Robot system, control method thereof, control equipment and readable storage medium

Abstract

The invention discloses a robot system, a control method thereof, a control device and a readable storage medium, and relates to the technical field of robots, the robot system comprises a base mechanism, the base mechanism comprises a fixed base and a base rotating part, and the base rotating part is driven by a first driving unit to rotate around a first rotating shaft relative to the fixed base; the first mechanical arm mechanism is mounted on the base rotating piece; the second mechanical arm mechanism is mounted on the base rotating piece; the control unit is used for controlling the robot system to have a first working mode and a second working mode, and in the first working mode, the first mechanical arm mechanism and the second mechanical arm mechanism are controlled to be in an operable state, and the base mechanism is controlled to be in a locking state; and in the second working mode, the first mechanical arm mechanism and the second mechanical arm mechanism are controlled to be in an operable state, and the base mechanism is controlled to be in an operating state. According to the invention, the time can be saved, the production efficiency can be improved, and the cost on the robot can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot system and a control method, a control device, and a readable storage medium thereof. Background Art

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

[0003] Especially in some specific processing links, if a single-arm SCARA robot needs to perform cyclic operations between two areas that are far apart, it takes a lot of time to move the first robot arm between the two areas through the drive unit, and the size of the single-arm SCARA robot also needs to be larger, so as to ensure that it has sufficient freedom of movement, but this will undoubtedly greatly increase the cost. In addition, there are multiple SCARA robots arranged on the production line. If each SCARA robot needs to perform cyclic operations between two areas that are far apart, increasing the size of each SCARA robot can achieve the above goals, but the cost spent on the SCARA robot is too high, which will lead to increased production costs. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a robot system and its control method, control device, and readable storage medium, which can save time, improve production efficiency, and reduce the cost spent on the robot.

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

[0006] A robot system, comprising:

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

[0008] A first mechanical arm mechanism mounted on the base rotating member;

[0009] A second mechanical arm mechanism mounted on the base rotating member;

[0010] A control unit, the control unit is used to control the robot system to have a first working mode and a second working mode, in the first working mode, the first robotic arm mechanism and the second robotic arm mechanism are controlled to be in an operational state, and the base mechanism is in a locked state; in the second working mode, the first robotic arm mechanism and the second robotic arm mechanism are controlled to be in an operational state, and the base mechanism is in an operational state.

[0011] Preferably, the control unit is used to control the robot system to have a third working mode. In the third working mode, the first robotic arm mechanism and the second robotic arm mechanism are controlled to be in a locked state, and the base mechanism can be in an operating state.

[0012] Preferably, the first robotic arm mechanism is a Scara robot with at least four axes, which has at least four axes and four degrees of freedom of movement;

[0013] and / or,

[0014] The second robotic arm mechanism is a Scara robot with at least four axes, which has at least four axes and four degrees of freedom of movement.

[0015] Preferably, the control unit comprises:

[0016] a switching unit, the switching unit being used to switch the robot system between the first working mode, the second working mode and the third working mode;

[0017] The control unit is used to receive a command signal, process the command signal to form a working mode command, and send the working mode command to the switching unit, wherein the command signal includes the required working mode information of the robot system, and the switching unit is used to receive the working mode command and switch the robot system between the first working mode, the second working mode and the third working mode according to the working mode command.

[0018] Preferably, the control unit comprises:

[0019] A base mechanism instruction operation unit, wherein the base mechanism instruction operation unit is used to receive an instruction signal when the robot system switches to the second working mode or the third working mode, and process the instruction signal to form an instruction position of the first drive unit in the base mechanism, wherein the instruction signal includes an instruction speed of the first drive unit in the base mechanism.

[0020] Preferably, the control unit comprises:

[0021] A first manipulator mechanism instruction operation unit and a compensation unit;

[0022] The compensation unit is used to receive a command signal, determine whether a compensation operation is required according to the command signal, and if so, send the command position of the first driving unit in the base mechanism to the command operation unit of the first mechanical arm mechanism;

[0023] The first robotic arm mechanism instruction operation unit is used to receive an instruction signal when the robot system switches to the second working mode, process the instruction signal to form an instruction position in the first robotic arm mechanism coordinate system, calculate the instruction position in the base mechanism coordinate system according to the instruction position in the first robotic arm mechanism coordinate system, and calculate the compensated instruction position of each drive unit in the first robotic arm mechanism according to the instruction position in the base mechanism coordinate system and the instruction position of the first drive unit in the base mechanism.

[0024] Preferably, the command position of each drive unit in the first manipulator mechanism after compensation is obtained by performing compensation calculation according to the command position in the base mechanism coordinate system and the command position of the first drive unit in the base mechanism. The specific calculation process is as follows:

[0025] R1(n+1)=inv_J1w×R1_w(n+1)

[0026] =(Xr1 (n+1) ,Yr1 (n+1) ,Zr1 (n+1) ,θr1 (n+1) ),

[0027] in,

[0028] R1_w(n+1)=(Xb (n+1) ,Yb (n+1) ,Zb (n+1) ,θb (n+1) );

[0029] Xr1 (n+1) =cos(θs)×Xb (n+1) +sin(θs)×Yb (n+1) ;

[0030] Yr1 (n+1) =-sin(θs)×Xb (n+1) +cos(θs)×Yb (n+1) –rb;

[0031] Zr1 (n+1) =Zb (n+1) ;

[0032] θr1 (n+1) =θb (n+1) -θs;

[0033] R1(n+1) represents the command position of each drive unit in the first robot mechanism after compensation,

[0034] (Xr1 (n+1) ,Yr1 (n+1) ,Zr1 (n+1) ,θr1 (n+1) ) respectively represent the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and the rotation angle around the Z-axis in the coordinate system of the first robot mechanism, R1_w(n+1) represents the command position in the coordinate system of the base mechanism, (Xb (n+1) ,Yb (n+1) ,Zb (n+1) ,θb (n+1) ) respectively represent the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and the rotation angle around the Z-axis in the base mechanism coordinate system, rb represents the distance between the origin of the base mechanism coordinate system and the origin of the first robot arm mechanism coordinate system, θs represents the rotation angle of the base rotating member, specifically, the difference between the angle of the first driving unit of the base rotating member and the command position S1(n+1) of the first driving unit in the base mechanism.

[0035] Preferably, the control unit comprises:

[0036] A second manipulator mechanism instruction operation unit and a compensation unit;

[0037] The compensation unit is used to receive a command signal, determine whether a compensation operation is required according to the command signal, and if so, send the command position of the second drive unit in the base mechanism to the command operation unit of the second mechanical arm mechanism;

[0038] The second robotic arm mechanism instruction operation unit is used to receive an instruction signal when the robot system switches to the second working mode, process the instruction signal to form an instruction position in the second robotic arm mechanism coordinate system, calculate the instruction position in the base mechanism coordinate system according to the instruction position in the second robotic arm mechanism coordinate system, and calculate the compensated instruction position of each drive unit in the second robotic arm mechanism according to the instruction position in the base mechanism coordinate system and the instruction position of the second drive unit in the base mechanism.

[0039] A control method for a robot system, the robot system comprising:

[0040] A base mechanism, comprising a fixed base and a base rotating member, wherein the base rotating member is driven by a first driving unit to rotate relative to the fixed base about a first rotating axis;

[0041] A first mechanical arm mechanism mounted on the base rotating member;

[0042] A second mechanical arm mechanism mounted on the base rotating member;

[0043] The control method comprises the following steps:

[0044] receiving a command signal, wherein the command signal includes information about a desired working mode of the robot system;

[0045] The robot system is switched to a first working mode according to the command signal, the first robot arm mechanism and the second robot arm mechanism are in an operational state, and the base mechanism is in a locked state;

[0046] According to the instruction signal, the robot system is switched to the second working mode at the end of or after the first working mode, the first robot arm mechanism and the second robot arm mechanism are in an operable state, and the base mechanism is in an operating state.

[0047] Preferably, the control method further includes:

[0048] According to the instruction signal, the robot system is switched to the third working mode at the end of or after the second working mode, the first robot arm mechanism and the second robot arm mechanism are in a locked state, and the base mechanism is in an operational state.

[0049] Preferably, the control method further includes:

[0050] Switching the robot system to the second working mode according to the command signal at the end of or after the third working mode, the first robot arm mechanism and the second robot arm mechanism are in an operational state, and the base mechanism is in an operational state;

[0051] Repeat all the above steps in a continuous cycle.

[0052] Preferably, the control method further includes:

[0053] receiving a command signal and processing the command signal to form a command position of the first drive unit in the base mechanism, the command signal including a command speed of the first drive unit in the base mechanism;

[0054] Based on the command signal, each drive unit in the first robot arm mechanism is controlled, and the command signal includes the command speed of each drive unit in the first robot arm mechanism, specifically including: processing the command signal to form a command position under the first robot arm mechanism; if it is determined according to the command signal that compensation operation is required, the command position in the base mechanism coordinate system is calculated according to the command position in the first robot arm mechanism coordinate system; the command position of each drive unit in the first robot arm mechanism after compensation is calculated according to the command position in the base mechanism coordinate system and the command position of the first drive unit in the base mechanism.

[0055] Preferably, the command position of each drive unit in the first manipulator mechanism after compensation is calculated according to the command position in the base mechanism coordinate system and the command position of the first drive unit in the base mechanism, and the specific calculation process is as follows:

[0056] R1(n+1)=inv_J1w×R1_w(n+1)

[0057] =(Xr1 (n+1) ,Yr1 (n+1) ,Zr1 (n+1) ,θr1 (n+1) ),

[0058] in,

[0059] R1_w(n+1)=(Xb (n+1) ,Yb (n+1) ,Zb (n+1) ,θb (n+1) );

[0060] Xr1 (n+1) =cos(θs)×Xb (n+1) +sin(θs)×Yb (n+1) ;

[0061] Yr1 (n+1) =-sin(θs)×Xb (n+1) +cos(θs)×Yb (n+1) –rb;

[0062] Zr1 (n+1) =Zb (n+1) ;

[0063] θr1 (n+1) =θb (n+1) -θs;

[0064] R1(n+1) represents the command position of each drive unit in the first robot mechanism after compensation,

[0065] (Xr1 (n+1) ,Yr1 (n+1) ,Zr1 (n+1) ,θr1 (n+1) ) respectively represent the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and the rotation angle around the Z-axis in the coordinate system of the first robot mechanism, R1_w(n+1) represents the command position in the coordinate system of the base mechanism, (Xb (n+1) ,Yb (n+1) ,Zb (n+1) ,θb (n+1) ) respectively represent the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and the rotation angle around the Z-axis in the base mechanism coordinate system, rb represents the distance between the origin of the base mechanism coordinate system and the origin of the first robot arm mechanism coordinate system, θs represents the rotation angle of the base rotating member, specifically, the difference between the angle of the first driving unit of the base rotating member and the command position S1(n+1) of the first driving unit in the base mechanism.

[0066] A control device for a robot system comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the control methods described above when executing the computer program.

[0067] A computer-readable storage medium stores a computer program for executing any one of the control methods described above.

[0068] The technical solution of the present invention has the following significant beneficial effects:

[0069] 1. In the present application, the positions of the first robot arm mechanism and the second robot arm mechanism can be substantially changed at the same time by sequentially operating the first drive unit in the base mechanism in the second operating mode, the first drive unit in the base mechanism in the third operating mode, and the first drive unit in the base mechanism in the second operating mode, so as to move between two areas. The positions of at least two robot arm mechanisms can be substantially changed by rotating a base mechanism, so the use of the robot system can reduce the cost of the robot.

[0070] 2. By controlling the robot system to switch cyclically between the first working mode, the second working mode, the third working mode, the second working mode, the first working mode, the second working mode, the third working mode and the second working mode in sequence, the robot system can realize the cyclic operation between two distant areas in production and processing. In the process of driving the first rotating shaft to rotate the base rotating member to move the first mechanical arm mechanism and the second mechanical arm mechanism in a large range, the second working mode is experienced twice. Before the first mechanical arm mechanism performs the first operation and the second mechanical arm mechanism performs the second operation, the first rotating shaft is driven to rotate the base rotating member to start moving the first mechanical arm mechanism and the second mechanical arm mechanism. Before the first rotating shaft is driven to rotate the base rotating member to move the first mechanical arm mechanism and the second mechanical arm mechanism is completely completed, the first mechanical arm mechanism has already started the second operation and the second mechanical arm mechanism has already started the first operation. Through the above process, the time to complete a complete operation process can be shortened, thereby improving the operation efficiency.

[0071] With reference to the following description and drawings, specific embodiments of the present invention are disclosed in detail, indicating the manner in which the principles of the present invention can be adopted. It should be understood that the embodiments of the present invention are not limited in scope. Features described and / or shown for one embodiment can be used in one or more other embodiments in the same or similar manner, combined with features in other embodiments, or replace features in other embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The accompanying drawings described herein are only for explanation purposes and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the figures are only schematic, used to help understand the present invention, and are not specifically limited to the shapes and proportional dimensions of the various components of the present invention. Those skilled in the art can select various possible shapes and proportional dimensions to implement the present invention according to the teachings of the present invention.

[0073] Figure 1 A schematic diagram of the structure of a robot system in an embodiment of the present invention;

[0074] Figure 2 The operating states of the first mechanical arm mechanism, the second mechanical arm mechanism and the first driving unit of the robot system in different working modes in the embodiment of the present invention;

[0075] Figure 3 is a schematic diagram of a control unit in an embodiment of the present invention;

[0076] Figure 4 is a flow chart of processing a command signal in an embodiment of the present invention;

[0077] Figure 5 It is a schematic diagram of the principle of compensation calculation in an embodiment of the present invention.

[0078] Reference numerals in the above drawings:

[0079] 1. Fixed base; 2. Base rotating member; 3. First drive unit; 4. First rotating shaft; 5. First mechanical arm mechanism; 51. First rotating arm; 52. First moving joint; 53. Second drive unit; 54. Second rotating shaft; 55. Third rotating shaft; 56. Third drive unit; 57. Fourth drive unit; 58. First base; 59. Second rotating arm; 510. Fifth drive unit; 511. Fourth rotating shaft; 6. Second mechanical arm mechanism; 61. Third rotating arm; 62. Second moving joint; 63. Sixth drive unit driving unit; 64, the fifth rotating axis; 65, the sixth rotating axis; 66, the seventh driving unit; 67, the eighth driving unit; 68, the second base; 69, the fourth rotating arm; 610, the ninth driving unit; 611, the seventh rotating axis; 7, the control unit; 71, the switching unit; 72, the first robotic arm mechanism instruction operation unit; 73, the second robotic arm mechanism instruction operation unit; 74, the base mechanism instruction operation unit; 75, the first robotic arm mechanism control subunit; 76, the second robotic arm mechanism control subunit; 77, the compensation unit. DETAILED DESCRIPTION

[0080] The details of the present invention can be more clearly understood by combining the accompanying drawings and the description of the specific embodiments of the present invention. However, the specific embodiments of the present invention described herein are only used for the purpose of explaining the present invention and cannot be understood as limiting the present invention in any way. Under the guidance of the present invention, technicians can conceive of any possible variations based on the present invention, which should be regarded as belonging to the scope of the present invention. It should be noted that when an element is referred to as "arranged on" another element, it can be directly on another element or there can also be a central element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there may be a central element at the same time. The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, or it can be the communication between the two elements, it can be directly connected, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only implementation method.

[0081] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0082] In order to save time, improve production efficiency, and reduce the cost of robots, a robot system is proposed in this application. Figure 1 FIG. 1 is a schematic diagram of the structure of the robot system in an embodiment of the present invention. Figure 1 As shown, the robot system includes: a base mechanism, including a fixed base 1, a base rotating member 2, the base rotating member 2 is driven by a first driving unit 3 to rotate relative to the fixed base 1 about a first rotating axis 4; a first robotic arm mechanism 5 installed on the base rotating member 2; and a second robotic arm mechanism 6 installed on the base rotating member 2.

[0083] like Figure 1 As shown, the base mechanism may include a fixed base 1 and a base rotating member 2 disposed on the fixed base 1. The fixed base 1 and the base rotating member 2 may be connected via a first driving unit 3. The base rotating member 2 is driven by the first driving unit 3 to rotate relative to the fixed base 1 about a first rotating axis 4.

[0084] like Figure 1 As shown, a first mechanical arm mechanism 5 and a second mechanical arm mechanism 6 can be installed on the base rotating member 2. The specific number of the mechanical arm mechanisms can be determined according to actual production needs, and can be two or more. The installation positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 do not overlap with the first rotating shaft 4, so as to ensure that when the first driving unit 3 drives the base rotating member 2 to rotate, the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 can change simultaneously.

[0085] As feasible, the first robot arm mechanism 5 can be a Scara robot with at least four axes, which has at least four axes and four degrees of freedom, including translation along the X, Y, and Z directions and rotational freedom around the Z axis. The second robot arm mechanism 6 can also be a Scara robot with at least four axes, which has at least four axes and four degrees of freedom, including translation along the X, Y, and Z directions and rotational freedom around the Z axis. Of course, in other feasible embodiments, the first robot arm mechanism 5 can be a robot with more axes or more degrees of freedom, which is not limited in the present application.

[0086] like Figure 1As shown, as feasible, the first mechanical arm mechanism 5 may include: a first rotating arm 51, a second rotating arm 59 and a first moving joint 52. The first rotating arm 51 may be driven by a second driving unit 53 to rotate about a second rotating axis 54. For example, the first rotating arm 51 may be connected to the base rotating member 2 through the second driving unit 53. The second rotating axis 54 may be parallel to the first rotating axis 4. The second rotating axis 54 does not overlap with the first rotating axis 4. For another example, the first mechanical arm mechanism 5 may include a first base 58, the first base 58 is fixedly connected to the base rotating member 2, and the first rotating arm 51 may be connected to the first base 58 through the second driving unit 53. The second rotating arm 59 may be driven by a third driving unit 56 to rotate about a third rotating axis 55. For example, the second rotating arm 59 may be connected to the first rotating arm 51 through the third driving unit 56. The third rotating axis 55 may be parallel to the second rotating axis 54. The third rotating axis 55 does not overlap with the second rotating axis 54. The first movable joint 52 can be arranged on the second rotating arm 59, and the first movable joint 52 can be connected to the second rotating arm 59 through the fourth driving unit 57. The first movable joint 52 can be driven by the fourth driving unit 57 to rotate around the fourth rotating axis 511. The fourth rotating axis 511 can be parallel to the third rotating axis 55. The fourth rotating axis 511 does not overlap with the third rotating axis 55. The fourth rotating axis 511 can be the axis of the first movable joint 52. The first movable joint 52 can be driven by the fifth driving unit 510 to move along the direction of the fourth rotating axis 511. One end of the first movable joint 52 can be connected to the fourth driving unit 57, and the other end of the first movable joint 52 can be a tool mounting portion, and the other end of the first movable joint 52 can move along the direction of the fourth rotating axis 511 relative to one end of the first movable joint 52.

[0087] Similarly, as feasible, the second mechanical arm mechanism 6 may include: a third rotating arm 61, a fourth rotating arm 69, and a second movable joint 62. The third rotating arm 61 may be driven by the sixth driving unit 63 to rotate about the fifth rotating axis 64. For example, the third rotating arm 61 may be connected to the base rotating member 2 through the sixth driving unit 63. The fourth rotating axis 511 may be parallel to the first rotating axis 4. The fourth rotating axis 511 does not overlap with the third rotating axis 55. For another example, the second mechanical arm mechanism 6 may include a second base 68, the second base 68 is fixedly connected to the base rotating member 2, and the third rotating arm 61 may be connected to the second base 68 through the sixth driving unit 63. The fourth rotating arm 69 may be driven by the seventh driving unit 66 to rotate about the sixth rotating axis 65. For example, the fourth rotating arm 69 may be connected to the third rotating arm 61 through the seventh driving unit 66. The sixth rotating axis 65 may be parallel to the fifth rotating axis 64. The sixth rotating axis 65 does not overlap with the fifth rotating axis 64. The second movable joint 62 can be arranged on the fourth rotating arm 69, and the second movable joint 62 can be connected to the fourth rotating arm 69 through the eighth driving unit 67. The second movable joint 62 can be driven by the eighth driving unit 67 to rotate around the seventh rotating axis 611. The seventh rotating axis 611 can be parallel to the sixth rotating axis 65. The seventh rotating axis 611 does not overlap with the sixth rotating axis 65. The seventh rotating axis 611 can be the axis of the second movable joint 62. The second movable joint 62 can be driven by the ninth driving unit 610 to move along the direction of the seventh rotating axis 611. One end of the second movable joint 62 can be connected to the eighth driving unit 67, and the other end of the second movable joint 62 can be a tool mounting portion, and the other end of the second movable joint 62 can move along the direction of the eighth rotating axis relative to one end of the second movable joint 62.

[0088] As a feasible option, the first robotic arm mechanism 5 and the second robotic arm mechanism 6 can be installed at opposite ends of the base rotating member 2, and the first rotating shaft 4 can be located between the two ends of the base rotating member 2, for example, can be located in the middle of the base rotating member 2, so as to avoid interference between the first robotic arm mechanism 5 and the second robotic arm mechanism 6 during operation as much as possible. In addition, when the base rotating member 2 rotates, the positions of the first robotic arm mechanism 5 and the second robotic arm mechanism 6 can be greatly changed at the same time.

[0089] As feasible, the driving unit may include a servo motor, or may include a servo motor connected to a reducer.

[0090] The robot system may include a control unit 7. The control unit 7 may be used to control the entire robot system, for example, the first drive unit 3 may be controlled to realize the rotation of the base mechanism, that is, the rotation of the base rotating member 2 relative to the fixed base 1, the second drive unit 53 may be controlled to realize the rotation of the first rotating arm 51, that is, the rotation of the first rotating arm 51 relative to the base rotating member 2, the third drive unit 56 may be controlled to realize the rotation of the second rotating arm 59, the fourth drive unit 57 may be controlled to realize the rotation of the first moving joint 52, the fifth drive unit 510 may be controlled to realize the movement of the first moving joint 52 along the fourth rotating axis 511, and similarly, the control unit 7 may also control the sixth drive unit 63, the seventh drive unit 66, the eighth drive unit 67 and the ninth drive unit 610.

[0091] Figure 2 : is the operating state of the first mechanical arm mechanism, the second mechanical arm mechanism 6 and the first driving unit 3 of the robot system in different working modes in the embodiment of the present invention, such as Figure 2 As shown, the control unit 7 can be used to control the robot system to have a first working mode. In the first working mode, the control unit 7 can control the first robot arm mechanism 5 and the second robot arm mechanism 6 to be in an operational state, and the base mechanism is in a locked state. The operational state can refer to that each driving unit in the first robot arm mechanism 5 can drive the corresponding first rotating arm 51, the second rotating arm 59 and the first moving joint 52 to move, so as to realize the first operation of the tool installed on the tool mounting part of the first robot arm mechanism 5, and each driving unit in the second robot arm mechanism 6 can drive the corresponding third rotating arm 61, the fourth rotating arm 69 and the second moving joint 62 to move, so as to realize the second operation of the tool installed on the tool mounting part of the second robot arm mechanism 6. The locked state can refer to that the first driving unit 3 cannot drive the base rotating member 2 to rotate relative to the fixed base 1 with the first rotating axis 4.

[0092] The first job may be an operation of the same type as the second job, or an operation of a different type.

[0093] like Figure 2As shown, the control unit 7 can be used to control the robot system to have a second working mode. In the second working mode, the first robot arm mechanism 5 and the second robot arm mechanism 6 are controlled to be in an operational state, and the base mechanism is in an operational state. Before the tool installed on the tool mounting part of the first robot arm mechanism 5 is about to complete the first operation, or before the tool installed on the tool mounting part of the second robot arm mechanism 6 is about to complete the second operation, the control unit 7 can control the robot system to enter the second working mode. In the second working mode, the first driving unit 3 is controlled to operate, and the base rotating part 2 starts to rotate relative to the fixed base 1, so that the positions of the first robot arm mechanism 5 and the second robot arm mechanism 6 can start to change at the same time. During this period, each driving unit in the first robot arm mechanism 5 continues to drive the corresponding first rotating arm 51, second rotating arm 59 and first moving joint 52 to move, so that the tool installed on the tool mounting part of the first robot arm mechanism 5 performs the first operation until the first operation is completed, and each driving unit in the second robot arm mechanism 6 continues to drive the corresponding third rotating arm 61, fourth rotating arm 69 and second moving joint 62 to move, so that the tool installed on the tool mounting part of the second robot arm mechanism 6 performs the second operation until the second operation is completed.

[0094] like Figure 2 As shown, the control unit 7 can be used to control the robot system to have a third working mode. In the third working mode, the first robot arm mechanism 5 and the second robot arm mechanism 6 are controlled to be in a locked state, and the base mechanism is in an operational state. After the operation of the tool installed on the tool mounting part of the first robot arm mechanism 5 is completed, and after the operation of the tool installed on the tool mounting part of the second robot arm mechanism 6 is completed, the first drive unit 3 continues to be controlled to operate, and the base rotating part 2 continues to rotate relative to the fixed base 1, and the positions of the first robot arm mechanism 5 and the second robot arm mechanism 6 continue to change, so that the tools installed on the tool mounting parts of the first robot arm mechanism 5 and the second robot arm mechanism 6 can perform a second round of operations. The first operation performed by the tool installed on the tool mounting part of the first robot arm mechanism 5 and the second operation performed by the tool installed on the tool mounting part of the second robot arm mechanism 6 in the above part can be defined as the first round of operations.

[0095] like Figure 2As shown, the base rotating member 2 rotates relative to the fixed base 1, and the positions of the first robot arm mechanism 5 and the second robot arm mechanism 6 continue to change. However, when the base rotating member 2 is not completely rotated relative to the fixed base 1, the next round of operation is entered, and the control unit 7 controls the robot system to enter the second working mode. For example, in the second working mode, the tool installed on the tool mounting part of the first robot arm mechanism 5 can perform the second operation, and the tool installed on the tool mounting part of the second robot arm mechanism 6 can perform the first operation. Since the first robot arm mechanism 5 and the second robot arm mechanism 6 can adjust the position of the tool installed on the tool mounting part in the horizontal direction by adjusting themselves, the first robot arm mechanism 5 can perform the second operation, and the second robot arm mechanism 6 can perform the first operation even if the base rotating member 2 is not completely rotated relative to the fixed base 1.

[0096] like Figure 2 As shown, when the base rotating member 2 rotates completely relative to the fixed base 1, the control unit 7 controls the robot system to enter the first working mode. The tool installed on the tool mounting part of the first robot arm mechanism 5 continues to perform the second operation, and the tool installed on the tool mounting part of the second robot arm mechanism 6 continues to perform the first operation. Before the tool installed on the tool mounting part of the first robot arm mechanism 5 is about to complete the first operation, or before the tool installed on the tool mounting part of the second robot arm mechanism 6 is about to complete the second operation, the control unit 7 controls the robot system to enter the second working mode. In the second working mode, the first driving unit 3 is controlled to operate, and the base rotating part 2 begins to rotate relative to the fixed base 1, so that the positions of the first robot arm mechanism 5 and the second robot arm mechanism 6 can begin to change at the same time. During this period, each driving unit in the first robot arm mechanism 5 continues to drive the corresponding first rotating arm 51, second rotating arm 59 and first moving joint 52 to move, so that the tool installed on the tool mounting part of the first robot arm mechanism 5 performs the second operation until the second operation is completed, and each driving unit in the second robot arm mechanism 6 continues to drive the corresponding third rotating arm 61, fourth rotating arm 69 and second moving joint 62 to move, so that the tool installed on the tool mounting part of the second robot arm mechanism 6 performs the first operation until the first operation is completed.

[0097] The tool installed on the tool mounting part of a robot arm mechanism completes a complete operation process by performing the first operation and the second operation. After that, the control unit 7 can control the robot system to enter the third working mode, continue to control the operation of the first drive unit 3, and the base rotating member 2 continues to rotate relative to the fixed base 1, so that the positions of the first robot arm mechanism 5 and the second robot arm mechanism 6 continue to change and move to the position of the first round of operation. The above process can be repeated continuously, thereby realizing the cyclic operation of the robot system in production and processing. In other words, the control unit 7 can control the robot system to switch to the first working mode, the second working mode, the third working mode and the second working mode in sequence, and switch continuously in this way.

[0098] Specifically, for example, the first operation of the first robot arm mechanism 5 may be to pick up an object from area A and perform certain processing operations, and the second operation of the first robot arm mechanism 5 may be to place the object after the processing operation in area B. The second operation of the second robot arm mechanism 6 may be to place the object after the processing operation in area C, and the first operation of the second robot arm mechanism 6 may be to pick up an object from area D and perform certain processing operations. The control unit 7 may control the robot system to switch to the first working mode, the second working mode, the third working mode, the second working mode, the first working mode, the second working mode, the third working mode, and the second working mode in sequence, and such continuous cyclic switching may realize the transport of multiple objects from area A to area B and perform certain processing operations, and the transport of multiple objects from area D to area C and perform certain processing operations. As is feasible, area A is farther than area B, and area C is farther than area D. By sequentially executing the second working mode, the third working mode, and the second working mode by the robot system, the first robotic arm mechanism 5 and the second robotic arm mechanism 6 can be moved significantly at the same time, and the first robotic arm mechanism 5 can be moved between area A and area B, and the second robotic arm mechanism 6 can be moved between area C and area D.

[0099] In the process of driving the first rotating shaft 4 to rotate the base rotating member 2 to move the first robot arm mechanism 5 and the second robot arm mechanism 6 in a large range, the second working mode is experienced twice, that is, when the first robot arm mechanism 5 has not finished the first operation and the second robot arm mechanism 6 has not finished the second operation, the first rotating shaft 4 is driven to rotate the base rotating member 2 to start moving the first robot arm mechanism 5 and the second robot arm mechanism 6, so that the first robot arm mechanism 5 moves from area A to area B, and the second robot arm mechanism 6 moves from area C to area D. When the first rotating shaft 4 is driven to rotate the base rotating member 2 to move the first robot arm mechanism 5 and the second robot arm mechanism 6 has not been completely completed, the first robot arm mechanism 5 has already started the second operation in area B, and the second robot arm mechanism 6 has already started the first operation in area D. Through the above process, the time to complete a complete operation process can be shortened, thereby improving the operation efficiency. Secondly, the positions of at least two robot arm mechanisms can be greatly changed by rotating a base mechanism. Therefore, the use of this robot system can reduce the cost spent on robots.

[0100] Figure 3 Schematic diagram of a control unit in an embodiment of the present invention, Figure 4 As shown, the control unit 7 may include: a switching unit 71 , a first robotic arm mechanism instruction calculation unit 72 , a second robotic arm mechanism instruction calculation unit 73 , a base mechanism instruction calculation unit 74 and a compensation unit 77 .

[0101] The switching unit 71 is used to switch the robot system between the first working mode, the second working mode and the third working mode. Figure 4 FIG. 1 is a flow chart of processing a command signal in an embodiment of the present invention. Figure 4 As shown, the control unit 7 is used to receive the instruction signal, process the instruction signal to form a working mode instruction, and send the working mode instruction to the switching unit 71. The instruction signal includes the required working mode information of the robot system. The switching unit 71 is used to receive the working mode instruction and switch the robot system between the first working mode, the second working mode and the third working mode according to the working mode instruction.

[0102] In the above process, the required working mode information of the robot system specifically refers to the working mode that the robot system needs to enter, such as the first working mode, the second working mode or the third working mode.

[0103] At this time, if Figure 4As shown, the base mechanism instruction operation unit 74 is used to receive the instruction signal, which includes the instruction speed of the first drive unit 3 in the base mechanism, and processes the instruction signal to form the instruction position of the first drive unit 3 in the base mechanism. Afterwards, the control unit 7 can directly control the first drive unit 3 in the base mechanism separately, so that the first drive unit 3 moves to the corresponding position, thereby realizing the rotation of the base rotating member 2, so that the positions of the first robot arm mechanism 5 and the second robot arm mechanism 6 are changed at the same time. When the switching unit 71 switches the robot system to the third working mode, the above steps can be performed. When the switching unit 71 switches the robot system to the second working mode, the above steps can also be performed.

[0104] The compensation unit 77 is used to receive the command signal and determine whether a compensation operation is required based on the command signal. When the command position of the first drive unit 3 in the base mechanism does not affect the range of operation of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6, a compensation operation needs to be performed. When the command position of the first drive unit 3 in the base mechanism affects the range of operation of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6, no compensation operation is required. The critical value of whether the command position of the first drive unit 3 in the base mechanism affects the range of operation of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 can be the time when the third working mode can be switched to the second working mode, and when the command position of the first drive unit 3 in the base mechanism does not affect the range of operation of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6, the time when the third working mode can be switched to the second working mode. When the compensation unit 77 determines that a compensation operation is required, the command position of the first drive unit 3 in the base mechanism is sent to the first mechanical arm mechanism command operation unit 72 and the second mechanical arm mechanism command operation unit 73.

[0105] The first robot arm mechanism instruction operation unit 72 is used to receive the instruction signal when the robot system switches to the second working mode, process the instruction signal to form the instruction position in the coordinate system of the first robot arm mechanism 5, calculate the instruction position in the base mechanism coordinate system according to the instruction position in the coordinate system of the first robot arm mechanism 5, and perform compensation calculation based on the instruction position in the base mechanism coordinate system and the instruction position of the first drive unit 3 in the base mechanism to obtain the compensated instruction position of each drive unit in the first robot arm mechanism 5.

[0106] Figure 5 FIG. 1 is a schematic diagram showing the principle of compensation calculation in an embodiment of the present invention. Figure 5 As shown, the specific calculation process of the command position of each drive unit in the first manipulator mechanism 5 after compensation calculation is performed according to the command position in the base mechanism coordinate system and the command position of the first drive unit 3 in the base mechanism is as follows:

[0107] R1(n+1)=inv_J1w×R1_w(n+1)

[0108] =(Xr1 (n+1) ,Yr1 (n+1) ,Zr1 (n+1) ,θr1 (n+1) ),

[0109] in,

[0110] R1_w(n+1)=(Xb (n+1) ,Yb (n+1) ,Zb (n+1) ,θb (n+1) );

[0111] Xr1 (n+1) =cos(θs)×Xb (n+1) +sin(θs)×Yb (n+1) ;

[0112] Yr1 (n+1) =-sin(θs)×Xb (n+1) +cos(θs)×Yb (n+1) –rb;

[0113] Zr1 (n+1) =Zb (n+1) ;

[0114] θr1 (n+1) =θb (n+1) -θs;

[0115] R1(n+1) represents the command position of each drive unit in the first robot mechanism after compensation, (Xr1 (n+1) ,Yr1 (n+1) ,Zr1 (n+1) ,θr1 (n+1) ) respectively represent the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and the rotation angle around the Z-axis in the coordinate system of the first robot mechanism, R1_w(n+1) represents the command position in the coordinate system of the base mechanism, (Xb (n+1) ,Yb (n+1) ,Zb (n+1) ,θb (n+1)) respectively represent the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and the rotation angle around the Z-axis in the base mechanism coordinate system, rb represents the distance between the origin of the base mechanism coordinate system and the origin of the first robot arm mechanism coordinate system, θs represents the rotation angle of the base rotating member, specifically the difference between the angle of the first drive unit of the base rotating member and the command position S1(n+1) of the first drive unit in the base mechanism. When the robot system is in the second working mode, the influence of the rotation of the base rotating member on the command position of each drive unit in the first robot arm mechanism when the first robot arm mechanism is operating can be eliminated through compensation calculation.

[0116] Similarly, the second robot mechanism instruction operation unit 73 is used to receive the instruction signal when the robot system switches to the second working mode, process the instruction signal to form the instruction position in the coordinate system of the second robot mechanism 6, calculate the instruction position in the coordinate system of the base mechanism according to the instruction position in the coordinate system of the second robot mechanism 6, and calculate the instruction position of each drive unit in the second robot mechanism 6 after compensation according to the instruction position in the coordinate system of the base mechanism and the instruction position of the second drive unit 53 in the base mechanism. The calculation process of calculating the instruction position of each drive unit in the second robot mechanism 6 after compensation according to the instruction position in the coordinate system of the base mechanism and the instruction position of the second drive unit 53 in the base mechanism is similar to the above, and it only needs to replace various data about the first robot mechanism 5 with various data of the second robot mechanism, which will not be repeated here.

[0117] As a feasible method, the first robot arm mechanism instruction operation unit 72 is used to receive the instruction signal when the robot system switches to the first working mode, process the instruction signal to form the instruction position in the coordinate system of the first robot arm mechanism 5, and calculate the instruction position in the base mechanism coordinate system according to the instruction position in the coordinate system of the first robot arm mechanism 5. The compensation unit 77 determines that no compensation operation is required, and then directly calculates the instruction position of each drive unit in the first robot arm mechanism 5 according to the instruction position in the coordinate system of the base mechanism.

[0118] Similarly, the second robot arm mechanism instruction operation unit 73 is used to receive the instruction signal when the robot system switches to the first working mode, and processes the instruction signal to form the instruction position in the coordinate system of the second robot arm mechanism 6, and calculates the instruction position in the base mechanism coordinate system according to the instruction position in the coordinate system of the second robot arm mechanism 6. The compensation unit 77 determines that no compensation operation is required, and then directly calculates the instruction position of each drive unit in the second robot arm mechanism 6 according to the instruction position in the coordinate system of the base mechanism.

[0119] The control unit 7 may also include a first robotic arm mechanism control subunit 75, which is used to control each driving unit in the first robotic arm mechanism 5 according to the command position of each driving unit in the first robotic arm mechanism 5, so that each driving unit in the first robotic arm mechanism 5 moves to a corresponding position, and finally enables the tool installed on the tool mounting part of the first robotic arm mechanism 5 to operate.

[0120] Similarly, the control unit 7 may further include a second robotic arm mechanism control subunit 76, which is used to control each drive unit in the second robotic arm mechanism 6 according to the command position of each drive unit in the second robotic arm mechanism 6, so that each drive unit in the second robotic arm mechanism 6 moves to a corresponding position, and finally enables the tool installed on the tool mounting part of the second robotic arm mechanism 6 to operate.

[0121] As a feasible method, the control unit 7 can also be used to detect the command position of each drive unit in the first robotic arm mechanism 5, the command position of each drive unit in the second robotic arm mechanism 6, and the command position of the first drive unit 3 in the base mechanism to confirm whether the command position of each drive unit is within the normal range, and if so, issue a command, and if not, issue an error warning.

[0122] A control method of a robot system is also proposed in the present application. The control method of the robot system may include:

[0123] Receive a command signal, the command signal includes the required working mode information of the robot system. The command signal can be sent to the robot system through an external action program, or it can be sent by an action program inside the robot system.

[0124] According to the command signal, the robot system is switched to the first working mode, the first robot arm mechanism 5 and the second robot arm mechanism 6 are in an operational state, and the base mechanism is in a locked state. In this step, the required working mode information of the robot system is the first working mode.

[0125] After controlling the first robotic arm mechanism 5 and the second robotic arm mechanism 6 to be in an operational state and the base mechanism to be in a locked state, each drive unit in the first robotic arm mechanism 5 and each drive unit in the second robotic arm mechanism 6 can be controlled based on a command signal, and the command signal includes a command speed of each drive unit in the first robotic system and a command speed of each drive unit in the second robotic system.

[0126] This step may specifically include: processing the command signal to form the command position in the coordinate system of the first robot arm mechanism 5; calculating the command position of each drive unit in the first robot arm mechanism 5 according to the command position in the coordinate system of the first robot arm mechanism 5; and controlling each drive unit in the first robot arm mechanism 5 according to the command position of each drive unit in the first robot arm mechanism 5. Through the above steps, each drive unit in the first robot arm mechanism 5 can be moved to a corresponding position, and finally the tool installed on the tool mounting part of the first robot arm mechanism 5 can be operated. The steps of controlling each drive unit in the first robot arm mechanism 5 are similar to those above, and will not be repeated here.

[0127] After controlling each driving unit in the first robot arm mechanism 5 and each driving unit in the second robot arm mechanism 6, the robot system is switched to the second working mode according to the command signal at the end of or after the first working mode, the first robot arm mechanism 5 and the second robot arm mechanism 6 are in an operational state, and the base mechanism is in an operating state.

[0128] After controlling the first robotic arm mechanism 5 and the second robotic arm mechanism 6 to be in an operational state and the base mechanism to be in an operational state, each drive unit in the first robotic arm mechanism 5 and the second robotic arm mechanism 6 and the first drive unit 3 in the base mechanism can be controlled based on a command signal, and the command signal includes a command speed of each drive unit in the first robotic arm mechanism 5, a command speed of each drive unit in the second robotic arm mechanism 6 and a command speed of the first drive unit 3 in the base mechanism.

[0129] The above steps may specifically include:

[0130] The command signal is received, and the command signal is processed to form the command position of the first drive unit 3 in the base mechanism; the first drive unit 3 in the base mechanism is controlled according to the command position of the first drive unit 3 in the base mechanism. Through the above steps, the first drive unit 3 in the base mechanism starts to move to the corresponding position, and the base rotating member 2 starts to rotate according to the required requirements, so that the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are changed at the same time, and start to move to the required position.

[0131] The various drive units in the first robot arm mechanism 5 are controlled based on the command signal, and the command signal includes the command speed of each drive unit in the first robot arm mechanism 5, specifically including: processing the command signal to form the command position of the first robot arm mechanism 5; if it is determined that compensation operation is required according to the command signal, the command position in the base mechanism coordinate system is calculated according to the command position in the coordinate system of the first robot arm mechanism 5; the command position of each drive unit in the first robot arm mechanism 5 after compensation is calculated according to the command position in the base mechanism coordinate system and the command position of the first drive unit 3 in the base mechanism. Through the above steps, each drive unit in the first robot arm mechanism 5 can be moved to the corresponding position when the base rotating member 2 rotates, and finally the tool installed on the tool mounting part of the first robot arm mechanism 5 can be operated.

[0132] The command position of each drive unit in the first manipulator mechanism 5 after compensation is calculated based on the command position in the base mechanism coordinate system and the command position of the first drive unit 3 in the base mechanism. The specific calculation process is as follows:

[0133] R1(n+1)=inv_J1w×R1_w(n+1)

[0134] =(Xr1 (n+1) ,Yr1 (n+1) ,Zr1 (n+1) ,θr1 (n+1) ),

[0135] in,

[0136] R1_w(n+1)=(Xb (n+1) ,Yb (n+1) ,Zb (n+1) ,θb (n+1) );

[0137] Xr1 (n+1) =cos(θs)×Xb (n+1) +sin(θs)×Yb (n+1) ;

[0138] Yr1 (n+1) =-sin(θs)×Xb (n+1) +cos(θs)×Yb (n+1) –rb;

[0139] Zr1 (n+1) =Zb (n+1) ;

[0140] θr1 (n+1) =θb (n+1) -θs;

[0141] R1(n+1) represents the command position of each drive unit in the first robot mechanism after compensation, (Xr1 (n+1) ,Yr1 (n+1) ,Zr1 (n+1) ,θr1 (n+1) ) respectively represent the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and the rotation angle around the Z-axis in the coordinate system of the first robot mechanism, R1_w(n+1) represents the command position in the coordinate system of the base mechanism, (Xb (n+1) ,Yb (n+1) ,Zb (n+1) ,θb (n+1) ) respectively represent the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and the rotation angle around the Z-axis in the base mechanism coordinate system, rb represents the distance between the origin of the base mechanism coordinate system and the origin of the first robot arm mechanism coordinate system, θs represents the rotation angle of the base rotating member, specifically, the difference between the angle of the first driving unit of the base rotating member and the command position S1(n+1) of the first driving unit in the base mechanism.

[0142] The control of each driving unit in the second robot arm mechanism 6 is based on the command signal, and the command signal includes the command speed of each driving unit in the second robot arm mechanism 6, specifically including: processing the command signal to form the command position under the second robot arm mechanism 6; if it is determined according to the command signal that compensation operation is required, the command position in the base mechanism coordinate system is calculated according to the command position in the coordinate system of the second robot arm mechanism 6; the command position of each driving unit in the second robot arm mechanism 6 after compensation is calculated according to the command position in the coordinate system of the base mechanism and the command position of the second driving unit 53 in the base mechanism. Through the above steps, each driving unit in the second robot arm mechanism 6 can be moved to the corresponding position when the base rotating member 2 rotates, and finally the tool installed on the tool mounting part of the second robot arm mechanism 6 can be operated.

[0143] The robot system is switched to the third working mode according to the command signal at the end of or after the second working mode, the first robot arm mechanism 5 and the second robot arm mechanism 6 are in a locked state, and the base mechanism is in an operational state.

[0144] After the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are in a locked state and the base mechanism is in an operational state, the first drive unit 3 in the base mechanism can be controlled based on the command signal, and the command signal includes the command speed of the first drive unit 3 in the base mechanism. Through the above steps, the first drive unit 3 in the base mechanism can continue to move to the corresponding position, so that the base rotating member 2 can continue to rotate according to the required requirements, so that the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 continue to change at the same time and continue to move to the required position.

[0145] According to the command signal, the robot system is switched to the second working mode at the end of or after the third working mode, the first robot arm mechanism 5 and the second robot arm mechanism 6 are in an operational state, and the base mechanism is in an operational state.

[0146] After the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are controlled to be in an operational state and the base mechanism is in an operational state, the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 and the first driving unit 3 in the base mechanism can be controlled based on the command signal, and the command signal includes the command speed of each driving unit in the first mechanical arm mechanism 5, the command speed of each driving unit in the second mechanical arm mechanism 6 and the command speed of the first driving unit 3 in the base mechanism. Through the above steps, the first driving unit 3 in the base mechanism can be completely moved to the corresponding position, and the base rotating member 2 can be rotated according to the required requirements, so that the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are changed at the same time, and the required positions are reached. At the same time, before the base rotating member 2 is completely moved to the corresponding position, the tool installed on the tool mounting part of the first mechanical arm mechanism 5 and the tool installed on the tool mounting part of the second mechanical arm mechanism 6 start to work.

[0147] As feasible, the above steps may be repeatedly performed in sequence to achieve cyclic operation of the robot system in production and processing.

[0148] In the present application, the positions of the first robot arm mechanism 5 and the second robot arm mechanism 6 can be substantially changed at the same time by sequentially operating the first drive unit 3 in the base mechanism in the second operating mode, the first drive unit 3 in the base mechanism in the third operating mode, and the first drive unit 3 in the base mechanism in the second operating mode, so as to move between the two areas. The positions of at least two robot arm mechanisms can be substantially changed by rotating a base mechanism, so the use of the robot system can reduce the cost of the robot.

[0149] By controlling the robot system to switch cyclically between the first working mode, the second working mode, the third working mode, the second working mode, the first working mode, the second working mode, the third working mode and the second working mode in sequence, the robot system can realize the cyclic operation between two distant areas in production and processing. In the process of driving the first rotating shaft 4 to rotate the base rotating member 2 to move the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 in a large range, the second working mode is experienced twice. Before the first mechanical arm mechanism 5 is finished performing the first operation and the second mechanical arm mechanism 6 is finished performing the second operation, the first rotating shaft 4 is driven to rotate the base rotating member 2 to start moving the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6. When the first rotating shaft 4 is driven to rotate the base rotating member 2 to move the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 is not completely completed, the first mechanical arm mechanism 5 has already started the second operation and the second mechanical arm mechanism 6 has already started the first operation. Through the above process, the time to complete a complete operation process can be shortened, thereby improving the operation efficiency.

[0150] The present application also proposes a control device for a robot system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above control methods when executing the computer program. Specifically, the control device may be a computer terminal, a server, or a similar computing device.

[0151] The present application also proposes a computer-readable storage medium, which stores a computer program for executing any of the above control methods.

[0152] All articles and references disclosed, including patent applications and publications, are incorporated herein by reference for various purposes. The term "consisting essentially of ... " describing a combination should include determined elements, ingredients, parts or steps and other elements, ingredients, parts or steps that do not substantially affect the basic novel features of the combination. The use of the terms "comprising" or "including" to describe the combination of elements, ingredients, parts or steps here also contemplates the implementation method consisting essentially of these elements, ingredients, parts or steps. Here, by using the term "may", it is intended to illustrate that any attribute described that "may" includes is optional. Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure "one" or "one" used to describe an element, ingredient, part or step is not said to exclude other elements, ingredients, parts or steps.

[0153] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other. The above embodiments are only for illustrating the technical concept and features of the present invention. The purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the scope of protection of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A robot system, characterized in that: The robot system comprises: A base mechanism, comprising a fixed base and a base rotating member, wherein the base rotating member is driven by a first driving unit to rotate relative to the fixed base about a first rotating axis; A first mechanical arm mechanism mounted on the base rotating member; A second mechanical arm mechanism mounted on the base rotating member; A control unit, the control unit is used to control the robot system to have a first working mode and a second working mode, in the first working mode, the first robotic arm mechanism and the second robotic arm mechanism are controlled to be in an operational state, and the base mechanism is in a locked state; in the second working mode, the first robotic arm mechanism and the second robotic arm mechanism are controlled to be in an operational state, and the base mechanism is in an operational state.

2. The robot system according to claim 1, characterized in that: The control unit is used to control the robot system to have a third working mode. In the third working mode, the first robot arm mechanism and the second robot arm mechanism are controlled to be in a locked state, and the base mechanism can be in an operating state.

3. The robot system according to claim 1, characterized in that: The first robotic arm mechanism is a Scara robot with at least four axes, which has at least four axes and four degrees of freedom of movement; and / or, The second robotic arm mechanism is a Scara robot with at least four axes, which has at least four axes and four degrees of freedom of movement.

4. The robot system according to claim 2, characterized in that: The control unit comprises: a switching unit, the switching unit being used to switch the robot system between the first working mode, the second working mode and the third working mode; The control unit is used to receive a command signal, process the command signal to form a working mode command, and send the working mode command to the switching unit, wherein the command signal includes the required working mode information of the robot system, and the switching unit is used to receive the working mode command and switch the robot system between the first working mode, the second working mode and the third working mode according to the working mode command.

5. The robot system according to claim 2, characterized in that: The control unit comprises: A base mechanism instruction operation unit, wherein the base mechanism instruction operation unit is used to receive an instruction signal when the robot system switches to the second working mode or the third working mode, and process the instruction signal to form an instruction position of the first drive unit in the base mechanism, wherein the instruction signal includes an instruction speed of the first drive unit in the base mechanism.

6. The robot system according to claim 5, characterized in that: The control unit comprises: A first manipulator mechanism instruction operation unit and a compensation unit; The compensation unit is used to receive a command signal, determine whether a compensation operation is required according to the command signal, and if so, send the command position of the first driving unit in the base mechanism to the command operation unit of the first mechanical arm mechanism; The first robotic arm mechanism instruction operation unit is used to receive an instruction signal when the robot system switches to the second working mode, process the instruction signal to form an instruction position in the first robotic arm mechanism coordinate system, calculate the instruction position in the base mechanism coordinate system according to the instruction position in the first robotic arm mechanism coordinate system, and calculate the compensated instruction position of each drive unit in the first robotic arm mechanism according to the instruction position in the base mechanism coordinate system and the instruction position of the first drive unit in the base mechanism.

7. The robot system according to claim 6, characterized in that: The command position of each drive unit in the first mechanical arm mechanism after compensation is obtained by performing compensation calculation according to the command position in the base mechanism coordinate system and the command position of the first drive unit in the base mechanism. The specific calculation process is as follows: R1(n+1)=inv_J1w×R1_w(n+1) =(Xr1 (n+1) ,Yr1 (n+1) ,Zr1 (n+1) ,θr1 (n+1) ), in, R1_w(n+1)=(Xb (n+1) ,Yb (n+1) ,Zb (n+1) ,θb (n+1) ); Xr1 (n+1) =cos(θs)×Xb (n+1) +sin(θs)×Yb (n+1) ; Yr1 (n+1) =-sin(θs)×Xb (n+1) +cos(θs)×Yb (n+1) –rb; Zr1 (n+1) =Zb (n+1) ; θr1 (n+1) =θb (n+1) -θs; R1(n+1) represents the command position of each drive unit in the first robot mechanism after compensation, (Xr1 (n+1) ,Yr1 (n+1) ,Zr1 (n+1) ,θr1 (n+1) ) respectively represent the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and the rotation angle around the Z-axis in the coordinate system of the first robot mechanism, R1_w(n+1) represents the command position in the coordinate system of the base mechanism, (Xb (n+1) ,Yb (n+1) ,Zb (n+1) ,θb (n+1) ) respectively represent the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and the rotation angle around the Z-axis in the base mechanism coordinate system, rb represents the distance between the origin of the base mechanism coordinate system and the origin of the first robot arm mechanism coordinate system, θs represents the rotation angle of the base rotating member, specifically, the difference between the angle of the first driving unit of the base rotating member and the command position S1(n+1) of the first driving unit in the base mechanism.

8. The robot system according to claim 5, characterized in that: The control unit comprises: A second manipulator mechanism instruction operation unit and a compensation unit; The compensation unit is used to receive a command signal, determine whether a compensation operation is required according to the command signal, and if so, send the command position of the second drive unit in the base mechanism to the command operation unit of the second mechanical arm mechanism; The second robotic arm mechanism instruction operation unit is used to receive an instruction signal when the robot system switches to the second working mode, process the instruction signal to form an instruction position in the second robotic arm mechanism coordinate system, calculate the instruction position in the base mechanism coordinate system according to the instruction position in the second robotic arm mechanism coordinate system, and calculate the compensated instruction position of each drive unit in the second robotic arm mechanism according to the instruction position in the base mechanism coordinate system and the instruction position of the second drive unit in the base mechanism.

9. A control method for a robot system, characterized in that: The robot system comprises: A base mechanism, comprising a fixed base and a base rotating member, wherein the base rotating member is driven by a first driving unit to rotate relative to the fixed base about a first rotating axis; A first mechanical arm mechanism mounted on the base rotating member; A second mechanical arm mechanism mounted on the base rotating member; The control method comprises the following steps: receiving a command signal, wherein the command signal includes information about a desired working mode of the robot system; The robot system is switched to a first working mode according to the command signal, the first robot arm mechanism and the second robot arm mechanism are in an operational state, and the base mechanism is in a locked state; According to the instruction signal, the robot system is switched to the second working mode at the end of or after the first working mode, the first robot arm mechanism and the second robot arm mechanism are in an operable state, and the base mechanism is in an operating state.

10. The control method of the robot system according to claim 9, characterized in that: The control method further comprises: According to the instruction signal, the robot system is switched to the third working mode at the end of or after the second working mode, the first robot arm mechanism and the second robot arm mechanism are in a locked state, and the base mechanism is in an operational state.

11. The control method of the robot system according to claim 10, characterized in that: The control method further comprises: Switching the robot system to the second working mode according to the command signal at the end of or after the third working mode, the first robot arm mechanism and the second robot arm mechanism are in an operational state, and the base mechanism is in an operational state; Repeat all the above steps in a continuous cycle.

12. The control method of the robot system according to claim 9, characterized in that: The control method further comprises: receiving a command signal and processing the command signal to form a command position of the first drive unit in the base mechanism, the command signal including a command speed of the first drive unit in the base mechanism; Based on the command signal, each drive unit in the first robot arm mechanism is controlled, and the command signal includes the command speed of each drive unit in the first robot arm mechanism, specifically including: processing the command signal to form a command position under the first robot arm mechanism; if it is determined according to the command signal that compensation operation is required, the command position in the base mechanism coordinate system is calculated according to the command position in the first robot arm mechanism coordinate system; the command position of each drive unit in the first robot arm mechanism after compensation is calculated according to the command position in the base mechanism coordinate system and the command position of the first drive unit in the base mechanism.

13. The control method of the robot system according to claim 12, characterized in that: The command position of each drive unit in the first manipulator mechanism after compensation is calculated according to the command position in the base mechanism coordinate system and the command position of the first drive unit in the base mechanism. The specific calculation process is as follows: R1(n+1)=inv_J1w×R1_w(n+1) =(Xr1 (n+1) ,Yr1 (n+1) ,Zr1 (n+1) ,θr1 (n+1) ), in, R1_w(n+1)=(Xb (n+1) ,Yb (n+1) ,Zb (n+1) ,θb (n+1) ); Xr1 (n+1) =cos(θs)×Xb (n+1) +sin(θs)×Yb (n+1) ; Yr1 (n+1) =-sin(θs)×Xb (n+1) +cos(θs)×Yb (n+1) –rb; Zr1 (n+1) =Zb (n+1) ; θr1 (n+1) =θb (n+1) -θs; R1(n+1) represents the command position of each drive unit in the first robot mechanism after compensation, (Xr1 (n+1) ,Yr1 (n+1) ,Zr1 (n+1) ,θr1 (n+1) ) respectively represent the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and the rotation angle around the Z-axis in the coordinate system of the first robot mechanism, R1_w(n+1) represents the command position in the coordinate system of the base mechanism, (Xb (n+1) ,Yb (n+1) ,Zb (n+1) ,θb (n+1) ) respectively represent the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and the rotation angle around the Z-axis in the base mechanism coordinate system, rb represents the distance between the origin of the base mechanism coordinate system and the origin of the first robot arm mechanism coordinate system, θs represents the rotation angle of the base rotating member, specifically, the difference between the angle of the first driving unit of the base rotating member and the command position S1(n+1) of the first driving unit in the base mechanism.

14. A control device for a robot system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the control method according to any one of claims 9 to 13 is implemented.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for executing the control method according to any one of claims 9 to 13.

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