CN118061164B - Transfer robot based on flexible control and control method - Google Patents
Transfer robot based on flexible control and control method Download PDFInfo
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- CN118061164B CN118061164B CN202410303522.2A CN202410303522A CN118061164B CN 118061164 B CN118061164 B CN 118061164B CN 202410303522 A CN202410303522 A CN 202410303522A CN 118061164 B CN118061164 B CN 118061164B
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- 238000004891 communication Methods 0.000 claims description 29
- 238000004804 winding Methods 0.000 claims description 14
- 230000000007 visual effect Effects 0.000 claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000007423 decrease Effects 0.000 claims 1
- 238000003825 pressing Methods 0.000 abstract description 7
- 230000004438 eyesight Effects 0.000 description 10
- 230000001276 controlling effect Effects 0.000 description 7
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- 230000016776 visual perception Effects 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a transfer robot based on flexible control and a control method, and relates to the technical field of transfer robots, wherein the transfer robot comprises a wrapped transfer mechanical arm, a transfer trolley and a transfer flexible controller based on chips; the wrapped transfer robot includes a base and at least one gripper unit. The invention is realized based on the transfer carrier AGV transfer trolley, can realize the setting of the running path and the running parameters, ensures that the absolute value of the acceleration is at the minimum value under the path planning and the speed requirement on the premise of setting the path, and reduces the uncontrollable risk of the acceleration acting force; before grabbing and pressing from both sides the target object, elasticity parcel cloth subassembly contact target object to elasticity parcel upper surface and four sides, elasticity clamping assembly carries out elasticity clamp to the periphery and the upper surface of target object after the parcel is accomplished, and elasticity parcel cloth subassembly can provide flexible clamp, reduces traditional mechanical clamping jaw and to the damage risk that pressure sensitive type product caused.
Description
Technical Field
The invention relates to the technical field of transfer robots, in particular to a transfer robot based on flexible control and a control method.
Background
In industrial production applications, transportation is a common transportation requirement, and industrial products need to be transported between stations, for example: transfer between the station, transfer between the assembly line, quality inspection rejection are transported etc., and the distance of transfer is near or far, to some short distance transfer demands, adopt the manipulator to realize automatically grabbing behind the clamp generally, the swing of arm just can satisfy the demand of transferring, and just can not satisfy the demand to some long-distance transfer demands arm.
The conventional solution is to install the mechanical arm on a linear track or on the transfer trolley 2 to achieve the purpose of increasing the transfer distance, the conventional mechanical arm has the defects that the transfer target is easily damaged due to the fact that the grabbing clamp is hard when the conventional mechanical arm achieves remote transfer, and the acceleration process of the transfer trolley 2 after the grabbing clamp is completed is not controlled, so that the maximum acceleration is overlarge, the large acceleration usually occurs between the time of just grabbing an object and the time of accelerating to the maximum speed, and the deceleration process when the object reaches the transfer target place is achieved, and the reverse acting force caused by the large acceleration is not applicable to some transfer targets sensitive to force.
Disclosure of Invention
In order to solve the technical problem of remote target transfer in the industrial production application scene, the invention provides a transfer robot based on flexible control and a control method. The following technical scheme is adopted:
A transfer robot based on flexible control comprises a wrapped transfer mechanical arm, a transfer trolley and a transfer flexible controller based on a chip;
The wrapped transfer mechanical arm comprises a base and at least one grabbing and clamping unit, the base is arranged at the top of the transfer trolley, the grabbing and clamping unit comprises a connecting mechanical arm and a flexible grabbing and clamping mechanical arm, the connecting mechanical arm is provided with a movable part, one end of the flexible grabbing and clamping mechanical arm is arranged on the movable part of the connecting mechanical arm and moves up and down and left and right along with the movable part, the flexible grabbing and clamping mechanical arm comprises an elastic wrapping cloth component and an elastic clamping component, the elastic wrapping cloth component contacts with a target object before grabbing and clamps the target object, and the elastic wrapping cloth component elastically wraps the upper surface and four sides, and the elastic clamping component elastically clamps the periphery and the upper surface of the target object after wrapping is completed; the transfer flexible controller is used for controlling the execution actions of the wrapped transfer mechanical arm and the transfer trolley respectively, controlling the connection mechanical arm to retract after the wrapped transfer mechanical arm finishes the grabbing action on the target object, and controlling the transfer trolley to accelerate to a set speed for deceleration, and reaching a transfer destination when the speed is reduced to zero, wherein the absolute value difference value of the acceleration of the transfer trolley in the whole transfer process does not exceed a set threshold value.
By adopting the technical scheme, the flexible transfer robot is realized based on the transfer carrier transfer trolley, the transfer trolley can be an AGV trolley, the AGV trolley can realize the setting of a running path and running parameters, the absolute value difference of the acceleration of the AGV trolley can be controlled not to exceed a set threshold value in the transfer process, and the absolute value of the acceleration is ensured to be at the minimum value under the path planning and speed requirements as far as possible under the premise of setting the path, because the acceleration means that acting force can be generated, such as forward acceleration inevitably brings reverse acting force, if acceleration limitation is not carried out, the acceleration value in the starting and stopping stages of the transfer trolley is larger, uncontrollable acting force can be generated on a target object, and the acting force can generate uncontrollable risks for sensitive chemical classes, batteries and precise electronic products;
The specific before grabbing the object, the transportation dolly moves to object one side, connect arm and flexible grab clamp arm linkage and can move to the object directly over, the process of removing can take visual perception's form to realize, it is in flexible clamp assembly middle part of grabbing the clamp arm to grab the object in flexibility, flexible clamp arm pushes down, elasticity parcel cloth subassembly contact object, and elasticity parcel upper surface and four sides, elasticity clamp assembly carries out elasticity clamp to object all around and upper surface after the parcel is accomplished, elasticity parcel cloth subassembly can provide flexible clamp, still can increase the frictional force of clamp on setting up the skid resistant course, under the circumstances that sets up clamping force, adopt the flexible clamp of parcel formula, reduce the damage risk that traditional mechanical clamping jaw caused pressure sensitive class product.
Optionally, the connecting mechanical arm is an electric cross sliding table, and a sliding block of the electric cross sliding table is a movable part.
Through adopting above-mentioned technical scheme, connect the main role of arm to connect flexible clamp arm and transfer dolly, can be the controllable position control equipment of electronic cross slip table this kind, can also adopt traditional multiaxis robot's form, can realize that flexible clamp arm carries out controllable removal in the scope can.
Optionally, the elastic clamping assembly includes the support arm, a pair of electronic linear guide, a pair of clamping jaw arm and many pairs of spring clamp splice and a plurality of pressure sensor, the one end demountable installation of support arm is on the movable part of connecting the arm, the bottom surface at the support arm other end is installed to the track of a pair of electronic linear guide, and the slider is down, the top of a pair of clamping jaw arm is demountable installation respectively on a pair of electronic linear guide's slider, and move about under the drive of slider, many pairs of spring clamp splice are installed respectively at the medial surface of a pair of clamping jaw arm, when a pair of clamping jaw arm moves in opposite directions, the both sides of object are cliied to many pairs of spring clamp splice to a plurality of pressure sensor are installed respectively at the surface of many pairs of spring clamp splice, and with transport flexible controller communication connection respectively, transport flexible controller controls the execution action of a pair of electronic linear guide respectively.
Through adopting above-mentioned technical scheme, the clamping power of elastic clamping subassembly derives from the slider action of a pair of electronic linear guide, and when many pairs of spring clamp splice contacted the both sides of target object under the drive of a pair of electronic linear guide, along with continuing the clamp tightly, along with the contact pressure increase between spring clamp splice and the target object, until the slider stop action of a pair of electronic linear guide of setting value keeps at present, accomplishes the flexible clamp to the target object under the spring force.
Optionally, the elasticity parcel cloth subassembly includes reel motor, flexible cloth reel and flexible parcel cloth, the casing demountable installation of reel motor is in the outside of one of them clamping jaw arm, flexible cloth reel connection is installed on the power take off shaft of reel motor, the one end of flexible cloth reel is connected on flexible cloth reel, and the other end is connected in the bottom of another clamping jaw arm, and the executive action of flexible controller control reel motor is transported, and when flexible parcel cloth contact target object to the in-process of parcel target object, the flexible controller reel motor action output force of transportation keeps at the settlement scope.
Optionally, the spool motor is a servo motor.
Optionally, the elastic wrapping cloth assembly further comprises a guide roller, a roller groove is formed in the bottom of the clamping jaw arm of the installation winding drum motor, the guide roller is rotatably installed in the roller groove through a rotating shaft, and the flexible wrapping cloth bypasses the lower rim of the guide roller to be connected with the flexible cloth reel.
Optionally, the flexible wrapping cloth includes an elastic layer, an outer anti-slip layer and an inner anti-slip layer, and the outer anti-slip layer and the inner anti-slip layer are adhered to two sides of the elastic layer.
Through adopting above-mentioned technical scheme, adopt servo motor to provide controllable output moment of torsion, the one end of flexible parcel cloth is being pulled to the reel motor, makes it keep tight state, and when flexible parcel cloth downward contact target, and a pair of clamping jaw arm inwards or outwards moves, the reel motor keeps a stable moment of torsion of action, makes flexible parcel cloth be in tight state always, can realize the reliable cover to the target like this, can also promote the frictional force of spring clamp splice and target side under the effect of outside skid resistant course and inboard skid resistant course.
Optionally, the flexible clamp arm that grabs still includes top spacing subassembly, and top spacing subassembly includes adjustable telescopic link, lock bolt, stopper, photoelectric limit switch and vision camera, the one end of adjustable telescopic link is installed in the bottom surface of support arm to be located the intermediate position of a pair of electronic linear guide, lock bolt locking is on adjustable telescopic link for adjust the length of adjustable telescopic link, the other end at adjustable telescopic link is installed to the stopper, photoelectric limit switch and vision camera are installed respectively in the bottom surface of stopper, and photoelectric limit switch is used for detecting the distance apart from the objective, and the vision camera is used for detecting the position and the profile of objective, photoelectric limit switch and vision camera respectively with transport flexible controller communication connection.
Through adopting above-mentioned technical scheme, the effect of top spacing subassembly is firstly carrying out visual perception to the target object, and secondly detects whether the target object reaches the clamp position of grabbing of settlement, and adjustable telescopic link can be adjusted according to the size of target object, can also be electric telescopic link certainly, can realize automatically regulated.
Optionally, the flexible controller of transporting includes main control chip, memory, industrial control touch-sensitive screen and wireless communication module, main control chip respectively with a plurality of pressure sensor, photoelectric limit switch and vision camera communication connection to control respectively and transport the dolly, connect the execution action of arm, a pair of electronic linear guide and reel motor, main control chip respectively with memory, industrial control touch-sensitive screen and wireless communication module communication connection, and through wireless communication module and remote control center wireless communication connection, the staff passes through industrial control touch-sensitive screen setting parameter.
Through adopting above-mentioned technical scheme, the control core of transporting flexible controller is main control chip, and the memory stores control program, and the industrial control touch-sensitive screen can realize different parameter visualization settings, and wireless communication module can realize the wireless communication of factory, with the remote control center wireless interactive running state of transporting the robot.
A control method of a transfer robot based on flexible control adopts the transfer robot based on flexible control to carry out flexible grabbing and transferring on a target object, and comprises the following steps:
Step 1, adjusting the length of an adjustable telescopic rod according to the size of a target object, locking by a locking bolt, setting a photoelectric limit switch parameter by an industrial control touch screen, and drawing a holding moment parameter of a reel motor, wherein a clamping force parameter corresponding to a pressure sensor, a target object transfer starting point position, a target object transfer end point, a target object transfer path and a maximum acceleration;
Step2, controlling the transfer trolley to move to one side of the target object position by the transfer flexible controller;
Step 3, the transferring flexible controller controls the action of the connecting mechanical arm to enable the flexible grabbing mechanical arm to be located above the target object, controls the action of the pair of electric linear guide rails to enable the target object to be located in the middle of the pair of electric linear guide rails according to the position and the outline of the target object detected by the visual camera, controls the action of the connecting mechanical arm again to enable the flexible grabbing mechanical arm to downwards press, enables the bottom surface of the flexible wrapping cloth to press and wrap the periphery and the top surface of the target object until the photoelectric limit switch detects that the distance from the target object reaches a set distance, and controls the synchronous action of the winding drum motor to keep the action output force to be kept in a set range in the downwards pressing process;
Step 4, the transferring flexible controller controls the sliding blocks of the pair of electric linear guide rails to act, so that the pair of clamping jaw arms move in opposite directions, and the pairs of spring clamping blocks are clamped on two sides of a target object until the pressure value detected by the pressure sensor reaches a set value;
Step 5, the transferring flexible controller controls the connecting mechanical arm to act, so that the flexible grabbing mechanical arm lifts the target object, and the acceleration in the lifting process does not exceed the set maximum acceleration;
Step 6, the transfer flexible controller controls the transfer trolley to move to a transfer end point according to a set path, wherein the transfer trolley is divided into two long-distance equal-length sections in the process, the acceleration is a in the first section, and the acceleration is changed into-a when the acceleration reaches an intermediate position until the end point is reached;
and 7, controlling the linkage of the connecting mechanical arm and the flexible grabbing mechanical arm by the transferring flexible controller, and placing the target object at the set position of the terminal point to finish transferring.
In summary, the present invention includes at least one of the following beneficial technical effects:
the invention can provide a transfer robot and a control method based on flexible control, which are realized based on a transfer carrier AGV transfer trolley, can realize the setting of a running path and running parameters, can control the absolute value difference of acceleration to not exceed a set threshold value in the transfer process, ensures that the absolute value of the acceleration is at the minimum value under the path planning and speed requirements on the premise of setting the path, and reduces the uncontrollable risk of acceleration acting force to some sensitive chemical products, batteries and precise electronic products; before grabbing and pressing the object, the flexible grabbing and pressing mechanical arm downwards presses, and the elastic wrapping cloth component contacts the object to elastic wrapping upper surface and four sides, elastic clamping component carries out elastic clamping to the periphery and the upper surface of the object after wrapping is completed, and the elastic wrapping cloth component can provide flexible clamping, can also increase the frictional force of pressing from both sides on the basis of setting up the skid resistant course, under the circumstances of setting up clamping force, adopts the flexible grabbing and pressing from both sides of parcel formula, reduces the damage risk that traditional mechanical clamping jaw caused to pressure sensitive type product.
Drawings
FIG. 1 is a schematic structural view of a transfer robot based on flexible control according to the present invention;
Fig. 2 is a schematic structural diagram of a gripping object state of a wrapped type transfer mechanical arm of a transfer robot based on flexible control;
FIG. 3 is a schematic structural view of a flexible wrap of a transfer robot based on flexible control in accordance with the present invention;
fig. 4 is a schematic diagram of an electrical device connection principle of a transfer robot based on flexible control according to the present invention.
Reference numerals illustrate: 11. a base; 12. a grip unit; 121. connecting a mechanical arm; 122. a flexible gripper arm; 123. a support arm; 124. an electric linear guide rail; 125. a jaw arm; 126. a spring clamp block; 127. a pressure sensor; 128. a spool motor; 129. a flexible cloth reel; 130. a flexible wrap; 1301. an elastic layer; 1302. an outer anti-slip layer; 1303. an inner anti-slip layer; 131. a guide roller; 2. a transfer trolley; 31. an adjustable telescopic rod; 32. a locking bolt; 33. a limiting block; 34. a photoelectric limit switch; 35. a visual camera; 4. a transport flexible controller; 41. a main control chip; 42. a memory; 43. an industrial control touch screen; 44. a wireless communication module; 100. a target; 101. and a remote control center.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The embodiment of the invention discloses a transfer robot based on flexible control and a control method.
Referring to fig. 1-4, embodiment 1, a flexible control-based transfer robot, includes a wrapped transfer robot arm, a transfer cart 2, and a chip-based transfer flexible controller 4;
The wrapped transfer mechanical arm comprises a base 11 and at least one grabbing and clamping unit 12, the base 11 is arranged at the top of the transfer trolley 2, the grabbing and clamping unit 12 comprises a connecting mechanical arm 121 and a flexible grabbing and clamping mechanical arm 122, the connecting mechanical arm 121 is provided with a movable part, one end of the flexible grabbing and clamping mechanical arm 122 is arranged on the movable part of the connecting mechanical arm 121 and moves up and down and left and right along with the movable part, the flexible grabbing and clamping mechanical arm 122 comprises an elastic wrapping cloth component and an elastic clamping component, the elastic wrapping cloth component contacts the target 100 before grabbing and clamping the target 100, and elastically wraps the upper surface and the four sides, and after wrapping is completed, the elastic clamping component elastically clamps the periphery and the upper surface of the target 100; the transferring flexible controller 4 respectively controls the execution actions of the wrapped transferring mechanical arm and the transferring trolley 2, when the wrapped transferring mechanical arm finishes the grabbing action on the target object 100, the connecting mechanical arm 121 is controlled to be retracted, the rear control transferring trolley 2 accelerates to a set speed and then decelerates, when the speed is reduced to zero, the transferring destination is reached, and the absolute value difference of the acceleration of the transferring trolley 2 in the whole transferring process does not exceed the set threshold.
The flexible transfer robot is realized based on a transfer carrier transfer trolley 2, the transfer trolley 2 can be an AGV trolley, the AGV trolley can realize the setting of a running path and running parameters, the absolute value difference of the acceleration of the AGV trolley can be controlled not to exceed a set threshold value in the transfer process, the absolute value of the acceleration is ensured to be at the minimum value under the path planning and speed requirements as far as possible under the premise of setting the path, because the acceleration means that acting force can be generated, such as forward acceleration inevitably brings reverse acting force, if acceleration limitation is not carried out, the acceleration value in the starting and stopping stages of the transfer trolley 2 is larger, uncontrollable acting force can be generated on a target object, and the acting force can generate uncontrollable risks on sensitive chemical classes, batteries and precise electronic class products;
specifically before grabbing and clamping the target object 100, the transfer trolley 2 moves to one side of the target object 100, the connecting mechanical arm 121 and the flexible grabbing and clamping mechanical arm 122 are linked to move to the position right above the target object 100, the moving process can be realized in a visual perception mode, the target object 100 is placed in the middle of an elastic clamping component of the flexible grabbing and clamping mechanical arm 122, the flexible grabbing and clamping mechanical arm 122 presses downwards, an elastic wrapping cloth component contacts the target object 100 and elastically wraps the upper surface and four sides, the elastic clamping component elastically clamps the periphery and the upper surface of the target object 100 after wrapping, the elastic wrapping cloth component can provide flexible clamping, the clamping friction force can be increased on the basis of setting an anti-skid layer, and under the condition of setting the clamping force, the traditional mechanical clamping jaw is used for reducing the damage risk of the pressure sensitive product caused by the traditional mechanical clamping jaw.
In embodiment 2, the connection arm 121 is an electric cross slide, and a slider of the electric cross slide is a movable portion.
The main function of the connecting mechanical arm 121 is to connect the flexible grabbing mechanical arm 122 and the transferring trolley 2, which can be a controllable position control device such as an electric cross sliding table, and can also adopt a traditional multi-axis robot mode, so that the flexible grabbing mechanical arm 122 can controllably move within a range.
In embodiment 3, the elastic clamping assembly includes a supporting arm 123, a pair of electric linear guide rails 124, a pair of clamping jaw arms 125, a plurality of pairs of spring clamping blocks 126 and a plurality of pressure sensors 127, one end of the supporting arm 123 is detachably mounted on a movable portion connected with the mechanical arm 121, a track of the pair of electric linear guide rails 124 is mounted on a bottom surface of the other end of the supporting arm 123, a slide block faces downward, tops of the pair of clamping jaw arms 125 are detachably mounted on the slide blocks of the pair of electric linear guide rails 124 respectively and move left and right under the driving of the slide block, the plurality of pairs of spring clamping blocks 126 are mounted on inner side surfaces of the pair of clamping jaw arms 125 respectively, when the pair of clamping jaw arms 125 move in opposite directions, the plurality of spring clamping blocks 126 clamp two sides of the object 100, the plurality of pressure sensors 127 are mounted on surfaces of the pair of spring clamping blocks 126 respectively and are in communication connection with the transfer flexible controller 4 respectively, and the transfer flexible controller 4 controls execution actions of the pair of electric linear guide rails 124 respectively.
The clamping power of the elastic clamping assembly is derived from the sliding block action of the pair of electric linear guide rails 124, when the pair of spring clamping blocks 126 are contacted with two sides of the target object 100 under the driving of the pair of electric linear guide rails 124, as the clamping is continued, the contact pressure between the spring clamping blocks 126 and the target object 100 is increased until the sliding blocks of the pair of electric linear guide rails 124 are stopped to act and keep the current state, and the flexible clamping of the target object 100 is completed under the action of the spring force.
Embodiment 4, the elastic wrapping cloth subassembly includes reel motor 128, flexible cloth reel 129 and flexible wrapping cloth 130, the casing demountable installation of reel motor 128 is in the outside of one of them clamping jaw arm 125, flexible cloth reel 129 is connected and is installed on the power take off shaft of reel motor 128, one end of flexible cloth reel 129 is connected on flexible cloth reel 129, the bottom at another clamping jaw arm 125 is connected to the other end, transfer flexible controller 4 controls the execution action of reel motor 128, when flexible wrapping cloth 130 contact target object 100 to the in-process of wrapping target object 100, transfer flexible controller 4 reel motor 128 action output force keeps at the settlement scope.
In embodiment 5, the spool motor 128 is a servo motor.
Embodiment 6, the elastic wrapping cloth assembly further comprises a guide roller 131, a roller groove is formed in the bottom of the clamping jaw arm 125 provided with the winding drum motor 128, the guide roller 131 is rotatably installed in the roller groove through a rotating shaft, and the flexible wrapping cloth 130 bypasses the lower rim of the guide roller 131 and is connected with the flexible cloth reel 129.
Example 7 the flexible wrap 130 includes an elastic layer 1301, an outer anti-slip layer 1302 and an inner anti-slip layer 1303, the outer anti-slip layer 1302 and the inner anti-slip layer 1303 being bonded to both sides of the elastic layer 1301.
The servo motor is used to provide a controllable output torque, the spool motor 128 pulls one end of the flexible wrapping cloth 130 to keep it in a tight state, and when the flexible wrapping cloth 130 contacts the target object downwards and the pair of clamping jaw arms 125 move inwards or outwards, the spool motor 128 keeps acting to keep a stable torque, so that the flexible wrapping cloth 130 is always in a tight state, thus realizing reliable coverage of the target object, and improving the friction force between the spring clamping blocks 126 and the side surface of the target object 100 under the action of the outer anti-slip layer 1302 and the inner anti-slip layer 1303.
Embodiment 8, flexible grasp arm 122 still includes the spacing subassembly in top, the spacing subassembly in top includes adjustable telescopic link 31, the locking bolt 32, stopper 33, photoelectric limit switch 34 and vision camera 35, the one end of adjustable telescopic link 31 is installed in the bottom surface of support arm 123, and be located the intermediate position of a pair of electronic linear guide 124, locking bolt 32 locks on adjustable telescopic link 31 for adjust the length of adjustable telescopic link 31, the other end at adjustable telescopic link 31 is installed to stopper 33, photoelectric limit switch 34 and vision camera 35 install the bottom surface at stopper 33 respectively, photoelectric limit switch 34 is used for detecting the distance from object 100, vision camera 35 is used for detecting the position and the profile of object 100, photoelectric limit switch 34 and vision camera 35 respectively with transport flexible controller 4 communication connection.
The function of the top limiting component is firstly to visually sense the target object 100, secondly to detect whether the target object 100 reaches the set clamping position, the adjustable telescopic rod 31 can be adjusted according to the size of the target object 100, and the adjustable telescopic rod can be an electric telescopic rod, so that automatic adjustment can be realized.
Embodiment 9, a transfer flexible controller 4 includes a main control chip 41, a memory 42, an industrial control touch screen 43 and a wireless communication module 44, where the main control chip 41 is respectively in communication connection with a plurality of pressure sensors 127, photoelectric limit switches 34 and vision cameras 35, and respectively controls the execution actions of the transfer trolley 2, the connection mechanical arm 121, a pair of electric linear guide rails 124 and a reel motor 128, and the main control chip 41 is respectively in communication connection with the memory 42, the industrial control touch screen 43 and the wireless communication module 44, and is in wireless communication connection with a remote control center 101 through the wireless communication module 44, and a worker sets parameters through the industrial control touch screen 43.
The control core of the transfer flexible controller 4 is a main control chip 41, a control program is stored in a memory 42, the industrial control touch screen 43 can realize different parameter visualization settings, and the wireless communication module 44 can realize wireless communication of a factory and wirelessly exchange the running state of the transfer robot with the remote control center 101.
Embodiment 10, a control method of a transfer robot based on flexible control, which uses a transfer robot based on flexible control to perform flexible gripper transfer on a target object 100, includes the following steps:
Step 1, according to the size of a target object 100, the length of an adjustable telescopic rod 31 is adjusted, the adjustable telescopic rod is locked through a locking bolt 32, parameters of a photoelectric limit switch 34 are set through an industrial control touch screen 43, traction of a reel motor 128 keeps moment parameters, and clamping force parameters corresponding to a pressure sensor 127 and the position, the end point, the path and the maximum acceleration of the transfer starting point of the target object 100;
Step 2, controlling the transfer trolley 2 to move to one side of the position of the target object 100 by the transfer flexible controller 4;
step 3, the transferring flexible controller 4 controls the movement of the connecting mechanical arm 121 to enable the flexible grabbing mechanical arm 122 to be located above the target object, controls the movement of the pair of electric linear guide rails 124 to enable the target object 100 to be located in the middle of the pair of electric linear guide rails 124 according to the position and the outline of the target object 100 detected by the visual camera 35, controls the movement of the connecting mechanical arm 121 again to enable the flexible grabbing mechanical arm 122 to be pressed downwards, enables the bottom surface of the flexible wrapping cloth 130 to be pressed around and on the top surface of the target object 100 until the photoelectric limit switch 34 detects that the distance from the target object 100 is reached, and controls the drum motor 128 to synchronously move in the downward pressing process to keep the movement output force to be kept in a set range;
Step 4, the transferring flexible controller 4 controls the sliding blocks of the pair of electric linear guide rails 124 to act, so that the pair of clamping jaw arms 125 move in opposite directions, and the pairs of spring clamping blocks 126 are clamped on two sides of the target 100 until the pressure value detected by the pressure sensor 127 reaches a set value;
step 5, the transferring flexible controller 4 controls the connecting mechanical arm 121 to act, so that the flexible grabbing mechanical arm 122 lifts the target object, and the acceleration in the lifting process does not exceed the set maximum acceleration;
Step 6, the transfer flexible controller 4 controls the transfer trolley 2 to move to a transfer end point according to a set path, wherein the transfer trolley is divided into two long-distance equal-length sections in the process, the acceleration process is an acceleration process in the first section, the acceleration is a, and the acceleration is changed into-a when the acceleration reaches the intermediate position until the end point is reached;
And 7, controlling the linkage of the connecting mechanical arm 121 and the flexible grabbing mechanical arm 122 by the transferring flexible controller 4, and placing the target object 100 at the final setting position to finish transferring.
The above embodiments are not intended to limit the scope of the present invention, and therefore: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.
Claims (8)
1. Transfer robot based on flexible control, its characterized in that: comprises a wrapped transfer mechanical arm, a transfer trolley (2) and a chip-based transfer flexible controller (4);
The wrapped transfer mechanical arm comprises a base (11) and at least one grabbing clamp unit (12), wherein the base (11) is arranged at the top of a transfer trolley (2), the grabbing clamp unit (12) comprises a connecting mechanical arm (121) and a flexible grabbing clamp mechanical arm (122), the connecting mechanical arm (121) is provided with a movable part, one end of the flexible grabbing clamp mechanical arm (122) is arranged on the movable part of the connecting mechanical arm (121) and moves up and down and left and right along with the movable part, the flexible grabbing clamp mechanical arm (122) comprises an elastic wrapping cloth component and an elastic clamping component, the elastic wrapping cloth component contacts the target (100) before grabbing the target (100), and elastically wraps the upper surface and four sides, and the elastic clamping component elastically clamps the periphery and the upper surface of the target (100) after wrapping; the transfer flexible controller (4) respectively controls the execution actions of the wrapped transfer mechanical arm and the transfer trolley (2), when the wrapped transfer mechanical arm finishes the grabbing action on the target object (100), the connecting mechanical arm (121) is controlled to retract, the rear control transfer trolley (2) accelerates to a set speed and decelerates, when the speed decreases to zero, the transfer destination is reached, and the absolute value difference of the acceleration of the transfer trolley (2) in the whole transfer process does not exceed a set threshold;
The elastic clamping assembly comprises a supporting arm (123), a pair of electric linear guide rails (124), a pair of clamping jaw arms (125), a plurality of pairs of spring clamping blocks (126) and a plurality of pressure sensors (127), wherein one end of the supporting arm (123) is detachably arranged on a movable part connected with the mechanical arm (121), a track of the pair of electric linear guide rails (124) is arranged on the bottom surface of the other end of the supporting arm (123), a slide block faces downwards, the tops of the pair of clamping jaw arms (125) are detachably arranged on the slide blocks of the pair of electric linear guide rails (124) respectively, the pair of spring clamping blocks (126) move left and right under the driving of the slide block, the pair of spring clamping blocks (126) are respectively arranged on the inner side surfaces of the pair of clamping jaw arms (125), when the pair of clamping jaw arms (125) move in opposite directions, the pair of spring clamping blocks (126) clamp two sides of a target object (100), and the plurality of pressure sensors (127) are respectively arranged on the surfaces of the pair of spring clamping blocks (126) and are respectively in communication connection with a transfer flexible controller (4), and the transfer flexible controller (4) respectively controls execution actions of the pair of electric linear guide rails (124);
The elastic wrapping cloth assembly comprises a winding drum motor (128), a flexible cloth winding drum (129) and flexible wrapping cloth (130), wherein a shell of the winding drum motor (128) is detachably arranged on the outer side of one clamping jaw arm (125), the flexible cloth winding drum (129) is connected and arranged on a power output shaft of the winding drum motor (128), one end of the flexible cloth winding drum (129) is connected to the flexible cloth winding drum (129), the other end of the flexible cloth winding drum is connected to the bottom of the other clamping jaw arm (125), the flexible controller (4) is used for controlling the execution action of the winding drum motor (128), and when the flexible wrapping cloth (130) is contacted with a target object (100) to be wrapped, the action output force of the winding drum motor (128) is kept in a set range.
2. A flexible control-based transfer robot as claimed in claim 1, wherein: the connecting mechanical arm (121) is an electric cross sliding table, and a sliding block of the electric cross sliding table is a movable part.
3. A flexible control-based transfer robot as claimed in claim 1, wherein: the spool motor (128) is a servo motor.
4. A flexible control-based transfer robot as claimed in claim 1, wherein: the elastic wrapping cloth assembly further comprises a guide roller (131), a roller groove is formed in the bottom of the clamping jaw arm (125) provided with the winding drum motor (128), the guide roller (131) is rotatably arranged in the roller groove through a rotating shaft, and the lower rim of the guide roller (131) is bypassed by the flexible wrapping cloth (130) to be connected with the flexible cloth reel (129).
5. A flexible control-based transfer robot as claimed in claim 1, wherein: the flexible wrapping cloth (130) comprises an elastic layer (1301), an outer anti-slip layer (1302) and an inner anti-slip layer (1303), wherein the outer anti-slip layer (1302) and the inner anti-slip layer (1303) are adhered to two sides of the elastic layer (1301).
6. A flexible control-based transfer robot as claimed in claim 1, wherein: the flexible grabbing mechanical arm (122) further comprises a top limiting component, the top limiting component comprises an adjustable telescopic rod (31), a locking bolt (32), a limiting block (33), a photoelectric limiting switch (34) and a visual camera (35), one end of the adjustable telescopic rod (31) is installed on the bottom surface of the supporting arm (123) and located at the middle position of the pair of electric linear guide rails (124), the locking bolt (32) is locked on the adjustable telescopic rod (31) and used for adjusting the length of the adjustable telescopic rod (31), the limiting block (33) is installed at the other end of the adjustable telescopic rod (31), the photoelectric limiting switch (34) and the visual camera (35) are respectively installed on the bottom surface of the limiting block (33), the photoelectric limiting switch (34) is used for detecting the distance from a target object (100), the visual camera (35) is used for detecting the position and the outline of the target object (100), and the photoelectric limiting switch (34) and the visual camera (35) are respectively in communication connection with the flexible controller (4).
7. A flexible control-based transfer robot as claimed in claim 1, wherein: the transfer flexible controller (4) comprises a main control chip (41), a memory (42), an industrial control touch screen (43) and a wireless communication module (44), wherein the main control chip (41) is respectively in communication connection with a plurality of pressure sensors (127), a photoelectric limit switch (34) and a visual camera (35), and respectively controls the transfer trolley (2), the connecting mechanical arm (121), a pair of electric linear guide rails (124) and a reel motor (128) to execute actions, and the main control chip (41) is respectively in communication connection with the memory (42), the industrial control touch screen (43) and the wireless communication module (44), and is in wireless communication connection with a remote control center (101) through the wireless communication module (44), and a worker sets parameters through the industrial control touch screen (43).
8. A control method of a transfer robot based on flexible control is characterized by comprising the following steps: a flexible gripper transport of an object (100) using a flexible control based transport robot according to claim 7, comprising the steps of:
Step 1, according to the size of a target object (100), the length of an adjustable telescopic rod (31) is adjusted, the adjustable telescopic rod is locked through a locking bolt (32), parameters of a photoelectric limit switch (34) are set through an industrial control touch screen (43), traction maintaining moment parameters of a reel motor (128), clamping force parameters corresponding to a pressure sensor (127) and the starting point, the end point, the path and the maximum acceleration of the transfer of the target object (100) are set;
step 2, controlling the transfer trolley (2) to move to one side of the position of the target object (100) by the transfer flexible controller (4);
Step 3, the transferring flexible controller (4) controls the action of the connecting mechanical arm (121) to enable the flexible grabbing mechanical arm (122) to be located above the target object, controls the action of the pair of electric linear guide rails (124) to enable the target object (100) to be located in the middle of the pair of electric linear guide rails (124) according to the position and the outline of the target object (100) detected by the visual camera (35), controls the action of the connecting mechanical arm (121) to enable the flexible grabbing mechanical arm (122) to be downwards pressed, enables the bottom surface of the flexible wrapping cloth (130) to be pressed and wrapped around the periphery and the top surface of the target object (100) until the photoelectric limit switch (34) detects that the distance from the target object (100) reaches a set range, and controls the synchronous action of the drum motor (128) to keep the output force of the action to be kept in the set range;
Step 4, the transferring flexible controller (4) controls the sliding blocks of the pair of electric linear guide rails (124) to act, so that the pair of clamping jaw arms (125) move in opposite directions, and a plurality of pairs of spring clamping blocks (126) are clamped on two sides of the target object (100) until the pressure value detected by the pressure sensor (127) reaches a set value;
Step 5, the transferring flexible controller (4) controls the connecting mechanical arm (121) to act, so that the flexible grabbing mechanical arm (122) lifts the target object, and the acceleration in the lifting process does not exceed the set maximum acceleration;
step 6, the transferring flexible controller (4) controls the transferring trolley (2) to move to a transferring end point according to a set path, the transferring trolley is divided into two equal-distance equal-length sections in the process, the acceleration process is an acceleration process in the first section, the acceleration is a, and the acceleration is changed into-a when the transferring trolley reaches the middle position until the transferring end point is reached;
and 7, controlling the linkage of the connecting mechanical arm (121) and the flexible grabbing mechanical arm (122) by the transferring flexible controller (4), and placing the target object (100) at the set position of the end point to finish transferring.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108202338A (en) * | 2016-12-16 | 2018-06-26 | 中国科学院沈阳自动化研究所 | A kind of flexible manipulator |
| CN116117842A (en) * | 2023-02-07 | 2023-05-16 | 南京皓焜自动化科技有限公司 | Cylindrical coordinate type industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9757862B2 (en) * | 2014-10-16 | 2017-09-12 | Technische Universität München | Tactile sensor |
| ES2897940T3 (en) * | 2016-01-20 | 2022-03-03 | Soft Robotics Inc | Soft robotic grippers for messy gripping environments and automated storage and retrieval systems, with high acceleration and food handling movements |
| CN108161889B (en) * | 2018-02-08 | 2023-11-24 | 北京华航唯实机器人科技股份有限公司 | Industrial robot based on AGV |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108202338A (en) * | 2016-12-16 | 2018-06-26 | 中国科学院沈阳自动化研究所 | A kind of flexible manipulator |
| CN116117842A (en) * | 2023-02-07 | 2023-05-16 | 南京皓焜自动化科技有限公司 | Cylindrical coordinate type industrial robot |
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