Robot automatic machining system

Abstract

The invention relates to the technical field of automation, and particularly discloses a robot automatic machining system which comprises an upper computer, a mechanical arm and optical measuring equipment. The optical measurement equipment is used for acquiring placement information corresponding to a target object in the target area and transmitting the placement information to the upper computer; wherein the target area is a reference area defined by the space range identified by the upper computer according to the optical measurement equipment; the mechanical arm is used for dispensing a target object; and the upper computer is used for acquiring track data for operating the mechanical arm to machine the target object in the teaching mode, and controlling the mechanical arm to machine one or more target objects in the target area according to the placement information and the track data corresponding to the target object. Through the arrangement, the automatic processing mode is simplified, the period of the whole production process is shortened, and the time cost and the labor cost are greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation, and discloses a robot automation processing system. BACKGROUND

[0002] The current robot automation processing system mainly adopts automatic processing relying on visual technology for automatic programming, but such a scheme has high cost, high technical requirements for operators, and requires operators to have professional knowledge related to machine vision and motion control, has high technical threshold, and has long visual training time, and has high requirements for processing positions, and cannot flexibly cope with the operation requirements of different depths of processing positions. SUMMARY

[0003] In order to overcome at least one of the defects of the prior art, the present application provides a robot automation processing system, which automatically processes according to the trajectory data in the teaching mode by manual teaching, has a short implementation cycle and is easy to operate, and the processing trajectory can be customized and planned by the operator, so that different types of target objects can be quickly switched and more diversified production requirements can be met.

[0004] The technical scheme adopted by the present application to solve the problems is: A robot automation processing system, comprising an upper computer, a mechanical arm, and an optical measurement device. The optical measurement device is used to obtain the placement information of the target object in the target area and transmit the placement information to the upper computer, wherein the target area is a reference area defined by the upper computer according to the space range recognized by the optical measurement device. The mechanical arm is used to process the target object, and the processing includes one or more of dispensing, greasing, painting, injection molding, and magnetic attraction. The upper computer is used to obtain the trajectory data of the mechanical arm processing the target object in the teaching mode, and control the mechanical arm to process one or more target objects in the target area according to the placement information of the target object and the trajectory data.

[0005] In some embodiments of the present application, the mechanical arm is provided with a spring balancer for reducing the gravity that needs to be overcome by the operator when dragging the mechanical arm to process the target object.

[0006] In some embodiments of the present application, the upper computer is also used to identify the target object through the optical measurement device, and define the target area corresponding to the target object according to the recorded placement information of the target object.

[0007] In some embodiments of the present application, the system further comprises a depth camera configured to record depth data of the target object processed by the robot arm in the teaching mode and transmit the depth data to the host computer; and the host computer is further configured to control the robot arm to process one or more target objects in the target region according to the depth data corresponding to the target object; wherein the depth data is recorded data of the processing depth when the robot arm processes the target object.

[0008] In some embodiments of the present application, the target object is configured to be at least two kinds, and the host computer is further configured to identify the kind of the target object by the optical measurement device, associate the depth data corresponding to the target object of different kinds with the kind of the target object, and adapt the corresponding depth data according to the kind of the target object when controlling the robot arm to dispense glue on one or more target objects in the target region.

[0009] In some embodiments of the present application, the placement information comprises pose data and position data, the pose data is data recorded the pose of the target object in the target region, and the position data is data recorded the relative position of the target object in the target region.

[0010] In some embodiments of the present application, the processing dispensing glue further comprises a glue injection machine, the robot arm has an inner cavity containing glue, and the host computer is further configured to control the glue injection machine to inject glue into the inner cavity.

[0011] In some embodiments of the present application, the system further comprises an air compressor, and the robot arm is provided with a glue dispensing valve connected to the inner cavity, and the air compressor is configured to provide air pressure to the glue dispensing valve to make the robot arm dispense glue.

[0012] In some embodiments of the present application, the target object is configured to be at least two kinds, and the host computer is further configured to identify the kind of the target object by the optical measurement device, associate the placement information and the trajectory data corresponding to the target object of different kinds with the kind of the target object, and adapt the corresponding placement information and the trajectory data according to the kind of the target object when controlling the robot arm to process one or more target objects in the target region.

[0013] In some embodiments of the present application, the robot arm is provided with a sensor configured to record trajectory data of the target object processed by the robot arm in the teaching mode.

[0014] In summary, compared with the prior art, the robot automatic processing system provided by the present application has the following technical effects: By setting the host computer, the mechanical arm and the optical measuring device, the optical measuring device is used to obtain the placement information of the target object in the target area and transmit the placement information to the host computer, the mechanical arm is used to process the target object, the host computer is used to obtain the trajectory data of processing the target object by operating the mechanical arm in the teaching mode, and the mechanical arm is controlled to process one or more target objects in the target area according to the placement information of the target object and the trajectory data, so as to realize automatic processing by the mode of trajectory tracking, without relying on visual technology for automatic programming, avoiding the huge cost required for training and identification by using visual technology, thereby simplifying the mode of automatic processing, shortening the whole production process cycle, and greatly reducing the time cost and labor cost. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 FIG. 1 is a schematic diagram of an embodiment of a robot automatic processing system of the present application; Figure 2 FIG. 2 is a schematic diagram of a mechanical arm in an embodiment of a robot automatic processing system of the present application; Figure 3 FIG. 3 is a split diagram of a mechanical arm in an embodiment of a robot automatic processing system of the present application; Figure 4 FIG. 4 is a control logic diagram of an embodiment of a robot automatic processing system of the present application. DETAILED DESCRIPTION

[0016] In order to better understand and implement, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0017] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner.

[0018] It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs, and the terms used in the specification are intended to describe only specific embodiments and are not intended to limit the present application.

[0020] Embodiment 1 According to Figures 1 to 4 As shown in the drawings, the present application provides an embodiment of a robot automatic processing system, comprising: including host computer, mechanical arm, optical measurement device, desktop computer or notebook computer or all-in-one machine can be used as host computer to realize the control of host computer.

[0021] Specifically, the optical measurement device is used to obtain the placement information of the target object in the target area and transmit the placement information to the host computer; wherein the optical measurement device includes industrial camera, depth camera, laser ranging device and the like, and specifically can include one or more of them, the target area is a reference area defined by the host computer according to the space range recognized by the optical measurement device, specifically, the target area can be set as a specific reference area, for example, the working area on the workbench is directly defined as the target area, more specifically, the target area can also be set as a reference area of the relative target object position defined according to the target object according to the target object in the space range recognized by the optical measurement device, for example, the position of the target object can be defined as the center position of the target area to form the target area; the mechanical arm is used for processing the target object; wherein the processing includes one or more of dispensing, greasing, painting, injection molding and magnetic attraction; the host computer is used to obtain the trajectory data of operating the mechanical arm to process the target object in the teaching mode, and according to the placement information of the target object and the trajectory data, the host computer controls the mechanical arm to process one or more target objects in the target area; wherein the trajectory data is the recording data of the motion trajectory of the mechanical arm when the mechanical arm processes the target object, the teaching mode needs to be manually operated to enter, and when automatic processing is needed, the teaching mode needs to be exited.

[0022] In some preferred embodiments, the mechanical arm is provided with a spring balancer for reducing the gravity that needs to be overcome by the operator when dragging the mechanical arm to process the target object, so as to reduce the operation difficulty of the operator in the teaching operation.

[0023] In some preferred embodiments, the host computer is further configured to identify the target object by the optical measurement device, and define the target region of the target object according to the recorded placement information corresponding to the target object, so that the host computer can cope with the situation that the target object is not in a specific reference region, so as to proceed with the normal automatic processing.

[0024] In some preferred embodiments, the host computer is further configured to identify the target object by the optical measurement device, and define the target region of the target object according to the recorded placement information corresponding to the target object, so that the host computer can cope with the situation that the target object is not in a specific reference region, so as to proceed with the normal automatic processing.

[0025] Further, the target object is configured to be at least two kinds, and the host computer is further configured to identify the kind of the target object by the optical measurement device, and associate the depth data corresponding to the target object of different kinds with the kind of the target object, so as to adapt the corresponding depth data according to the kind of the target object when controlling the mechanical arm to process the one or more target objects in the target region. Through the above setting, the robot automatic processing system can meet the different processing depth requirements of different kinds of target objects, and facilitate the quick switching of different processing depths according to different kinds of target objects in the automatic processing process, thereby improving the automatic processing efficiency.

[0026] In some specific preferred embodiments, the placement information includes pose data and position data, the pose data is data for recording the pose of the target object in the target region, and the position data is data for recording the relative position of the target object in the target region. By setting the above data, the host computer can better plan the travel of the automatic processing, and further improve the accuracy of the automatic processing.

[0027] In some practical applications, the dispensing point glue, the robot automation processing system further comprises a glue injection machine, and the host computer is further configured to control the glue injection machine to inject glue into the mechanical arm. The mechanical arm has an inner cavity for accommodating the glue. The mechanical arm is further provided with a glue injection port communicating with the inner cavity. The output port of the glue injection machine is in communication with the glue injection port. The host computer is further configured to control the glue injection machine to inject glue into the inner cavity, so as to inject glue for dispensing into the inner cavity.

[0028] Furthermore, the robot automation processing system further comprises an air compressor. The mechanical arm is provided with a dispensing valve. The air compressor is configured to provide air pressure for the dispensing valve to enable the mechanical arm to dispense glue for dispensing. When the dispensing valve is in a closed state, the glue in the inner cavity can be sealed in the mechanical arm. When the dispensing valve is in an open state, the glue in the inner cavity can flow out of the output end of the mechanical arm. The dispensing valve is connected to the host computer through a pneumatic valve, a relay, and the host computer. The host computer controls the opening and closing of the pneumatic valve by controlling the opening and closing of the relay, thereby achieving control of the opening and closing of the dispensing valve.

[0029] In practice, the mechanical arm is further provided with a dispensing button. In the teaching mode, the operator can control the dispensing button to dispense glue for the mechanical arm, so that the host computer can record the trajectory data of the operator operating the mechanical arm to dispense glue on the target object in this mode.

[0030] In some practical production scenarios, the target object is configured to be at least two kinds. The host computer is further configured to identify the kind of the target object through an optical measurement device, and associate the placement information and the trajectory data corresponding to the different kinds of target objects with the kind of the target object, so as to adapt the corresponding placement information and trajectory data according to the kind of the target object when controlling the mechanical arm to process one or more target objects in the target area. Through the foregoing arrangement, the robot automation processing system can meet the processing scene with different kinds of target objects, so that the robot automation processing system can be quickly switched when there are multiple target objects with different processing requirements in the target area, thereby completing the continuous automatic processing of different kinds of target objects.

[0031] To record the trajectory data, the mechanical arm is further provided with a sensor for recording the trajectory data of the operator operating the mechanical arm to process the target object in the teaching mode.

[0032] It should be noted that each embodiment in the present specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same and similar parts of each embodiment can be referred to each other.

[0033] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a system, a method, or an apparatus. Accordingly, embodiments of the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer program code thereon for use by or in connection with an instruction execution system. Program code embodied on one or more computer-usable storage media can be downloaded over a communication network, for example, the Internet, or other networks, by way of magnetic or optical carrier waves, electronic signals, or other forms of

[0034] Embodiments of the present application are described herein with reference to the drawings, which are as follows: Figure 1 one or more processes and / or blocks to be executed by a processor-based system. Figure 1 means for performing functions specified by one or more of the processes and / or blocks.

[0035] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the Figure 1 one or more processes and / or blocks to be executed by a processor-based system. Figure 1 means for performing functions specified by one or more of the processes and / or blocks.

[0036] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the Figure 1 one or more processes and / or blocks to be executed by a processor-based system. Figure 1 means for performing functions specified by one or more of the processes and / or blocks.

[0037] While preferred embodiments of the present application have been described, additional variations and modifications can be made to these embodiments by those skilled in the art once they learn of the basic inventive concepts. Therefore, the appended claims are intended to cover all such modifications and variations as fall within the scope of the present application.

[0038] Finally, it needs to be pointed out that in this document, relational terms such as first and second and the like can only be intended to distinguish one entity from another entity, without necessarily requiring or implying any actual such relationship or order between such entities. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process or method that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process or method. An element proceeded by "comprises a... " does not, without more constraints, exclude the presence of additional identical elements in the process or method including the element.

[0039] The above detailed description of the technical solutions provided by the present application has been given, and in this document, specific examples are applied to explain the principles and implementation modes of the present application. Meanwhile, for the general technical personnel in the field, the principles and implementation modes of the present application will have changes in specific implementation modes and application ranges. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A robotic automated processing system, characterized in that, include: Host computer, robotic arm, optical measurement equipment; The optical measurement device is used to acquire the placement information of the target object within the target area and transmit the placement information to the host computer; wherein, the target area is a reference area defined by the host computer based on the spatial range identified by the optical measurement device; The robotic arm is used to process target objects; the processing includes one or more of the following: dispensing glue, applying grease, spraying paint, injection molding, and magnetic attraction. The host computer is used to acquire trajectory data of the robotic arm processing the target object in the teaching mode, and to control the robotic arm to process one or more target objects in the target area according to the placement information and trajectory data of the target object.

2. The robotic automated processing system according to claim 1, characterized in that, The robotic arm is equipped with a spring balancer, which is used to reduce the force of gravity that the operator needs to overcome when dragging the robotic arm to process the target object.

3. The robotic automated processing system according to claim 1 or 2, characterized in that, The host computer is also used to identify the target object through the optical measurement device and define the target area corresponding to the target object based on the placement information of the recorded target object.

4. The robotic automated processing system according to claim 1 or 2, characterized in that, Also includes: A depth camera is used to record depth data when the robotic arm processes a target object in teach mode, and transmits the depth data to the host computer. The host computer is also used to control the robotic arm to process one or more target objects within the target area based on the depth data corresponding to the target object. The depth data is the recorded processing depth when the robotic arm processes the target object.

5. The robotic automated processing system according to claim 4, characterized in that, The target object is configured as at least two types. The host computer is also used to identify the type of target object through the optical measurement device and associate the depth data corresponding to different types of target objects with the type of target object, so as to adapt the corresponding depth data according to the type of target object when controlling the robotic arm to process one or more target objects in the target area.

6. The robotic automated processing system according to claim 1 or 2, characterized in that, The placement information includes posture data and position data. The posture data records the placement posture of the target object within the target area, and the position data records the relative position of the target object within the target area.

7. The robotic automated processing system according to claim 1 or 2, characterized in that, The dispensing process further includes: a dispensing machine, wherein the robotic arm has an inner cavity for containing glue, and the host computer is also used to control the dispensing machine to inject glue into the inner cavity.

8. The robotic automated processing system according to claim 7, characterized in that, Also includes: An air compressor is provided, and a dispensing valve connected to the inner cavity is provided on the robotic arm. The air compressor is used to provide air pressure to the dispensing valve so that the robotic arm can dispense glue for dispensing.

9. The robotic automated processing system according to claim 1 or 2, characterized in that, The target object is configured as at least two types. The host computer is also used to identify the type of target object through the optical measurement device and associate the placement information and trajectory data corresponding to different types of target objects with the type of target object, so as to adapt the corresponding placement information and trajectory data according to the type of target object when controlling the robotic arm to process one or more target objects in the target area.

10. The robotic automated processing system according to claim 1 or 2, characterized in that, The robotic arm is equipped with sensors for recording trajectory data of the robotic arm processing the target object in the teaching mode.

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