm can be rotated to the target object storage position through the object placement signal, and the pneumatic end actuator is controlled to release the object to be transported, so that the object to be transported is placed in the target object storage position, wherein the target object storage position may include other workstations or storage bins on the top of the supporting body. Then, according to the finger position sensing state, when the finger position sensing state is released, an actuator reset signal is generated, and the end of the robot arm can be rotated to the placement position of the pneumatic end actuator through the actuator reset signal, and the pneumatic end actuator is inserted into the placement position, so that the pneumatic end actuator is placed back to the placement position in the workstation, wherein the finger position sensing state may include clamping and releasing. Then, an air source closing signal is generated, and the air source switch can be controlled to close through the air source closing signal to stop providing compressed air. Then, according to the position information, an air source connector reset signal is generated, and the end of the robot arm can be rotated to the position of the air source connector through the air source connector reset signal, and the air source connector is pulled out from the air source interface, so that the air source connector is reconnected to the end of the robot arm. Finally, a robot arm reset signal is generated, and the robot arm can be controlled to return to the initial position by the robot arm reset signal. Moreover, after the robot arm returns to the initial position, the mobile chassis can be controlled to move to other workstations to clamp other required objects.

[0070] The beneficial effects of implementing the embodiments of the present invention include: the present invention first generates a moving signal to control the mobile chassis to move to the work site, generates an air source interface position acquisition signal to control the image acquisition component to acquire the two-dimensional code image to obtain the position information of the air source interface, and generates an air source connection signal to insert the air source connector into the air source interface, and then generates an air source opening signal to control the air source switch to open, generates an actuator access signal to connect the pneumatic end effector to the end of the robotic arm, and generates a rotation signal to control the pneumatic end effector to clamp the object to be transported, and then generates an object placement signal to control the pneumatic end effector to release the object to be transported to place it in the target object storage position, generates an actuator reset signal to insert the pneumatic end effector into the placement position of the pneumatic end effector, and generates an air source closing signal to control the air source switch to close, and finally generates an air source connector reset signal to pull the air source connector out of the air source interface, and generates a robotic arm reset signal to control the robotic arm to return to its initial position, so that pneumatic transport can be achieved by using compressed air as power, thereby improving safety and increasing the clamping force.

[0071] The embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, Figure 2 The method shown.

[0072] The contents of the above method embodiments are all applicable to the present storage medium embodiments. The functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0073] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A control method for a pneumatic handling system, characterized in that: The pneumatic handling system comprises: Support the body; A mobile chassis connected to the bottom of the supporting body and used to move to a work site according to a mobile signal; A mechanical arm connected to the top of the supporting body, and used to control the rotation process through a rotation signal so as to rotate the end of the mechanical arm to the position where the object to be transported is located in the work station; An air source connector, the air source connector being connected to the end of the robotic arm; An air source interface, which is disposed on the workstation and is used to output compressed air when connected to the air source connector; A spring air pipe, the spring air pipe is connected to the air source connector and is used to transport the compressed air; A pneumatic end effector, which, when connected to the end of the robotic arm, is used to clamp the object to be transported using the clamping force generated by the compressed air; The method comprises the following steps: generating a movement signal, wherein the movement signal is used to control the mobile chassis to move to a work site; After determining that the mobile chassis has arrived at the workstation, an air source interface position acquisition signal is generated, and the air source interface position acquisition signal is used to rotate the end of the robot arm to the position where the two-dimensional code display component is located, and control the image acquisition component to collect the two-dimensional code image in the two-dimensional code display component to obtain the position information of the air source interface; Generate an air source connection signal according to the position information, wherein the air source connection signal is used to rotate the end of the robot arm to the position where the air source interface is located, and insert the air source connector into the air source interface; Generate an air source opening signal according to the connection state of the air source interface, wherein the air source opening signal is used to control the opening of the air source switch to provide the compressed air; Generate an actuator access signal, wherein the actuator access signal is used to rotate the end of the robot arm to the position where the pneumatic end effector is located, and connect the pneumatic end effector to the end of the robot arm; Generate a rotation signal, wherein the rotation signal is used to rotate the end of the robot arm to the position where the object to be transported is located, and control the pneumatic end effector to clamp the object to be transported; Generate an object placement signal, wherein the object placement signal is used to rotate the end of the robot arm to a target object storage position and control the pneumatic end effector to release the object to be transported; generating an actuator reset signal according to the gripper finger position sensing state, wherein the actuator reset signal is used to rotate the end of the robot arm to the placement position of the pneumatic end effector and insert the pneumatic end effector into the placement position; Generate a gas source closing signal, wherein the gas source closing signal is used to control the gas source switch to close; Generate a gas source connector reset signal according to the position information, wherein the gas source connector reset signal is used to rotate the end of the robot arm to the position of the gas source connector and pull the gas source connector out of the gas source interface; A robot arm reset signal is generated, wherein the robot arm reset signal is used to control the robot arm to return to an initial position.

2. The method according to claim 1, characterized in that The pneumatic handling system also includes: A two-dimensional code display component is arranged on the work station and is used to record the position information of the gas source interface.

3. The method according to claim 2, characterized in that The pneumatic handling system also includes: An image acquisition component is connected to the end of the mechanical arm and is used to acquire the two-dimensional code image in the two-dimensional code display component to obtain the position information of the gas source interface.

4. The method according to claim 1, characterized in that: The pneumatic handling system also includes: A flipping fixture is arranged on the work station and is used to flip the object to be transported when connected to the end of the mechanical arm.

5. The method according to claim 1, characterized in that The pneumatic handling system also includes: A material warehouse is arranged at the work site and is used for carrying the objects to be transported.

6. The method according to claim 1, characterized in that The pneumatic handling system also includes: A gripping finger position sensor is connected to the pneumatic end effector and is used to obtain the gripping state of the pneumatic end effector.

7. The method according to claim 1, characterized in that The pneumatic end effector is arranged on the work station.

8. The method according to claim 1, characterized in that The pneumatic end effector is connected to the end of the mechanical arm through a concave-convex interface.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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