Dual robot collaborative assembly equipment

Abstract

The present invention relates to the field of robot technology, and in particular to a dual-robot collaborative assembly device, the device comprising: a first robot, used for grabbing parts from different pallets to corresponding assembly tools and adjusting the placement of the parts on the corresponding assembly tools; a second robot, used for assembling parts by adsorbing screws through electromagnetic induction; a plurality of assembly tools; a plurality of pallets; a plurality of screw pickers; an assembly tool head placement table; a camera unit; a workbench; and a central control console, used for judging whether various devices will collide by monitoring the magnitude of induced current; the present invention uses a coil to generate a magnetic field, detects the magnitude of the induced current generated by another coil in the magnetic field, and judges the distance between the two coils, thereby judging whether the robots corresponding to the two coils will collide, effectively avoiding the collision of the dual robots while effectively improving the safety and stability of the dual-robot collaborative assembly device.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a dual-robot collaborative assembly device. Background Art

[0002] In existing workshops or factories, robot assembly is not flexible enough and can only assemble one product, and cannot effectively realize collaborative assembly of two robots. As a result, when operators are assembling, it not only affects assembly efficiency but also risks damaging parts. In addition, it takes more manpower to operate different robots separately at the same time, and robots on the same workbench are prone to collision during replacement of assembly tool heads and assembly.

[0003] Chinese patent application publication number: CN111644831A discloses a dual robot collaboration device for assembling self-reset buttons. The invention is a dual robot collaboration device for assembling self-reset buttons, including a cabinet, a first part detection component, a second part detection component, a first assembly robot, a second assembly robot, a finished product placement component, a conveyor line, a pneumatic system, and a control system. The first part detection component and the second part detection component are used to detect parts. The first assembly robot and the second assembly robot cooperate with each other to complete the assembly of the self-reset button. The finished product placement component is used to place the assembled self-reset button. The conveyor line is used to transport the finished product. The pneumatic system provides pneumatic power for the entire device, and the control system is used to control the entire device. The invention has a novel and flexible structural design and is easy to use. It can be directly connected to an automated production line. The intelligent assembly of the self-reset button is realized through dual robot collaboration, which greatly improves the assembly efficiency and qualified rate of the self-reset button.

[0004] Chinese patent application publication number: CN105034008A discloses an intelligent flexible production line for automatic assembly of dual robots and its operation method. The invention discloses an intelligent flexible production line for automatic assembly of dual robots and its operation method. The production line includes an industrial computer, dual tracks and mobile platforms, dual industrial robots, a control cabinet, a nail feeding system, a vacuum chip suction device, a knife test station and flexible tooling. The dual robot collaborative drilling and riveting working mode is adopted. The dual robot system is distributed on both sides of the product. The position correction of the dual robot is realized by using the detection information of the single-side robot. The robot master-slave allocation is dynamically performed during work. When the master-slave switch is performed, the pressure foot is quickly changed. The master robot drills and presses the front side, and the slave robot presses from the back of the product. After the drilling is completed, the dual robot electromagnetic riveting can be performed. The invention can realize highly intelligent dual robot collaborative drilling and riveting, can complete double-sided hole making and single-sided riveting, effectively suppress burr generation, high riveting quality, wide processing range, high flexibility, and is suitable for various types of products.

[0005] However, the above method has the following problems: when the dual robots are working, monitoring and adjusting the robot's motion status through the visual mechanism cannot effectively avoid collisions between the dual robots, and cannot meet the requirements of assembling a variety of material components. In addition, the detection information of the robot on one side cannot effectively and accurately adjust the robot on the other side. Summary of the invention

[0006] To this end, the present invention provides a dual-robot collaborative assembly device to overcome the problems in the prior art that when the dual robots are working, the movement states of the robots are monitored and adjusted by visual mechanisms, which cannot effectively avoid collisions between the dual robots, and cannot meet the requirements of assembling a variety of material originals, and the detection information of a single-side robot cannot be used to effectively and accurately adjust the robot on the other side.

[0007] To achieve the above object, the present invention provides a dual-robot collaborative assembly device, comprising:

[0008] A first robot, provided with a first induction coil assembly, for grabbing parts from different trays to corresponding assembly tools and adjusting the placement of the parts on the corresponding assembly tools;

[0009] A second robot is provided with a second induction coil assembly for assembling the parts by sucking screws through electromagnetic induction;

[0010] A plurality of said assembly tools, which are used to fix the corresponding parts during the assembly process;

[0011] A plurality of trays are provided with tray coils for containing the parts;

[0012] A plurality of screw reclaimers, each of which is provided with a reclaiming coil for containing the screws;

[0013] a central console, which is connected to the first robot, the second robot, the plurality of pallets and the plurality of screw reclaimers respectively, and is used to determine whether the first robot and the second robot will collide or whether the second robot and the screw reclaimers will collide by monitoring the magnitude of the induced current of the second robot, and to determine whether the first robot and the pallets will collide by monitoring the magnitude of the induced current in the pallets;

[0014] The first induction coil assembly includes a first induction coil, the second induction coil assembly includes a second induction coil, the first induction coil and the material picking coil are powered by alternating current, the second induction coil is powered by alternating current in the head changing state, and the tray coil is not powered.

[0015] Furthermore, it also includes:

[0016] An assembly tool head placement table, which is used to place different assembly tool heads;

[0017] a camera unit connected to the central console, configured to capture the states of the first robot and the second robot during the assembly process and transmit image signals to the central console;

[0018] a workbench, which is respectively connected to the first robot, the second robot, the plurality of assembly tools, the plurality of pallets, the plurality of screw reclaimers, the assembly tool head placement table, the camera unit and the central console, and is used to carry and fix the first robot, the second robot, the plurality of assembly tools, the plurality of pallets, the plurality of screw reclaimers, the assembly tool head placement table, the camera unit and the central console;

[0019] The image signal includes the action states of the first robot and the second robot, and the assembly tool head placement table includes an intelligent pneumatic clamp, an intelligent electric clamp, an intelligent electric press-fit clamp and a screw locking tool.

[0020] Furthermore, a first rotating base and a first tool head are provided on the first robot, and a second rotating base and a second tool head are provided on the second robot;

[0021] The central console divides the rotation angle of the first rotating base and the rotation angle of the second rotating base into a collision angle, a retrieving angle and a head changing angle according to the positions of the assembly tool, the pallet, the screw retrieving machine, the intelligent electric clamp, the intelligent electric press-fitting clamp and the screw locking tool;

[0022] When the first rotating base rotates to the collision angle, the material taking angle or the head changing angle, the first tool head is correspondingly located in the collision area, the material taking area or the head changing area respectively;

[0023] When the second rotating base rotates to the collision angle, the material taking angle or the head changing angle, the second tool head is correspondingly located in the collision area, the material taking area or the head changing area respectively;

[0024] Among them, the collision area is the area where the first robot and the second robot can collide; the material picking area is the area where the first robot grabs parts and the second robot absorbs the screws; the head changing area is the area where the first robot and the second robot replace the corresponding assembly tool heads.

[0025] Further, when the central console determines that the first tool head and the second tool head are in the collision area, it determines whether the first robot and the second robot will collide according to a comparison result between the induced current value of the second robot and the first preset current value, wherein:

[0026] If the induced current value of the second robot is less than the first preset current value, it is determined that the first robot and the second robot will not collide;

[0027] If the induced current value of the second robot is not less than the first preset current value, it is determined that the first robot and the second robot will collide

[0028] Wherein, the first preset current value is positively correlated with the current in the first induction coil.

[0029] Furthermore, when the central console determines that the second tool head is in the material-retrieving area, it determines whether the second robot will collide with the screw retrieving machine according to a comparison result between the induced current value of the second robot and a second preset current value, wherein:

[0030] If the induced current value of the second robot is less than the second preset current value, it is determined that the second robot and the screw reclaimer will not collide;

[0031] If the induced current value of the second robot is not less than the second preset current value, it is determined that the second robot collides with the screw picker;

[0032] Wherein, the second preset current value is positively correlated with the current in the material taking coil.

[0033] Furthermore, when the central console determines that the first tool head is in the material picking area, it determines whether the first robot will collide with each of the pallets according to a comparison result between the induced current value in each of the pallets and a third preset current value, wherein:

[0034] If the induced current in any of the trays is greater than or equal to the third preset current value, it is determined that the first robot will collide with the corresponding tray;

[0035] Among them, the third preset current value is positively correlated with the current in the material picking coil.

[0036] Furthermore, the first tool head and the second tool head cannot enter the head changing area at the same time.

[0037] Furthermore, when the second tool head enters the head changing area, the second induction coil is powered by alternating current.

[0038] The first tool head picks up or puts down the assembly tool head by switching on or off the alternating current in the first induction coil;

[0039] The second tool head absorbs or puts down the assembly tool head by switching on or off the alternating current in the second induction coil.

[0040] Furthermore, the first robot, in a state of grasping a part, moves to a grasping position corresponding to the pallet and disconnects the current of the first induction coil;

[0041] The second robot moves to the adsorption position corresponding to the screw picker in the state of adsorbing the screws, the current of the picker coil is disconnected, and the second induction coil is energized.

[0042] Furthermore, cameras are respectively arranged on the first tool head and the second tool head, and the cameras can capture the action status of the first tool head and the second tool head, and transmit the action status to the central console.

[0043] The central console can adjust the positions of the first tool head and the second tool head according to the action state.

[0044] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention utilizes the coil to generate a magnetic field, detects the size of the induced current generated by another coil in the magnetic field to determine the distance between the two coils, and thereby determines whether the robots corresponding to the two coils will collide. While effectively avoiding the collision of the two robots, the safety and stability of the dual-robot collaborative assembly equipment are effectively improved.

[0045] Furthermore, the present invention utilizes coils respectively arranged on the pallet for holding parts and the screw picker, which can effectively prevent the robot from colliding with the pallet or the screw picker when grabbing parts or sucking screws. While effectively avoiding damage to the robot, it further improves the safety and stability of the dual-robot collaborative assembly equipment.

[0046] Furthermore, the present invention increases the robot's ability to perform various assembly tasks by providing different assembly tool head placement tables, while effectively adapting to the production of different products and further improving the safety and stability of the dual-robot collaborative assembly equipment.

[0047] Furthermore, the present invention arranges a camera unit to capture the robot's motion status, timely observes the robot's motion trajectory and adjusts the robot on the central console, so as to perform assembly work more accurately, effectively avoiding robot collisions while further improving the safety and stability of the dual-robot collaborative assembly equipment.

[0048] Furthermore, the present invention provides a limiting tool that matches the shape of the corresponding part on each of the assembly tools to better cooperate with the robot's assembly work, thereby effectively improving production efficiency and production quality while further improving the safety and stability of the dual-robot collaborative assembly equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a structural diagram of the dual-robot collaborative assembly equipment of the present invention;

[0050] Figure 2 It is a structural diagram of a workbench according to an embodiment of the present invention;

[0051] Figure 3 is a structural diagram of a first robot according to an embodiment of the present invention;

[0052] Figure 4 is a structural diagram of a second robot according to an embodiment of the present invention;

[0053] Figure 5 It is a structural diagram of a quick-change tool according to an embodiment of the present invention;

[0054] Figure 6 This is a structural diagram of an intelligent pneumatic gripper according to an embodiment of the present invention;

[0055] Figure 7 is a circuit diagram of an induction coil according to an embodiment of the present invention;

[0056] Figure 8 This is a structural diagram of a car model tray according to an embodiment of the present invention;

[0057] Fig. 9 This is a structural diagram of a building block trolley pallet according to an embodiment of the present invention;

[0058] Fig.10 This is a structural diagram of a waist-mounted fan tray according to an embodiment of the present invention;

[0059] Fig.11 This is a structural diagram of a first screw reclaimer according to an embodiment of the present invention;

[0060] Fig.12 This is a structural diagram of a second screw reclaimer according to an embodiment of the present invention;

[0061] Among them, 1, the first robot; 101, the first induction coil assembly; 1011, the first induction coil; 1012, the first switch; 1013, the first power supply; 102, the first rotating base; 103, the first tool head; 104, the first main robotic arm; 105, the first auxiliary robotic arm; 106, the first camera; 2, the car model tray; 201, the car model parts; 202, the car model tray coil; 3, the car model assembly tooling; 4, the waist-hanging fan tray; 401, the waist-hanging fan parts; 402, the waist-hanging fan tray coil; 5, the building block car tray; 501, the building block car parts; 502, the building block car tray coil; 6, the second robot; 601, the second induction coil assembly; 6011, the second induction coil; 6012, the second switch ; 6013, second power supply; 6014, induction ammeter; 602, second rotating base; 603, second tool head; 604, second main robotic arm; 605, second auxiliary robotic arm; 606, second camera; 7, building block car assembly tool; 8, fan assembly tool; 9, intelligent pneumatic clamp; 10, intelligent electric clamp; 11, intelligent electric pressing clamp; 12, screw locking tool; 13, first screw feeder; 1301, first feed coil; 1302, first screw feed port; 14, second screw feeder; 1401, second feed coil; 1402, second screw feed port; 15, camera unit; 16, workbench; 17, center console; 18, collision area; 19, feed area; 20, head replacement area. DETAILED DESCRIPTION

[0062] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0063] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0064] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0065] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] See also Figure 1 As shown, it is a structural diagram of a dual-robot collaborative assembly device of the present invention, a dual-robot collaborative assembly device, comprising:

[0067] A first robot is provided with a first induction coil assembly, and is used to grab parts from different trays to corresponding assembly tools and adjust the placement of the parts on the corresponding assembly tools;

[0068] A second robot is provided with a second induction coil assembly for assembling parts by sucking screws through electromagnetic induction;

[0069] Several assembly tools, which are used to fix the corresponding parts during the assembly process;

[0070] A plurality of trays, each provided with a tray coil, for containing parts;

[0071] Several screw reclaimers, which are provided with reclaiming coils for containing screws;

[0072] a central control console, which is respectively connected to the first robot, the second robot, a plurality of pallets and a plurality of screw reclaimers, and is used to determine whether the first robot and the second robot will collide or whether the second robot and each screw reclaimer will collide by monitoring the magnitude of the induced current of the second robot, and to determine whether the first robot and each pallet will collide by monitoring the magnitude of the induced current in each pallet;

[0073] Among them, the first induction coil assembly includes a first induction coil, the second induction coil assembly includes a second induction coil, the first induction coil and the material picking coil are powered by alternating current, the second induction coil is powered by alternating current when the head is changed, and the tray coil is not energized.

[0074] It can be understood that the first induction coil, the material picking coil, the second induction coil and the tray coil are all arranged inside the corresponding equipment.

[0075] Example 1: In this example, please continue to refer to Figure 1As shown, the first robot 1, the car model tray 2, the car model assembly tool 3, the waist-hanging fan tray 4, the building block car tray 5, the second robot 6, the building block car assembly tool 7, the fan assembly tool 8, the intelligent pneumatic clamp 9, the intelligent electric clamp 10, the intelligent electric press-fit clamp 11, the screw locking tool 12, the first screw picker 13, the second screw picker 14, the camera unit 15 and the central console 17 are arranged on the workbench 16.

[0076] The car model assembly tool 3, the building block car assembly tool 7 and the fan assembly tool 8 are located in the collision area;

[0077] The car model tray 2, the waist fan tray 4, the building block car tray 5, the first screw reclaimer 13 and the second screw reclaimer 14 are located in the reclaiming area;

[0078] The intelligent pneumatic clamp 9, the intelligent electric clamp 10, the intelligent electric press-fit clamp 11 and the screw locking tool 12 are located in the head changing area;

[0079] The collision area 18 is located in the area where the car model assembly tool 3, the building block car assembly tool 7 and the fan assembly tool 8 are projected onto the workbench 16;

[0080] The material taking area 19 is located in the area where the car model tray 2, the waist fan tray 4, the building block trolley tray 5, the first screw material taking machine 13 and the second screw material taking machine 14 are projected onto the workbench 16;

[0081] The head replacement area 20 is located in the area where the intelligent electric clamping jaw 10 , the intelligent electric press-fitting clamping jaw 11 and the screw locking tool 12 are projected onto the workbench 16 .

[0082] Specifically, the present invention uses a coil to generate a magnetic field by energizing the coil, and detects the size of the induced current generated by another coil in the magnetic field to determine the distance between the two coils, thereby determining whether the robots corresponding to the two coils will collide. While effectively avoiding collisions between the two robots, the present invention effectively improves the safety and stability of the dual-robot collaborative assembly equipment.

[0083] Specifically, the present invention utilizes coils arranged on a pallet for holding parts and a screw picker respectively, which can effectively prevent the robot from colliding with the pallet or the screw picker when grabbing parts or sucking screws. While effectively avoiding damage to the robot, it further improves the safety and stability of the dual-robot collaborative assembly equipment.

[0084] See also Figure 2 As shown, it is a structural diagram of a workbench according to an embodiment of the present invention, a dual-robot collaborative assembly device, further comprising:

[0085] An assembly tool head placement table, which is used to place different assembly tool heads;

[0086] A camera unit connected to the central console, used to photograph the states of the first robot and the second robot during the assembly process and transmit image signals to the central console;

[0087] A workbench, which is respectively connected to the first robot, the second robot, a plurality of assembly tools, a plurality of pallets, a plurality of screw reclaimers, an assembly tool head placement table, a camera unit and a central console, and is used to carry and fix the first robot, the second robot, a plurality of assembly tools, a plurality of pallets, a plurality of screw reclaimers, an assembly tool head placement table, a camera unit and a central console;

[0088] The image signal includes the action states of the first robot and the second robot, and the assembly tool head placement table includes an intelligent pneumatic clamp, an intelligent electric clamp, an intelligent electric press-fit clamp and a screw locking tool.

[0089] Specifically, the present invention increases the robot's ability to perform various assembly tasks by providing different assembly tool head placement tables, while effectively adapting to the production of different products and further improving the safety and stability of the dual-robot collaborative assembly equipment.

[0090] In one embodiment, see Figure 8 As shown, it is a structural diagram of a car model tray according to an embodiment of the present invention, the car model tray 2 includes a car model part 201 and a car model tray coil 202; the car model part 201 is placed on the car model tray 2, and the car model tray coil 202 is arranged in the car model tray 2; the first robot 1 grabs the car model part 201 from the car model tray 2 for processing.

[0091] In one embodiment, see Fig. 9 As shown, it is a structural diagram of a building block cart pallet according to an embodiment of the present invention. The building block cart pallet 5 includes a building block cart part 501 and a building block cart pallet coil 502; the building block cart part 501 is placed on the building block cart pallet 5, and the building block cart pallet coil 502 is arranged in the building block cart pallet 5; the first robot 1 grabs the building block cart part 501 from the building block cart pallet 5 for processing.

[0092] In one embodiment, see Fig.10 As shown, it is a structural diagram of a waist-hanging fan tray according to an embodiment of the present invention, the waist-hanging fan tray 4 includes a waist-hanging fan part 401 and a waist-hanging fan tray coil 402; the waist-hanging fan part 401 is placed on the waist-hanging fan tray 4, and the waist-hanging fan tray coil 402 is arranged in the waist-hanging fan tray 4; the first robot 1 grabs the waist-hanging fan part 401 from the waist-hanging fan tray 4 for processing.

[0093] It can be understood that the shell material of the car model tray 2, the building block car tray 5 and the waist-hanging fan tray 4 is a non-electrical non-metallic material, and when the induction coil is energized, no induced current and induced magnetic field will be generated.

[0094] See also Figure 3 and Figure 4 As shown, they are respectively a structural diagram of a first robot according to an embodiment of the present invention and a structural diagram of a second robot according to an embodiment of the present invention, wherein the first robot 1 is provided with a first induction coil assembly 101, a first rotating base 102, a first tool head 103, a first main robotic arm 104, a first auxiliary robotic arm 105 and a first camera 106, and the second robot 6 is provided with a second induction coil assembly 601, a second rotating base 602, a second tool head 603, a second main robotic arm 604, a second auxiliary robotic arm 605 and a second camera 606;

[0095] The central console divides the rotation angle of the first rotating base and the rotation angle of the second rotating base into collision angle, retrieving angle and head changing angle respectively according to the positions of the assembly tool, pallet, screw reclaimer, intelligent electric clamp, intelligent electric press clamp and screw locking tool;

[0096] It can be understood that the angle range corresponding to the rotation of the first rotating base to the area where the first main robot arm enters the projection of the assembly tooling on the workbench is the collision angle of the first rotating base; the angle range corresponding to the rotation of the second rotating base to the area where the second main robot arm enters the projection of the assembly tooling on the workbench is the collision angle of the second rotating base.

[0097] It can be understood that the angle range corresponding to the area where the first rotating base rotates to the first main robotic arm enters the projection of the tray on the workbench is the material picking angle of the first rotating base; the angle range corresponding to the area where the second rotating base rotates to the second main robotic arm enters the projection of the screw picker on the workbench is the material picking angle of the second rotating base.

[0098] It can be understood that the area where the first rotating base rotates to the first main robotic arm entering the intelligent electric gripper, the intelligent electric press-fitting gripper and the screw locking tool are projected on the workbench corresponds to the angle range of the first rotating base; the area where the second rotating base rotates to the second main robotic arm entering the intelligent electric gripper, the intelligent electric press-fitting gripper and the screw locking tool are projected on the workbench corresponds to the angle range of the second rotating base.

[0099] When the first rotating base rotates to a collision angle, a material taking angle, or a head changing angle, the first tool head is correspondingly located in a collision area, a material taking area, or a head changing area;

[0100] When the second rotating base rotates to the collision angle, the material taking angle or the head changing angle, the second tool head is correspondingly located in the collision area, the material taking area or the head changing area;

[0101] Among them, the collision area is the area where the first robot and the second robot can collide; the material picking area is the area where the first robot grabs parts and the second robot absorbs screws; the head changing area is the area where the first robot and the second robot replace the corresponding assembly tool heads.

[0102] Example 2: Please continue to refer to Figure 3 and Figure 4 As shown, based on the embodiment 1, this embodiment is different from the embodiment 1 in that the first induction coil assembly 101 is arranged on the first robot 1; the first rotating base 102 is arranged at the bottom of the first robot 1; the first tool head 103 is arranged at the end of the first robot 1; the first main robot arm 104 is connected to the first rotating base 102; the first auxiliary robot arm 105 is connected to the first main robot arm 104; the first camera 106 is connected to the first auxiliary robot arm 105;

[0103] The second induction coil assembly 601 is arranged on the second robot 6; the second rotating base 602 is arranged at the bottom of the second robot 6; the second tool head 603 is arranged at the end of the second robot 6; the second main robotic arm 604 is connected to the second rotating base 602; the second auxiliary robotic arm 605 is connected to the second main robotic arm 604; the second camera 606 is connected to the second auxiliary robotic arm 605.

[0104] Specifically, when determining that the first tool head and the second tool head are in the collision area, the central console determines whether the first robot and the second robot will collide based on the comparison result between the induced current value of the second robot and the first preset current value, wherein:

[0105] If the induced current value of the second robot is less than the first preset current value, it is determined that the first robot and the second robot will not collide;

[0106] If the induced current value of the second robot is not less than the first preset current value, it is determined that the first robot and the second robot will collide.

[0107] Embodiment 3: Based on Embodiment 2, this embodiment is different from the embodiment in that the first preset current value is 0.1A, and if the induced current of the second robot is 0.06A, which is less than the first preset current value of 0.1A, it is determined that the first robot and the second robot will not collide;

[0108] If the induced current of the second robot is 0.2A, which is greater than the first preset current value of 0.1A, it is determined that the first robot and the second robot will collide.

[0109] The first preset current value is positively correlated with the current in the first induction coil.

[0110] It can be understood that when the number of turns of the first induction coil is determined, the greater the current passing through the coil, the greater the magnetic flux of the magnetic field generated by it, and the greater the induced current generated when the induction coil cuts the magnetic flux lines in the magnetic field at a certain speed.

[0111] Optionally, when the current in the first induction coil is 1 ampere, the first preset current value is 0.1 ampere;

[0112] When the current in the first induction coil is 2A, the first preset current value is 0.13A;

[0113] When the current in the first induction coil is 3A, the first preset current value is 0.18A.

[0114] Specifically, when the central console determines that the second tool head is in the material picking area, it determines whether the second robot will collide with the screw picker according to the comparison result between the induced current value of the second robot and the second preset current value, wherein:

[0115] If the induced current value of the second robot is less than the second preset current value, it is determined that the second robot will not collide with the screw reclaimer;

[0116] If the induced current value of the second robot is not less than the second preset current value, it is determined that the second robot collides with the screw picker;

[0117] Embodiment 4: Based on Embodiment 3, this embodiment is different from the embodiment in that the second preset current value is 0.08A. If the induced current of the second robot is 0.04A, which is less than the second preset current value of 0.08A, it is determined that the second robot will not collide with the screw reclaimer.

[0118] If the induced current of the second robot is 0.1A, which is greater than the second preset current value of 0.08A, it is determined that the second robot will collide with the screw picker.

[0119] The second preset current value is positively correlated with the current in the material taking coil.

[0120] It can be understood that when the number of turns of the material taking coil is determined, the greater the current passing through the coil, the greater the magnetic flux of the magnetic field it generates, and the greater the induced current generated when the induction coil cuts the magnetic flux lines in the magnetic field at a certain speed.

[0121] Optionally, when the current in the material taking coil is 1 ampere, the second preset current value is 0.08 ampere;

[0122] When the current in the material taking coil is 2A, the second preset current value is 0.12A;

[0123] When the current in the material taking coil is 3A, the second preset current value is 0.15A.

[0124] Specifically, when the central console determines that the first tool head is in the material picking area, it determines whether the first robot will collide with each pallet according to the comparison result between the induced current value in each pallet and the third preset current value, wherein:

[0125] If the induced current in any tray is greater than or equal to a third preset current value, it is determined that the first robot will collide with the corresponding tray;

[0126] Embodiment 4: Based on Embodiment 3, this embodiment is different from the embodiment 3 in that the third preset current value is 0.07A. If the induced current in the tray is 0.12A, which is greater than the third preset current value 0.07A, it is determined that the first robot will collide with the corresponding tray.

[0127] The third preset current value is positively correlated with the current in the material taking coil.

[0128] It can be understood that when the number of turns of the material taking coil is determined, the greater the current passing through the coil, the greater the magnetic flux of the magnetic field it generates, and the greater the induced current generated when the induction coil cuts the magnetic flux lines in the magnetic field at a certain speed.

[0129] Optionally, when the current in the material taking coil is 1 ampere, the third preset current value is 0.07 ampere;

[0130] When the current in the material taking coil is 2A, the third preset current value is 0.13A;

[0131] When the current in the material taking coil is 3A, the third preset current value is 0.16A.

[0132] Specifically, the first tool head and the second tool head cannot enter the head changing area at the same time.

[0133] See also Figure 5 and Figure 6 As shown, they are respectively a structural diagram of a quick-change tool according to an embodiment of the present invention and a structural diagram of an intelligent pneumatic clamp according to an embodiment of the present invention; when the second tool head enters the head-changing area, an alternating current is passed through the second induction coil,

[0134] The first tool head picks up or puts down the assembly tool head by switching on or off the alternating current in the first induction coil;

[0135] The second tool head is connected or disconnected by the alternating current in the second induction coil to absorb or put down the assembly tool head.

[0136] Specifically, the first robot moves to a grasping position corresponding to the pallet in a state of grasping the parts, and disconnects the current of the first induction coil;

[0137] The second robot moves to the adsorption position corresponding to the screw picker while adsorbing the screws, the picker coil disconnects the current, and the second induction coil is energized.

[0138] Specifically, each assembly tool is provided with a limiting tool that matches the shape of the corresponding part.

[0139] Specifically, the present invention provides each assembly tool with a limiting tool that matches the shape of the corresponding part to better cooperate with the robot's assembly work, thereby effectively improving production efficiency and production quality while further improving the safety and stability of the dual-robot collaborative assembly equipment.

[0140] Specifically, cameras are respectively arranged on the first tool head and the second tool head, and the cameras can capture the action status of the first tool head and the second tool head and transmit the action status to the central console.

[0141] The central console can adjust the positions of the first tool head and the second tool head according to the action status.

[0142] Specifically, the present invention arranges a camera unit to capture the robot's movement status, timely observes the robot's movement trajectory and adjusts the robot on the central console, so as to perform assembly work more accurately. While effectively avoiding robot collisions, the safety and stability of the dual-robot collaborative assembly equipment are further improved.

[0143] See also Fig.11 and Fig.12 As shown, they are respectively a structural diagram of the first screw feeder according to an embodiment of the present invention and a structural diagram of the second screw feeder according to an embodiment of the present invention; the first screw feeder 13 includes a first feed coil 1301 and a first screw feed port 1302; the second screw feeder 14 includes a second feed coil 1401 and a second screw feed port 1402; the first feed coil 1301 is arranged in the first screw feeder 13; the first screw feed port 1302 is arranged on the first screw feeder 13; the second feed coil 1401 is arranged in the second screw feeder 14; the second screw feed port 1402 is arranged on the second screw feeder 14.

[0144] See also Figure 7 As shown, it is a circuit diagram of the induction coil of the embodiment of the present invention; the first induction coil assembly 101 includes a first induction coil 1011, a first switch 1012 and a first power supply 1013; the second induction coil assembly 601 includes a second induction coil 6011, a second switch 6012, a second power supply 6013 and an induction ammeter 6014;

[0145] When the first robot 1 approaches the second robot 6, the second switch 6012 is connected to one side of the induction ammeter 6014, and the second induction coil 6011 cuts the magnetic flux lines in the magnetic field generated by the first induction coil 1011 to generate an induced current. If the induction ammeter 6014 detects that the induced current is less than the first preset current value, it is determined that the first robot and the second robot will not collide. If the induction ammeter 6014 detects that the induced current is not less than the first preset current value, it is determined that the first robot and the second robot will collide.

[0146] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0147] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dual-robot collaborative assembly device, characterized in that: include: A first robot, provided with a first induction coil assembly, for grabbing parts from different trays to corresponding assembly tools and adjusting the placement of the parts on the corresponding assembly tools; A second robot is provided with a second induction coil assembly for assembling the parts by sucking screws through electromagnetic induction; A plurality of said assembly tools, which are used to fix the corresponding parts during the assembly process; A plurality of trays are provided with tray coils for containing the parts; A plurality of screw reclaimers, each of which is provided with a reclaiming coil for containing the screws; a central console, which is connected to the first robot, the second robot, the plurality of pallets and the plurality of screw reclaimers respectively, and is used to determine whether the first robot and the second robot will collide or whether the second robot and the screw reclaimers will collide by monitoring the magnitude of the induced current of the second robot, and to determine whether the first robot and the pallets will collide by monitoring the magnitude of the induced current in the pallets; Wherein, the first induction coil assembly includes a first induction coil, the second induction coil assembly includes a second induction coil, the first induction coil and the material taking coil are powered by alternating current, the second induction coil is powered by alternating current in the state of head replacement, and the tray coil is not powered; An assembly tool head placement table, which is used to place different assembly tool heads; a camera unit connected to the central console, configured to capture the states of the first robot and the second robot during the assembly process and transmit image signals to the central console; a workbench, which is respectively connected to the first robot, the second robot, the plurality of assembly tools, the plurality of pallets, the plurality of screw reclaimers, the assembly tool head placement table, the camera unit and the central console, and is used to carry and fix the first robot, the second robot, the plurality of assembly tools, the plurality of pallets, the plurality of screw reclaimers, the assembly tool head placement table, the camera unit and the central console; The image signal includes the action states of the first robot and the second robot, and the assembly tool head placement table includes an intelligent pneumatic gripper, an intelligent electric gripper, an intelligent electric press-fitting gripper and a screw locking tool; The first robot is provided with a first rotating base and a first tool head, and the second robot is provided with a second rotating base and a second tool head; The central console divides the rotation angle of the first rotating base and the rotation angle of the second rotating base into a collision angle, a retrieving angle and a head changing angle according to the positions of the assembly tool, the pallet, the screw retrieving machine, the intelligent electric clamp, the intelligent electric press-fitting clamp and the screw locking tool; When the first rotating base rotates to the collision angle, the material taking angle or the head changing angle, the first tool head is correspondingly located in the collision area, the material taking area or the head changing area respectively; When the second rotating base rotates to the collision angle, the material taking angle or the head changing angle, the second tool head is correspondingly located in the collision area, the material taking area or the head changing area respectively; The collision area is an area where the first robot and the second robot can collide; the material picking area is an area where the first robot grabs parts and the second robot absorbs the screws; the head replacement area is an area where the first robot and the second robot replace the corresponding assembly tool heads; When determining that the first tool head and the second tool head are in the collision area, the central console determines whether the first robot and the second robot will collide based on a comparison result between the induced current value of the second robot and a first preset current value, wherein: If the induced current value of the second robot is less than the first preset current value, it is determined that the first robot and the second robot will not collide; If the induced current value of the second robot is not less than the first preset current value, it is determined that the first robot and the second robot will collide; Wherein, the first preset current value is positively correlated with the current in the first induction coil; When the second tool head enters the head changing area, the second induction coil is powered by alternating current. The first tool head picks up or puts down the assembly tool head by switching on or off the alternating current in the first induction coil; The second tool head absorbs or puts down the assembly tool head by switching on or off the alternating current in the second induction coil.

2. The dual-robot collaborative assembly equipment according to claim 1, characterized in that: When determining that the second tool head is in the material picking area, the central console determines whether the second robot will collide with the screw picker according to a comparison result between the induced current value of the second robot and a second preset current value, wherein: If the induced current value of the second robot is less than the second preset current value, it is determined that the second robot and the screw reclaimer will not collide; If the induced current value of the second robot is not less than the second preset current value, it is determined that the second robot collides with the screw picker; Wherein, the second preset current value is positively correlated with the current in the material taking coil.

3. The dual-robot collaborative assembly equipment according to claim 2, characterized in that: When determining that the first tool head is in the material picking area, the central console determines whether the first robot will collide with each of the pallets according to a comparison result between the induced current value in each of the pallets and a third preset current value, wherein: If the induced current in any of the trays is greater than or equal to the third preset current value, it is determined that the first robot will collide with the corresponding tray; Among them, the third preset current value is positively correlated with the current in the material picking coil.

4. The dual-robot collaborative assembly equipment according to claim 3, characterized in that: The first tool head and the second tool head cannot enter the head changing area at the same time.

5. The dual-robot collaborative assembly equipment according to claim 4, characterized in that: The first robot moves to a grasping position corresponding to the pallet while grasping the parts, and disconnects the current of the first induction coil; The second robot moves to the adsorption position corresponding to the screw picker in the state of adsorbing the screws, the current of the picker coil is disconnected, and the second induction coil is energized.

6. The dual-robot collaborative assembly equipment according to claim 5, characterized in that: The first tool head and the second tool head are respectively provided with cameras, and the cameras can capture the action status of the first tool head and the second tool head, and transmit the action status to the central console. The central console can adjust the positions of the first tool head and the second tool head according to the action state.

Images