CN117400220A - High-precision industrial robot mobile operation platform - Google Patents

Abstract

The invention discloses a high-precision industrial robot moving operation platform, which relates to the technical field of industrial robots and comprises a vehicle body, wherein an AGV (automatic guided vehicle) is arranged at the bottom of the vehicle body, a dust removing device, a control cabinet group and a robot base are fixed at the upper end of the vehicle body, a gripping apparatus frame is arranged on the side edge of the robot base, an industrial robot is fixedly installed on the surface of the robot base, a gripping apparatus adapter with a retroreflective marker is arranged on an end effector of the industrial robot, and a jacking mechanism is arranged on the side surface of the vehicle body.

Description

A high-precision industrial robot mobile working platform

Technical field

The invention relates to the technical field of industrial robots, and in particular to a high-precision industrial robot mobile working platform.

Background technique

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices that are widely used in the industrial field. They have a certain degree of automation and can rely on their own power energy and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in electronics. , logistics, chemical industry and other industrial fields.

There is a growing demand for the manufacturing of large parts that meet stringent requirements across multiple industries. Traditional production solutions are often inflexible, and production costs and cycle times are generally higher because huge and heavy shop-level machining is often required. Machine tools and equipment have led to high manufacturing costs, and large-scale special equipment is greatly limited in terms of versatility. In order to meet the needs of shorter development cycles, lower costs and higher efficiency for large workpieces, a high-precision Industrial robot mobile work platform.

Contents of the invention

The invention provides a high-precision industrial robot mobile working platform, which solves the above technical problems.

In order to solve the above technical problems, the present invention provides a high-precision industrial robot mobile working platform, which includes a vehicle body, an AGV is provided at the bottom of the vehicle body, and a dust removal device, a control cabinet group and a robot are fixed on the upper end of the vehicle body. A base, a gripper frame is provided on the side of the robot base, an industrial robot is fixedly mounted on the surface of the robot base, and a gripper adapter equipped with a retroreflective mark is provided on the end effector of the industrial robot, and the A lifting mechanism is provided on the side of the car body.

Preferably, safety sensors are provided at the four corners of the vehicle body, and a stereo camera is provided at the front end of the robot base.

Preferably, the front end of the vehicle body is provided with a dust removal suction port, and the back of the vehicle body is provided with a control panel.

A static and dynamic dual positioning correction method that uses laser trackers and stereo cameras to improve the absolute accuracy of industrial robot operations;

The reflective ball seat is used for the laser tracker to detect the reference position of the industrial robot. After comparing it with the programmed reference position of the industrial robot, static correction compensation is performed; the special gripper adapter is installed with a gripper equipped with retroreflective markers. Adapter, stereo camera visually recognizes the retroreflective mark, determines the position of the center point of the industrial robot tool, and performs dynamic correction and compensation after comparing it with the position in the program;

The laser tracker statically corrects the reference position of the industrial robot; the programs of the industrial robot are set based on the theoretical position of the industrial robot. If the actual position deviation exceeds the allowable range, the actual critical path and posture of the industrial robot will deviate from the established program. The work cannot be completed; therefore, every time the industrial robot is parked at a new working position and before the industrial robot is ready to start work, the system must first calibrate the reference position of the industrial robot; at this time, the laser tracker detects the reflective ball seat on the robot base to obtain the actual position of the industrial robot. position, after determining the deviation from the target position, the deviation value is sent to the robot control unit to compensate the industrial robot program. The laser tracker has a larger measurement range and absolute accuracy, but the cost is high, and it is limited by visibility and lack of The dynamic measurement capability always requires the reflective ball seat to be within the line of sight, so it is only used here to calibrate the reference position of the platform and industrial robots;

In order to further improve the accuracy of industrial robot movements, the position of the center point of the industrial robot tool is dynamically corrected by a stereo camera. When the industrial robot's articulated arm holds the gripper according to the program and moves to each key position, the two lenses with intersecting fields of view are simultaneously aligned. Shoot several retroreflective marks on the gripper adapter with retroreflective marks, and use the known distance between the two lenses to determine the position, orientation and deviation of the industrial robot's end effector from the target posture; mobile platform control The system reads the deviation data from the vision processing system and transmits it to the industrial robot control unit through the robot fieldbus communication interface. The latter considers the deviation in the form of path compensation value; the dynamic correction function is independent of the influence of the robot, load and environmental parameters. The positioning accuracy in the entire workspace is superior to the repeatability of most articulated industrial robots, and is particularly suitable for high-precision operations on large parts.

Compared with related technologies, the high-precision industrial robot mobile working platform provided by the present invention has the following beneficial effects:

1. Mobile platforms equipped with industrial robots allow for more efficient processing of large parts and can increase the flexibility of the production system by mobilizing robots within a wider range and integrating additional processes. As a new method for processing large parts, the advantages of mobile robot systems include:

-Multipurpose machine tool concept suitable for all types of operations

-Mobile platform provides larger processing area

-Multiple sets of robots can work in parallel to improve production efficiency

-Industrial robots are standard industrial products and require lower investment than traditional large-scale processing equipment.

-Relatively lightweight equipment that requires no special foundation

-Ideal for integration into fully automated processes

In addition, multiple systems can work simultaneously to process different parts of the same large workpiece, thereby significantly improving productivity. Parallel manufacturing is impractical for traditional machining solutions because one machine tool or equipment can only process one part. .

2. This patent simultaneously uses a laser tracker and a stereo camera to improve the absolute accuracy of industrial robot operation, statically correct the position of the industrial robot, and dynamically correct the moving position of the industrial robot, thereby improving the operating accuracy of the industrial robot and meeting the operating requirements of large workpieces. .

Description of the drawings

Figure 1 is a main structure diagram of the present invention;

Figure 2 is a back structure diagram of the present invention;

Figure 3 is a side structural view of the present invention;

Figure 4 is a front-end structural diagram of the present invention;

Figure 5 is a front-end control architecture diagram of the present invention.

Numbers in the figure: 1. Dust removal device; 2. Control cabinet group; 3. Industrial robot; 4. Gripper adapter equipped with retroreflective markings; 5. Robot base; 6. Dust removal suction port; 7. Stereo camera; 8. Jacking mechanism; 9. Gripper frame; 10. Car body; 11. Control panel; 12. AGV; 13. Safety sensor; 14. Reflective ball seat.

Detailed ways

Embodiment 1, as shown in Figures 1-4, the present invention includes a high-precision industrial robot mobile working platform, including a vehicle body 10, an AGV 12 is provided at the bottom of the vehicle body 10, and a dust removal device 1 is fixed at the upper end of the vehicle body 10. The control cabinet group 2 and the robot base 5 are provided with a gripper frame 9 on the side of the robot base 5. The industrial robot 3 is fixedly installed on the surface of the robot base 5. The end effector of the industrial robot 3 is provided with a grabber with a retroreflective mark. Equipped with an adapter 4, a lifting mechanism 8 is provided on the side of the vehicle body 10.

Safety sensors are provided at the four corners of the vehicle body 10 , and a stereo camera 7 is provided at the front end of the robot base 5 .

The front end of the vehicle body 10 is provided with a dust removal suction port 6, and the back of the vehicle body 10 is provided with a control panel 11.

The industrial robot 3 is fixed on the surface of the robot base 5 through the gripper frame 9, the gripper to be used is fixed on the surface of the gripper adapter 4 equipped with retroreflective marks, the working platform is moved to a fixed position through the AGV, and the jacking structure 8 is operated. The vehicle body 10 is lifted up, and then the movement direction and movement speed of the industrial robot 3 are controlled through the control panel 11, thereby realizing flexible scheduling of the industrial robot.

Embodiment 2, as shown in Figures 1-5, is a static and dynamic dual positioning correction method that uses a laser tracker and a stereo camera 7 to improve the absolute accuracy of the operation of the industrial robot 3;

The reflective ball seat 14 is used for the laser tracker to detect the reference position of the industrial robot 3. After comparing it with the programmed reference position of the industrial robot 3, static correction compensation is performed; the special gripper adapter is equipped with a retroreflective mark. The gripper adapter 4 and the stereo camera 7 visually identify the retroreflective mark, determine the position of the tool center point of the industrial robot 3, and perform dynamic correction and compensation after comparing it with the position in the program;

The laser tracker statically corrects the reference position of the industrial robot 3; the programs of the industrial robot 3 are set based on the theoretical position of the industrial robot 3. If the actual position deviation exceeds the allowable range, the actual critical path and posture of the industrial robot 3 will deviate The operation cannot be completed due to the established procedure; therefore, every time it stops at a new working position and before the industrial robot 3 is ready to start working, the system must first calibrate the reference position of the industrial robot 3; at this time, the laser tracker detects the reflective ball on the robot base 5 Block 14, obtains the actual position of the industrial robot 3, determines the deviation from the target position, and sends the deviation value to the robot control unit to compensate the industrial robot 3 program. The laser tracker has a larger measurement range and absolute accuracy, but The cost is very high, and due to visibility restrictions and lack of dynamic measurement capabilities, the reflective ball seat 14 always needs to be within the line of sight, so it is only used here to calibrate the platform and the reference position of the industrial robot 3;

In order to further improve the action accuracy of the industrial robot 3, the position of the center point of the tool of the industrial robot 3 is dynamically corrected by the stereo camera 7. When the joint arm of the industrial robot 3 moves the gripper to each key position according to the program, the two fields of view intersect the lens. , simultaneously shoot several retroreflective marks on the gripper adapter 4 equipped with retroreflective marks, and use the known distance between the two lenses to determine the position, orientation and target posture of the end effector of the industrial robot 3 deviation; the mobile platform control system reads the deviation data from the vision processing system and transmits it to the industrial robot control unit through the robot fieldbus communication interface, which considers the deviation in the form of path compensation value; the dynamic correction function is independent of the robot, load and Due to the influence of environmental parameters, the positioning accuracy in the entire workspace is superior to the repeatability of most articulated industrial robots 3, which is particularly suitable for high-precision operations of large parts.

Claims (5)

1. A high-precision industrial robot mobile work platform, including a vehicle body (10), characterized in that an AGV (12) is provided at the bottom of the vehicle body (10), and an AGV (12) is fixed on the upper end of the vehicle body (10). The dust removal device (1), the control cabinet group (2) and the robot base (5) are provided with a gripper frame (9) on the side of the robot base (5), and the surface of the robot base (5) is fixedly installed industrially. Robot (3), the end effector of the industrial robot (3) is provided with a gripper adapter (4) equipped with retroreflective marks, and the side of the vehicle body (10) is provided with a lifting mechanism (8) . 2. A high-precision industrial robot mobile working platform according to claim 1, characterized in that safety sensors (13) are provided at four corners of the vehicle body (10), and safety sensors (13) are provided at the four corners of the robot base (5). A stereo camera (7) is provided at the front end. 3. A high-precision industrial robot mobile working platform according to claim 2, characterized in that the front end of the vehicle body (10) is provided with a dust removal suction port (6), and the front end of the vehicle body (10) A control panel (11) is provided on the back. 4. A high-precision industrial robot mobile working platform according to claim 1, characterized in that a reflective ball seat (14) is provided at the upper end of the robot base (5). 5. A static and dynamic dual positioning correction method according to any one of claims 1 to 4, characterized in that the absolute accuracy of the operation of the industrial robot (3) is improved through a laser tracker and a stereo camera (7); The reflective ball seat (14) is used for the laser tracker to detect the reference position of the industrial robot (3). After comparing it with the programmed reference position of the industrial robot (3), static correction compensation is performed; the special gripper adapter is installed There is a gripper adapter (4) equipped with a retroreflective mark. The stereo camera (7) visually recognizes the retroreflective mark, determines the position of the tool center point of the industrial robot (3), and performs dynamic correction after comparing it with the position in the program. compensate; The laser tracker statically corrects the reference position of the industrial robot (3); the program of the industrial robot (3) is set based on the theoretical position of the industrial robot (3). If the actual position deviation exceeds the allowable range, the industrial robot (3) The actual critical path and posture will deviate from the established program and the operation cannot be completed; therefore, every time it stops at a new working position and before the industrial robot (3) is ready to start the operation, the system must first calibrate the reference position of the industrial robot (3); this The laser tracker detects the reflective ball seat (14) on the robot base (5) to obtain the actual position of the industrial robot (3). After determining the deviation from the target position, the deviation value is sent to the robot control unit, and the industrial robot (3) is 3) Program to compensate, the laser tracker has a larger measurement range and absolute accuracy, but the cost is very high, and it is limited by visibility and lacks dynamic measurement capabilities. The reflective ball seat (14) always needs to be within the line of sight, so in This is only used to calibrate the reference position of the platform and industrial robot (3); In order to further improve the action accuracy of the industrial robot (3), the position of the center point of the tool of the industrial robot (3) is dynamically corrected by the stereo camera (7). When the articulated arm of the industrial robot (3) moves the gripper to each key position according to the program, , two lenses with intersecting fields of view, simultaneously photograph several retroreflective marks on the gripper adapter (4) equipped with retroreflective marks, and use the known distance between the two lenses to determine the location of the industrial robot (3) The position, orientation and deviation of the end effector from the target posture; the mobile platform control system reads the deviation data from the vision processing system and transmits it to the industrial robot control unit through the robot fieldbus communication interface, which is considered in the form of path compensation value This deviation; dynamic correction function is independent of the influence of robot, load and environmental parameters, and achieves positioning accuracy in the entire workspace that is better than the repeatability of most articulated industrial robots (3), especially suitable for high-precision operation requirements of large parts.