Multifunctional application control method based on double-arm robot

Abstract

The invention discloses a multifunctional application control method based on a double-arm robot, and relates to the technical field of robot control, the double-arm robot and a mobile intelligent AGV platform are included, the double-arm robot is provided with an intelligent quick-change disc, and the intelligent quick-change disc is connected with a composite tool module; an intelligent system, a water, electricity and gas integrated module lifting system and an auxiliary driving system are arranged in the mobile intelligent AGV platform, the intelligent system is used for controlling the robot to receive, judge and issue an execution instruction, the double-arm robot is combined with the intelligent AGV platform, the double-arm robot rapidly switches a composite tool module through an intelligent quick-change disc, and the robot is connected with the intelligent AGV platform. By combining the autonomous navigation capability of the AGV platform, tasks can be seamlessly connected among different stations, the time loss of traditional manual reloading and positioning is reduced, full-chain automation from task planning, environment perception and tool switching to autonomous charging is realized, and the problems of low efficiency, poor flexibility and high manual dependency in a traditional industrial scene are solved.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a multifunctional application control method based on a dual-arm robot. Background Art

[0002] With the development of industrial intelligent manufacturing, the manufacturing industry is undergoing profound changes. Traditional production lines are gradually shifting towards automation, digitalization and intelligence. Initially, industrial robots were mainly used for tasks with high repetitiveness and high labor intensity, such as welding and spraying in automobile manufacturing. These robots usually have a single-arm structure and a single function, making it difficult to adapt to changing production needs. Compared with traditional single-arm robots, dual-arm robots can better simulate the operation methods of human hands and are suitable for more complex and delicate tasks, such as electronic component assembly and precision instrument manufacturing. Against this background, a multi-functional application system based on a dual-arm robot workstation came into being, aiming to solve the low efficiency, lack of flexibility and safety problems in the traditional manufacturing process. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the present invention provides an application method based on a dual-arm robot workstation, which solves the problem of low working efficiency of the existing device.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: a multifunctional application control method based on a dual-arm robot, including a dual-arm robot and an intelligent AGV platform, the dual-arm robot is provided with an intelligent quick-change disk and a visual system, the intelligent quick-change disk is connected to a composite tool module, the intelligent AGV platform is provided with an intelligent system, a water, electricity and gas integration module, a lifting system and an auxiliary drive system, the intelligent system is used to control the robot to receive, judge and issue execution instructions, the intelligent system includes an intelligent charging system and an intelligent navigation system, the auxiliary drive system is located at the bottom of the intelligent AGV platform, the auxiliary drive system is used to drive the intelligent AGV platform to move, and the lifting system is used to control the lifting and lowering of the intelligent AGV platform.

[0005] Preferably, the method includes the following steps: S1, the intelligent system sends instructions to the intelligent AGV platform and the dual-arm robot, and the dual-arm robot performs corresponding actions upon receiving the instructions; S2. The position and posture of the workpiece are determined by the visual system, the environment is monitored in real time, the posture recognition and position correction functions of the workpiece are provided, and the relevant information is fed back to the intelligent system. If the position changes, the visual system will feedback instructions to the intelligent system; S3, the intelligent system receives the offset of the visual system through calculation by the visual system, and issues instructions to the dual-arm robot to correct the position and movement; S4, the intelligent system determines the different tools in the required composite tool module, and the water, electricity and gas integration module feeds back status information to the intelligent system after receiving the instruction, and the intelligent system issues the instruction to the intelligent quick-change disk after receiving the instruction; S5. After receiving the instruction, the intelligent quick-change disk executes and feeds back to the intelligent system. After receiving the instruction, the intelligent system issues the instruction to the dual-arm robot. After receiving the instruction, the dual-arm robot guides the intelligent quick-change disk to match the corresponding composite tool module.

[0006] S6, the dual-arm robot receives the instruction and executes the instruction to grab the tool in the composite tool module; S7, the intelligent system determines the current state of the battery pack power. When the battery pack reaches a critical power-deficient value, the intelligent system issues an instruction to the auxiliary drive system of the intelligent AGV platform; S8, the auxiliary drive System interface After receiving the instruction, the intelligent AGV platform is driven to move to the designated charging position. The intelligent AGV platform reaches the designated area and sends instructions to the intelligent system. After receiving the instruction, the intelligent system issues instructions to the intelligent charging system. The intelligent charging system receives the instruction and turns on the power to charge the battery pack in the intelligent AGV platform, and returns to the working state after charging is completed.

[0007] Preferably, the intelligent navigation system can guide the intelligent AGV platform to move to a predetermined work location or stop point according to a pre-set path planning, and feed back the location information to the intelligent system.

[0008] Preferably, a steering wheel is provided below the intelligent AGV platform, a motor is provided inside the intelligent AGV platform, and the motor drive end is connected to the steering wheel.

[0009] Preferably, the composite tool module includes, but is not limited to, a glue gun, a welding gun, a gripper, a cutting tool, a grinding tool, an electric spindle, and a rivet gun.

[0010] Preferably, the water, electricity and gas integrated module includes but is not limited to a water unit, an electricity unit and a gas unit.

[0011] Preferably, the dual-arm robot is provided with a safety laser radar.

[0012] Preferably, laser obstacle avoidance sensors are provided around the intelligent AGV platform. Beneficial effects

[0013] The present invention provides a multifunctional application control method based on a dual-arm robot, which has the following beneficial effects: by combining the dual-arm robot with the intelligent AGV platform, the dual-arm robot can quickly switch the composite tool module through the intelligent quick-change disk. Combined with the autonomous navigation capability of the AGV platform, it can seamlessly connect tasks between different workstations, reducing the time loss of traditional manual changing and positioning, and realizing full-chain automation from task planning, environmental perception, tool switching to autonomous charging, solving the pain points of low efficiency, poor flexibility and high manual dependence in traditional industrial scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the present invention.

[0015] Figure 2 It is a structural schematic diagram of the present invention.

[0016] In the picture: 1. Dual-arm robot; 2. Intelligent AGV platform; 3. Intelligent quick-change plate; 4. Composite tool module ； 6. Water, electricity and gas integrated module; 7. Lifting system; 8. Auxiliary drive system; 9. Intelligent charging system; 10. Intelligent navigation system; 11. Vision system; 12. Safety laser radar; 13. Laser obstacle avoidance sensor; DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0018] See also Figure 1-2The present invention provides a technical solution: a multifunctional application control method based on a dual-arm robot, comprising a dual-arm robot and an intelligent AGV platform, wherein the dual-arm robot is provided with an intelligent quick-change disk and a visual system, the intelligent quick-change disk is connected to a composite tool module, the intelligent AGV platform is provided with an intelligent system, a water, electricity and gas integration module, a lifting system and an auxiliary drive system, the intelligent system is used to control the robot to receive, judge and issue execution instructions, the intelligent system includes an intelligent charging system and an intelligent navigation system, the auxiliary drive system is located at the bottom of the intelligent AGV platform, the auxiliary drive system is used to drive the intelligent AGV platform to move, and the lifting system is used to control the lifting of the intelligent AGV platform; comprising the following steps: S1. The intelligent system sends instructions to the intelligent AGV platform and the dual-arm robot, and the dual-arm robot performs corresponding actions after receiving the instructions; S2. The position and posture of the workpiece are determined by the visual system, the environment is monitored in real time, the posture recognition and position correction functions of the workpiece are provided, and the relevant information is fed back to the intelligent system. If the position changes, the visual system will feed back instructions to the intelligent system; S3. The intelligent system receives the offset of the visual system through calculation by the visual system, and issues instructions to the dual-arm robot for position and movement correction; S4. The intelligent system determines the different tools in the required composite tool module, and the water, electricity and gas integration module feeds back the status information to the intelligent system after receiving the instructions. After receiving the instructions, the intelligent system issues instructions to the intelligent quick-change disk; S5. After receiving the instructions, the intelligent quick-change disk executes and feeds back to the intelligent system. After receiving the instructions, the intelligent system issues instructions to the dual-arm robot. After receiving the instructions, the dual-arm robot guides the intelligent quick-change disk to match the corresponding composite tool module.S6, the dual-arm robot receives the instruction and executes to grab the tool in the composite tool module; S7, the intelligent system determines the current state of the battery pack power, and when the battery pack reaches the critical value of power shortage, the intelligent system issues an instruction to the auxiliary drive system of the intelligent AGV platform; S8, after receiving the instruction, the auxiliary drive system drives the intelligent AGV platform to move to the designated charging position, and the intelligent AGV platform arrives at the designated position area and sends an instruction to the intelligent system, and the intelligent system receives the instruction and issues an instruction to the intelligent charging system, and the intelligent charging system receives the instruction and turns on the power to charge the battery pack in the intelligent AGV platform, and It returns to working state after charging is completed; the intelligent navigation system can guide the intelligent AGV platform to move to the predetermined work location or stop point according to the pre-set path planning, and feedback the location information to the intelligent system; a steering wheel is provided under the intelligent AGV platform, and a motor is provided in the intelligent AGV platform, and the motor drive end is connected to the steering wheel; the composite tool module includes but is not limited to a gluing gun, a welding gun, a gripper, a cutting tool, a grinding tool, an electric spindle and a rivet gun; the water, electricity and gas integration module includes but is not limited to a water unit, an electricity unit and a gas unit; a safety laser radar is provided on the dual-arm robot; laser obstacle avoidance sensors are provided around the intelligent AGV platform.

[0019] By those skilled in the art, the components in this case are connected in sequence. The specific connection and operation sequence should refer to the following working principle. The detailed connection means are well-known technologies in this field. The following mainly introduces the working principle and process.

[0020] Example 1: The intelligent system receives internal / external instructions and determines the required tool modules such as glue guns, welding guns, grippers, cutting machines, grinders, electric spindles and rivet guns according to the instruction type. The intelligent system sends the tool selection instruction to the intelligent quick-change disk, and the quick-change disk automatically switches to the target tool module interface. After the switching is completed, the intelligent quick-change disk feeds back a signal to the intelligent system. The intelligent system controls the dual-arm robot to move to the tool module position. The robot grabs the tool and feeds back a signal that it is in place. If the tool requires division of labor, such as the welding gun requires two arms to grab the positive and negative poles respectively, the intelligent system assigns tasks and confirms that the division of labor is completed. The intelligent system issues instructions to the water, electricity and gas integration module based on the tool type, such as the welding gun requires power and the gripper requires gas. The water, electricity and gas module feeds back a signal after connecting to the corresponding resources. The intelligent system confirms that the resources are ready, and the dual-arm robot carries the tool to perform operations on the workpiece.

[0021] Example 2: When the tool is a welding gun, the intelligent system controls the dual-arm robot to grasp the positive and negative electrodes. The water, electricity, and gas modules also require power channels to be opened. After the intelligent quick-change plate is connected to the welding gun, the dual-arm robot performs spot welding.

[0022] Example 3: The intelligent system monitors the battery power. When the power is lower than the critical value, it controls the auxiliary drive of the AGV platform to move to the charging position. After the AGV platform reaches the charging position, it feedbacks a signal, and the intelligent system starts the intelligent charging system to charge the battery pack. After the intelligent system receives the navigation instruction, the intelligent navigation module plans the path and feedbacks the data to the auxiliary drive. The auxiliary drive adjusts the movement of the AGV platform according to the navigation data. After arriving at the stop point, it notifies the dual-arm robot to adjust the posture or grasp the tool.

[0023] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "including an element defined by..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element."

[0024] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A multifunctional application control method based on a dual-arm robot, characterized in that: It includes a dual-arm robot and an intelligent AGV platform. The dual-arm robot is equipped with an intelligent quick-change disk and a visual system. The intelligent quick-change disk is connected to a composite tool module. The intelligent AGV platform is equipped with an intelligent system, a water, electricity and gas integration module, a lifting system and an auxiliary drive system. The intelligent system is used to control the robot to receive, judge and issue execution instructions. The intelligent system includes an intelligent charging system and an intelligent navigation system. The auxiliary drive system is located at the bottom of the intelligent AGV platform. The auxiliary drive system is used to drive the intelligent AGV platform to move, and the lifting system is used to control the lifting and lowering of the intelligent AGV platform.

2. A multifunctional application control method based on a dual-arm robot, characterized in that: The following steps are involved: S1, the intelligent system sends instructions to the intelligent AGV platform and the dual-arm robot, and the dual-arm robot receives the instructions and performs corresponding actions; S2. The position and posture of the workpiece are determined by the visual system, the environment is monitored in real time, the posture recognition and position correction functions of the workpiece are provided, and the relevant information is fed back to the intelligent system. If the position changes, the visual system will feedback instructions to the intelligent system; S3, the intelligent system receives the offset of the visual system through calculation by the visual system, and issues instructions to the dual-arm robot to correct the position and movement; S4, the intelligent system determines the different tools in the required composite tool module, and the water, electricity and gas integration module feeds back status information to the intelligent system after receiving the instruction, and the intelligent system issues the instruction to the intelligent quick-change disk after receiving the instruction; S5. After receiving the instruction, the intelligent quick-change disk executes the instruction and feeds back to the intelligent system. After receiving the instruction, the intelligent system issues the instruction to the dual-arm robot. After receiving the instruction, the dual-arm robot guides the intelligent quick-change disk to match the corresponding composite tool module. S6, the dual-arm robot receives the instruction and executes the instruction to grab the tool in the composite tool module; S7, the intelligent system determines the current state of the battery pack power. When the battery pack reaches a critical power-deficient value, the intelligent system issues an instruction to the auxiliary drive system of the intelligent AGV platform; S8, the auxiliary drive System interface After receiving the instruction, the intelligent AGV platform is driven to move to the designated charging position. The intelligent AGV platform reaches the designated area and sends instructions to the intelligent system. After receiving the instruction, the intelligent system issues instructions to the intelligent charging system. The intelligent charging system receives the instruction and turns on the power to charge the battery pack in the intelligent AGV platform, and returns to the working state after charging is completed.

3. The multifunctional application control method based on a dual-arm robot according to claim 1, characterized in that: The intelligent navigation system can guide the intelligent AGV platform to move to a predetermined work location or stop point according to a pre-set path planning, and feed back the location information to the intelligent system.

4. The multifunctional application control method based on a dual-arm robot according to claim 1, characterized in that: A steering wheel is provided below the intelligent AGV platform, a motor is provided inside the intelligent AGV platform, and the motor drive end is connected to the steering wheel.

5. The multifunctional application control method based on a dual-arm robot according to claim 1, characterized in that: The composite tool module includes but is not limited to a glue gun, a welding gun, a gripper, a cutting tool, a grinding tool, an electric spindle, and a rivet gun.

6. The multifunctional application control method based on a dual-arm robot according to claim 1, characterized in that: The water, electricity and gas integrated module includes but is not limited to a water unit, an electricity unit and a gas unit.

7. The multifunctional application control method based on a dual-arm robot according to claim 1, characterized in that: The dual-arm robot is provided with a safety laser radar.

8. The multifunctional application control method based on a dual-arm robot according to claim 1, characterized in that: Laser obstacle avoidance sensors are arranged around the intelligent AGV platform.

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