A mobile composite robot work station and control method

Abstract

The application discloses a mobile composite robot workstation and a control method, which comprises a mechanical arm assembly, a display unit, an upper platform assembly, a lifting mechanism, a mobile chassis, a camera assembly, a replaceable end clamp, a composite robot body and a laser radar. The composite robot with a mobile and lockable mobile chassis and the lifting platform are combined, and more extensive application scenarios can be coped with, and the flexibility is higher.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, and in particular to a mobile composite robot workstation and its control method. Background Technology

[0002] The mobile composite robot workstation is used to connect with the customer's on-site workstation and achieve functions such as rapid visual recognition, grasping, handling and sorting by connecting different robot ends; In general, existing independent workstation robots are usually fixed in place with mounting bases. For multi-workstation scenarios, multiple robots often need to be deployed to work together. To a certain extent, the overall economic efficiency of this layout is limited. Conventional fully automated AGV composite robots have complex chassis structures, superstructures, and top components, as well as complex electrical and front-end / back-end software control logic. Moreover, these composite robots are significantly limited by the battery life of mobile devices. Compared to these types of composite robots, mobile composite robot workstations have a simpler overall structure, a wider range of applications, and a more outstanding cost-effectiveness. They can also be directly connected to an external power source for continuous operation.

[0003] Therefore, the present invention proposes a technical solution. Summary of the Invention

[0004] In view of this, the present invention proposes a technical solution that combines a movable, position-locking composite robot and a lifting platform into one, thereby addressing a wider range of application scenarios and offering greater flexibility. The technical solution of the present invention is as follows: The first aspect of this invention discloses a mobile composite robot workstation, including a robotic arm assembly, a display unit, an upper platform assembly, a lifting mechanism, a mobile chassis, a camera assembly, a replaceable end effector, a composite robot body, and a lidar. The robotic arm assembly includes at least one robotic arm; The replaceable end gripper is fixed to the end of the robotic arm; The camera assembly is fixed to one side of the replaceable end clamp; The display unit and the robotic arm assembly are mounted on the upper platform assembly; One end of the lifting mechanism is connected to the upper platform component, and the other end is connected to the composite robot body; The mobile chassis is disposed on the lower surface of the composite robot body; The lidar is fixed to the side of the composite robot's body.

[0005] Furthermore, the mobile chassis includes four forked wheels.

[0006] Furthermore, the upper platform component includes a base plate, a lifting mechanism, a guide structure, a power component, a lower limit component, an upper limit component, and a height positioning pointer; The base plate is mounted on the guide structure, the upper limit component is disposed at the upper end of the guide structure, the lower limit component is disposed at the lower end of the guide structure, the height positioning pointer is disposed on the lower limit component, the lifting machine is fixedly connected to the base plate, and the power component is connected to the lifting machine.

[0007] Furthermore, the power component is a manual handle or an electric handle, and the lifting mechanism is a lead screw structure.

[0008] Furthermore, the number of guide structures is 4, the number of upper limit components is 2, the number of lower limit components is 2, and the number of height positioning pointers is 2.

[0009] Furthermore, the replaceable end gripper includes a gripper quick-change plate, at least one electric gripper, and at least one hand gripper; The quick-change clamp is connected to the robotic arm, the electric gripper is mounted on the quick-change clamp, and the hand gripper is connected to the electric gripper.

[0010] Furthermore, the replaceable end clamp also includes a clamp support; The clamp supports and connects to the clamp quick-change plate.

[0011] Furthermore, it also includes speakers.

[0012] Furthermore, the control center includes a wireless module.

[0013] The second aspect of this invention discloses a control method for a mobile composite robot workstation, comprising the following steps: The mobile chassis moves the workstation to the designated work position; Mobile chassis position locking; Calibrate the working height of the robotic arm components; Determine the required robotic arm height for the work area; Adjust the height of the upper platform components using the power components; The type of workpiece is determined by the camera component; Install replaceable fixtures that match the workpiece; The robotic arm assembly adjusts the posture of the replaceable gripper and begins operation; Once the task is completed, proceed to the next task or return.

[0014] The advantages of this invention are as follows: This invention allows for manual movement and can detect and alarm on obstacles during movement. The backend can access a local database via wireless networks, such as Wi-Fi or mobile data, to automatically upload or query relevant information.

[0015] This invention also features a lifting platform, with a lifting function on the worktable that can be locked at any height within the design range, adapting to different working conditions.

[0016] The composite robot workstation has a built-in speaker, which can be used to make announcements.

[0017] The composite robot workstation can be connected to a remote control terminal via a wireless module, enabling remote control functionality. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of one embodiment of the present invention; Figure 2 for Figure 1 The diagram shown is a structural schematic of the lifting mechanism in the embodiment shown. Figure 3 for Figure 1 The embodiment shown can be replaced with one form of end clamp; Figure 4 for Figure 1 The illustrated embodiment may be an alternative to another form of end clamp; Figure 5 for Figure 1 The control flowchart of the embodiment shown.

[0020] In the above figures, the symbols in each figure have the following meanings: 1, robotic arm; 2, display and control panel; 3, lifting mechanism; 3-1, base plate; 3-2, lifting machine; 3-3, guide structure; 3-4, manual handle; 3-5, lower limit assembly; 3-6, upper limit assembly; 3-7, height positioning pointer; 4, fuma wheel; 5, composite robot body; 6, camera; 7, replaceable end effector; 7-1, quick-change gripper plate; 7-2, gripper; 7-3, electric gripper; 7-4, gripper support; 8, lidar; 9, upper platform assembly. Detailed Implementation

[0021] The technical solutions of the present invention will now be clearly and completely described with reference to the embodiments and accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used in the detailed description is for the purpose of describing particular embodiments only and is not intended to limit the invention; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0023] In the description of specific embodiments of the present invention, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present invention, "multiple" means two or more, unless otherwise explicitly defined.

[0024] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this invention can be combined with other embodiments.

[0025] In the description of the embodiments of this invention, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this invention, the character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0026] It should be noted that, for ease of description, all identical technical features are labeled with the same symbols in the following embodiments.

[0027] The technical solution of the present invention will be further illustrated by the following examples.

[0028] In one specific embodiment, a mobile composite robot workstation, such as Figure 1 As shown, it includes a robotic arm 1, a display screen and control panel 2, an upper platform assembly 9, a lifting mechanism 3, a mobile chassis, a camera 6, a replaceable end effector 7, a composite robot body 5, and a lidar 8; The replaceable end gripper 7 is fixed to the end of the robotic arm 1; Camera 6 is fixed to one side of the replaceable end clamp 7; The display screen and control panel 2 and the robotic arm 1 are mounted on the upper platform assembly 9; One end of the lifting mechanism 3 is connected to the upper platform component 9, and the other end is connected to the composite robot body 5; The mobile chassis is mounted on the lower surface of the composite robot body 5; The lidar 8 is fixed to the side of the composite robot body 5; The mobile chassis includes four 4-wheels.

[0029] In this embodiment, the lifting mechanism 3 is used to lift the upper platform component 9; the laser radar 8 can be installed on the front, back, left and right sides of the composite robot body 5 to realize surrounding navigation and obstacle avoidance; four fuma wheels 4 are installed on the robot's mobile chassis, and the robot can perform forward and backward movement, turning, locking and positioning and other movement operations; the replaceable end clamp of the robotic arm 1 is equipped with a camera 6, which can identify the working state and switch the clamp, etc. In this embodiment, the lifting mechanism 3 includes a base plate 3-1, a lifting machine 3-2, a guide structure 3-3, a power component, a lower limit component 3-5, an upper limit component 3-6, and a height positioning pointer 3-7. The base plate 3-1 is mounted on the guide structure 3-3. The upper limit component 3-6 is located at the upper end of the guide structure 3-3, and the lower limit component 3-5 is located at the lower end of the guide structure 3-3. A height positioning pointer 3-7 is located on the lower limit component 3-5. The lifting mechanism 3-2 is fixedly connected to the base plate 3-1, and the power component is connected to the lifting mechanism 3-2. The power component is a manual handle 3-4 or an electric handle, and the lifting mechanism 3-2 is a lead screw structure. There are 4 guide structures 3-3, 2 upper limit components 3-6, 2 lower limit components 3-5, and 2 height positioning pointers 3-7.

[0030] In this embodiment, the lifting mechanism 3-2 is a screw mechanism that can convert horizontal rotational motion into vertical lifting motion. When the manual handle 3-4 is turned, the flange of the lifting mechanism 3-2 can be raised and lowered. At the same time, the synchronous lifting of the four guide structures 3-3 can make the upper platform component 9 move up and down more stably and smoothly. The height positioning pointer 3-7 can indicate the height position of the upper platform component 9 on the height position positioning groove on the composite robot body.

[0031] It should be noted that the handle can be a manual handle or an electric handle. An electric handle or electric component can realize the automatic raising and lowering of the upper platform component 9. The manual handles 3-4 in this embodiment are only examples.

[0032] In this embodiment, the end effector of the robotic arm 1 of the composite robot platform is compatible with multiple gripper types. Different grippers are connected to the robotic arm 1 via a gripper quick-change plate 7-1, and can be interchanged to achieve different working conditions. Similarly, to meet different changing needs, more different grippers can be added in real time to achieve the purpose of one machine serving multiple purposes.

[0033] There are two types of replaceable end clamps 7. One type is as follows: Figure 3 As shown, it includes a quick-change clamping plate 7-1, two grippers 7-2, and two electric grippers 7-3. The quick-change clamping plate 7-1 is used to connect to the end flange of the robotic arm 1. The two electric grippers 7-3 drive the two grippers 7-2 respectively, enabling the gripping of different workpieces; another type... Figure 4 As shown, it includes a quick-change clamping plate 7-1, an electric gripper 7-3, a hand gripper 7-2, and a clamping support 7-4. The quick-change clamping plate 7-1 is used to connect to the end flange of the robotic arm 1, and is connected to... Figure 3 The quick-change plates 7-1 of the clamps have the same connection dimensions. One electric gripper 7-3 drives one hand gripper 7-2 to move. The clamp support 7-4 is driven by the robotic arm 1 to achieve the positioning and support of the clamp.

[0034] It should be noted that, Figure 3 and Figure 4 The fixtures shown are just examples. If there are other requirements, more fixtures with different functions can be designed and added according to the requirements, as long as the quick-change plate 7-1 connection dimensions of these fixtures are kept the same.

[0035] If automatic switching is required, an electric or pneumatic quick-change disc structure can be added between the gripper and the robotic arm 1 to achieve automatic gripper switching. Since these designs are conventional techniques in the field, they will not be elaborated upon further; those skilled in the art can choose freely according to their needs.

[0036] This embodiment also includes a speaker, and the control center includes a wireless module.

[0037] The LiDAR 8 can identify obstacles and issue alarm signals via speakers while the workstation is moving. The control center connects to a local database via a wireless module (such as Wi-Fi or mobile data) to automatically upload or query relevant information.

[0038] like Figure 5 As shown, the specific operation flow of this embodiment is as follows: First, the composite robot workstation is moved to the designated work location via manual or remote control. By locking the fixed working position of the Fuma wheel 4; The working height of robotic arm 1 was determined during the commissioning phase. The operator determines whether the required height of robotic arm 1 for the work area is low or high; Adjust the height of upper platform component 9 using the power component; The type of workpiece is determined by a 6-component camera system. Match the work formula and required fixtures, and manually install the replaceable fixtures that match the workpiece; The robotic arm 1 component adjusts the posture of the replaceable gripper, and the replaceable end gripper 7 completes gripping, handling and other operations according to the program flow; Once the task is completed, proceed to the next task or return.

[0039] It should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mobile composite robot workstation, characterized in that, The system includes a robotic arm assembly, a display unit, an upper platform assembly, a lifting mechanism, a mobile chassis, a camera assembly, a replaceable end effector, a composite robot body, and a lidar. The robotic arm assembly includes at least one robotic arm. The replaceable end effector is fixed to the end of the robotic arm. The camera assembly is fixed to one side of the replaceable end effector. The display unit and the robotic arm assembly are mounted on the upper platform assembly. One end of the lifting mechanism is connected to the upper platform assembly, and the other end is connected to the composite robot body. The mobile chassis is located on the lower surface of the composite robot body. The lidar is fixed to the side of the composite robot body. A control center is located inside the composite robot body. The display unit is connected to the control center.

2. The mobile composite robot workstation according to claim 1, characterized in that, The mobile chassis includes four forklifts.

3. The mobile composite robot workstation according to claim 1, characterized in that, The upper platform assembly includes a base plate, a lifting mechanism, a guide structure, a power assembly, a lower limit assembly, an upper limit assembly, and a height positioning pointer. The base plate is mounted on the guide structure, the upper limit component is disposed at the upper end of the guide structure, the lower limit component is disposed at the lower end of the guide structure, the height positioning pointer is disposed on the lower limit component, the lifting machine is fixedly connected to the base plate, and the power component is connected to the lifting machine.

4. The mobile composite robot workstation according to claim 3, characterized in that, The power unit is a manual handle or an electric handle, and the lifting mechanism is a lead screw structure.

5. The mobile composite robot workstation according to claim 3, characterized in that, The number of guide structures is 4, the number of upper limit components is 2, the number of lower limit components is 2, and the number of height positioning pointers is 2.

6. The mobile composite robot workstation according to claim 1, characterized in that, The replaceable end gripper includes a gripper quick-change plate, at least one electric gripper, and at least one hand gripper; The quick-change clamp is connected to the robotic arm, the electric gripper is mounted on the quick-change clamp, and the hand gripper is connected to the electric gripper.

7. The mobile composite robot workstation according to claim 6, characterized in that, The replaceable end clamp also includes a clamp support; The clamp supports and connects to the clamp quick-change plate.

8. The mobile composite robot workstation according to claim 1, characterized in that, It also includes speakers.

9. The mobile composite robot workstation according to claim 1, characterized in that, The control center includes a wireless module.

10. A control method for a mobile composite robot workstation, using the mobile composite robot workstation as described in any one of claims 1-9, characterized in that, The steps include: moving the chassis to drive the workstation to the designated work position; locking the position of the moving chassis; calibrating the working height of the robotic arm assembly; determining the required robotic arm height for the work area; adjusting the height of the upper platform assembly via the power assembly; determining the workpiece type via the camera assembly; installing a replaceable fixture that matches the workpiece; adjusting the posture of the replaceable fixture with the robotic arm assembly and starting work; after the task is completed, continuing to execute the next task or returning.

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