CN119217355A

CN119217355A - Robot system and control method thereof, control device, and readable storage medium

Info

Publication number: CN119217355A
Application number: CN202310793565.9A
Authority: CN
Inventors: 野上和义; 中村启辅; 横山一生
Original assignee: Yaskawa Electric China Co Ltd; Yaskawa Electric Corp
Current assignee: Yaskawa Electric China Co Ltd; Yaskawa Electric Corp
Priority date: 2023-06-30
Filing date: 2023-06-30
Publication date: 2024-12-31

Abstract

The application discloses a robot system, a control method, control equipment and a readable storage medium thereof, which relate to the technical field of robots, wherein the robot system comprises a base mechanism and a control unit, wherein the base mechanism comprises a fixed base and a base rotating piece, and the base rotating piece is driven by a first driving unit to rotate relative to the fixed base by a first rotating shaft; the robot system comprises a base rotating piece, a first mechanical arm mechanism arranged on the base rotating piece, a second mechanical arm mechanism arranged on the base rotating piece, a control unit and a base mechanism, wherein the control unit is used for controlling the robot system to have a first working mode and a second working mode, the first mechanical arm mechanism and the second mechanical arm mechanism are controlled to be in a working state in the first working mode, the base mechanism is in a locking state in the second working mode, the first mechanical arm mechanism and the second mechanical arm mechanism are controlled to be in a working state in the second working mode, and the base mechanism is controlled to be in a working state in the second working mode. The application can save time, improve production efficiency and reduce cost spent on robots.

Description

Robot system, control method thereof, control device, and readable storage medium

Technical Field

The present invention relates to the field of robotics, and in particular, to a robotic system, a control method, a control device, and a readable storage medium thereof.

Background

SCARA robots (SELECTIVE COMPLIANCE ASSEMBLY ROBOT ARM, selectively compliant assembly robots) typically have four axes and four degrees of freedom of movement (including translational in the X, Y, Z directions and rotational degrees of freedom about the Z axis). SCARA robots have compliance in the X, Y directions and good stiffness in the Z-axis direction, a characteristic which is particularly suitable for assembly work. The SCARA robot can be applied to a production line to realize the assembly, positioning or grabbing of parts and the like. A plurality of SCARA robots are generally arranged in a line, and since a conventional single-arm SCARA robot comprises a base, a first mechanical arm connected to the base through a driving unit, and a second mechanical arm connected to the first mechanical arm through another driving unit, the robot further comprises related components for realizing movement and realizing rotation around a Z axis.

In particular, in some special processing links, if the single-arm SCARA robot needs to perform a cyclic operation between two areas that are far away, it takes a lot of time to move the first mechanical arm between the two areas by the driving unit, and the size of the single-arm SCARA robot needs to be large, so that it can be ensured that the single-arm SCARA robot has enough freedom of movement, but this clearly increases the cost greatly. In addition, if a plurality of SCARA robots are arranged in a line, each of the SCARA robots is circulated between two areas that are far apart, and the size of each of the SCARA robots is increased to achieve the above object, the cost of the SCARA robots is too high, which results in an increase in production cost.

Disclosure of Invention

In order to overcome the above-mentioned drawbacks of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a robot system, a control method, a control device, and a readable storage medium thereof, which can save time, improve production efficiency, and reduce cost spent on robots.

The specific technical scheme of the embodiment of the invention is as follows:

A robotic system, the robotic system comprising:

the base mechanism comprises a fixed base and a base rotating piece, and the base rotating piece is driven by a first driving unit to rotate relative to the fixed base by a first rotating shaft;

a first mechanical arm mechanism mounted on the base rotation member;

a second mechanical arm mechanism mounted on the base rotation member;

The control unit is used for controlling the robot system to have a first working mode and a second working mode, in the first working mode, the first mechanical arm mechanism and the second mechanical arm mechanism are controlled to be in a working state, the base mechanism is in a locking state, in the second working mode, the first mechanical arm mechanism and the second mechanical arm mechanism are controlled to be in a working state, and the base mechanism is in a working state.

Preferably, the control unit is configured to control the robotic system to have a third operation mode, in which the first mechanical arm mechanism and the second mechanical arm mechanism are controlled to be in a locked state, and the base mechanism is configured to be in an operational state.

Preferably, the first mechanical arm mechanism is a Scara robot with at least four axes, which has at least four axes and four degrees of freedom of movement;

And/or the number of the groups of groups,

The second mechanical arm mechanism is a Scara robot with at least four axes, which has at least four axes and four degrees of freedom of movement.

Preferably, the control unit includes:

the switching unit is used for switching the robot system among the first working mode, the second working mode and the third working mode;

The control unit is used for receiving an instruction signal, processing the instruction signal to form a working mode instruction, sending the working mode instruction to the switching unit, wherein the instruction signal comprises the information of the required working mode of the robot system, and the switching unit is used for receiving the working mode instruction and switching the robot system among the first working mode, the second working mode and the third working mode according to the working mode instruction.

Preferably, the control unit includes:

The base mechanism instruction operation unit is used for receiving an instruction signal when the robot system is switched to the second working mode or the third working mode, and processing the instruction signal to form an instruction position of the first driving unit in the base mechanism, wherein the instruction signal comprises an instruction speed of the first driving unit in the base mechanism.

Preferably, the control unit includes:

the first mechanical arm mechanism instruction operation unit and the compensation unit;

The compensation unit is used for receiving the instruction signal, judging whether compensation operation is needed according to the instruction signal, and if so, sending the instruction position of the first driving unit in the base mechanism to the first mechanical arm mechanism instruction operation unit;

the first mechanical arm mechanism instruction operation unit is used for receiving an instruction signal when the robot system is switched to the second working mode, processing the instruction signal to form an instruction position under the first mechanical arm mechanism coordinate system, calculating the instruction position under the base mechanism coordinate system according to the instruction position under the first mechanical arm mechanism coordinate system, and calculating the instruction position of each driving unit in the first mechanical arm mechanism after compensation according to the instruction position under the base mechanism coordinate system and the instruction position of the first driving unit in the base mechanism.

Preferably, the compensation calculation is performed according to the command position under the coordinate system of the base mechanism and the command position of the first driving unit in the base mechanism to obtain the compensated command position of each driving unit in the first mechanical arm mechanism, and the specific calculation process is as follows:

R1(n+1)=inv_J1w×R1_w(n+1)

=(Xr1_(n+1),Yr1_(n+1),Zr1_(n+1),θr1_(n+1)),

Wherein,

R1_w(n+1)=(Xb_(n+1),Yb_(n+1),Zb_(n+1),θb_(n+1));

Xr1_(n+1)＝cos(θs)×Xb_(n+1)+sin(θs)×Yb_(n+1);

Yr1_(n+1)＝-sin(θs)×Xb_(n+1)+cos(θs)×Yb_(n+1)–rb;

Zr1_(n+1)＝Zb_(n+1);

θr1_(n+1)＝θb_(n+1)-θs;

R1 (n+1) represents the command position of each driving unit in the first mechanical arm mechanism after compensation,

(Xr 1 _(n+1),Yr1_(n+1),Zr1_(n+1),θr1_(n+1)) sequentially and respectively represents an X-axis coordinate, a Y-axis coordinate, a Z-axis coordinate and a rotation angle around the Z-axis in the first mechanical arm mechanism coordinate system, r1_w (n+1) represents a command position in the base mechanism coordinate system, (Xb _(n+1),Yb_(n+1),Zb_(n+1),θb_(n+1)) sequentially and respectively represents an X-axis coordinate, a Y-axis coordinate, a Z-axis coordinate and a rotation angle around the Z-axis in the base mechanism coordinate system, rb represents a distance between an origin of the base mechanism coordinate system and an origin of the first mechanical arm mechanism coordinate system, θs represents a rotation angle of the base rotating member, specifically, a difference between an angle of a first driving unit of the base rotating member and a command position S1 (n+1) of the first driving unit in the base mechanism.

Preferably, the control unit includes:

The second mechanical arm mechanism instruction operation unit and the compensation unit;

The compensation unit is used for receiving the instruction signal, judging whether compensation operation is needed according to the instruction signal, and if so, sending the instruction position of the second driving unit in the base mechanism to the second mechanical arm mechanism instruction operation unit;

The second mechanical arm mechanism instruction operation unit is used for receiving an instruction signal when the robot system is switched to the second working mode, processing the instruction signal to form an instruction position under the second mechanical arm mechanism coordinate system, calculating the instruction position under the base mechanism coordinate system according to the instruction position under the second mechanical arm mechanism coordinate system, and calculating the instruction position of each driving unit in the second mechanical arm mechanism after compensation according to the instruction position under the base mechanism coordinate system and the instruction position of the second driving unit in the base mechanism.

A control method of a robot system, the robot system comprising:

a first mechanical arm mechanism mounted on the base rotation member;

a second mechanical arm mechanism mounted on the base rotation member;

the control method comprises the following steps:

Receiving an instruction signal, wherein the instruction signal comprises information of a required working mode of the robot system;

Switching the robot system to a first working mode according to the instruction signal, wherein the first mechanical arm mechanism and the second mechanical arm mechanism are in an operable state, and the base mechanism is in a locking state;

And switching the robot system to a second working mode according to the command signal when the first working mode is finished or after the first working mode is finished, wherein the first mechanical arm mechanism and the second mechanical arm mechanism are in an operable state, and the base mechanism is in an operable state.

Preferably, the control method further includes:

and switching the robot system to a third working mode according to the command signal when the second working mode is finished or after the command signal, wherein the first mechanical arm mechanism and the second mechanical arm mechanism are in a locking state, and the base mechanism is in an operable state.

Preferably, the control method further includes:

switching the robot system to the second working mode when or after the third working mode is finished according to the command signal, wherein the first mechanical arm mechanism and the second mechanical arm mechanism are in an operable state, and the base mechanism is in an operable state;

all the steps are repeated to be continuously circulated.

Preferably, the control method further includes:

Receiving a command signal and processing the command signal to form a command position of a first drive unit in the base mechanism, the command signal including a command speed of the first drive unit in the base mechanism;

the method comprises the steps of controlling each driving unit in a first mechanical arm mechanism based on command signals, wherein the command signals comprise command speeds of each driving unit in the first mechanical arm mechanism, specifically, the method comprises the steps of processing the command signals to form command positions under the first mechanical arm mechanism, calculating the command positions under a base mechanism coordinate system according to the command positions under the first mechanical arm mechanism coordinate system if the command signals are judged to need to carry out compensation operation, and calculating the command positions of each driving unit in the first mechanical arm mechanism after compensation according to the command positions under the base mechanism coordinate system and the command positions of the first driving units in the base mechanism.

Preferably, the compensated command position of each driving unit in the first mechanical arm mechanism is calculated according to the command position under the coordinate system of the base mechanism and the command position of the first driving unit in the base mechanism, and the specific calculation process is as follows:

R1(n+1)=inv_J1w×R1_w(n+1)

=(Xr1_(n+1),Yr1_(n+1),Zr1_(n+1),θr1_(n+1)),

Wherein,

R1_w(n+1)=(Xb_(n+1),Yb_(n+1),Zb_(n+1),θb_(n+1));

Xr1_(n+1)＝cos(θs)×Xb_(n+1)+sin(θs)×Yb_(n+1);

Yr1_(n+1)＝-sin(θs)×Xb_(n+1)+cos(θs)×Yb_(n+1)–rb;

Zr1_(n+1)＝Zb_(n+1);

θr1_(n+1)＝θb_(n+1)-θs;

A control device for a robotic system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the control method of any of the above when executing the computer program.

A computer-readable storage medium storing a computer program that executes the control method of any one of the above.

The technical scheme of the invention has the following remarkable beneficial effects:

1. According to the application, the positions of the first mechanical arm mechanism and the second mechanical arm mechanism can be changed greatly at the same time by the operation of the first driving unit in the base mechanism in the second operation mode, the operation of the first driving unit in the base mechanism in the third operation mode and the operation of the first driving unit in the base mechanism in the second operation mode in sequence, and the movement is performed between the two areas. A substantial change in the position of at least 2 robot arm mechanisms can be achieved by rotation of one base mechanism, so that the cost spent on robots can be reduced with the robot system.

2. The cyclic operation of the robot system between two remote areas in production and processing can be realized by controlling the cyclic switching of the robot system among the first working mode, the second working mode, the third working mode, the second working mode, the first working mode, the second working mode, the third working mode and the second working mode in sequence. The second operation mode is experienced twice during the process of moving the first and second robot arm mechanisms substantially by driving the first rotation shaft to rotate the base rotation member. When the first operation is not finished by the first mechanical arm mechanism and when the second operation is not finished by the second mechanical arm mechanism, the first rotating shaft is started to rotate the base rotating piece to start moving the first mechanical arm mechanism and the second mechanical arm mechanism. When the first rotating shaft is driven to rotate the base rotating member to move the first mechanical arm mechanism and the second mechanical arm mechanism is not completely completed, the first mechanical arm mechanism starts to perform the second operation, and the second mechanical arm mechanism starts to perform the first operation. The time for completing a complete operation flow can be shortened through the process, so that the operation efficiency is improved.

Specific embodiments of the invention are disclosed in detail below with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not limited in scope thereby. Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments in combination with or instead of the features of the other embodiments.

Drawings

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, proportional sizes, and the like of the respective components in the drawings are merely illustrative for aiding in understanding the present invention, and are not particularly limited. Those skilled in the art with access to the teachings of the present invention can select a variety of possible shapes and scale sizes to practice the present invention as the case may be.

FIG. 1 is a schematic diagram of a robotic system according to an embodiment of the present invention;

fig. 2 is an operation state of a first mechanical arm mechanism, a second mechanical arm mechanism and a first driving unit of the robot system in different working modes in the embodiment of the invention;

FIG. 3 is a schematic diagram of a control unit according to an embodiment of the present invention;

FIG. 4 is a flow chart of processing command signals according to an embodiment of the invention;

Fig. 5 is a schematic diagram of compensation calculation according to an embodiment of the present invention.

Reference numerals of the above drawings:

1. The mechanical arm mechanism comprises a fixed base, 2, a base rotating part, 3, a first driving unit, 4, a first rotating shaft, 5, a first mechanical arm mechanism, 51, a first rotating arm, 52, a first moving joint, 53, a second driving unit, 54, a second rotating shaft, 55, a third rotating shaft, 56, a third driving unit, 57, a fourth driving unit, 58, a first base, 59, a second rotating arm, 510, a fifth driving unit, 511, a fourth rotating shaft, 6, a second mechanical arm mechanism, 61, a third rotating arm, 62, a second moving joint, 63, a sixth driving unit, 64, a fifth rotating shaft, 65, a sixth rotating shaft, 66, a seventh driving unit, 67, an eighth driving unit, 68, a second base, 69, a fourth rotating arm, 610, a ninth driving unit, 611, a seventh rotating shaft, 7, a control unit, 71, a switching unit, 72, a first mechanical arm mechanism instruction operation unit, 73, a second mechanical arm mechanism instruction operation unit, 74, a base mechanism instruction operation unit, 75, a first mechanical arm mechanism control unit, a second mechanical arm mechanism, a sub-unit, a compensation unit 77, a mechanical arm control sub-unit.

Detailed Description

The details of the invention will be more clearly understood in conjunction with the accompanying drawings and description of specific embodiments of the invention. The specific embodiments of the invention described herein are for purposes of illustration only and are not to be construed as limiting the invention in any way. Given the teachings of the present invention, one of ordinary skill in the related art will contemplate any possible modification based on the present invention, and such should be considered to be within the scope of the present invention. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, mechanically or electrically connected, may be in communication with each other in two elements, may be directly connected, or may be indirectly connected through an intermediary, and the specific meaning of the terms may be understood by those of ordinary skill in the art in view of the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Unless defined otherwise, 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. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

In order to save time, improve production efficiency and reduce cost spent on robots, a robot system is provided in the present application, and fig. 1 is a schematic structural diagram of the robot system in an embodiment of the present application, and as shown in fig. 1, the robot system includes a base mechanism including a fixed base 1 and a base rotating member 2, the base rotating member 2 is driven by a first driving unit 3 to rotate relative to the fixed base 1 by a first rotating shaft 4, a first mechanical arm mechanism 5 mounted on the base rotating member 2, and a second mechanical arm mechanism 6 mounted on the base rotating member 2.

As shown in fig. 1, the base mechanism may include a fixed base 1, a base rotation member 2 provided on the fixed base 1. The fixed base 1 and the base rotator 2 may be connected by a first driving unit 3. The base rotation member 2 is rotatable about a first rotation axis 4 by driving the fixed base 1 by a first driving unit 3.

As shown in fig. 1, the base rotary 2 may be mounted with a first robot arm mechanism 5 and a second robot arm mechanism 6. The specific number of the mechanical arm mechanisms can be determined according to actual production requirements, and the mechanical arm mechanisms can be two or more. The mounting positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are not overlapped with the first rotating shaft 4, so that the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 can be changed simultaneously when the first driving unit 3 drives the base rotating member 2 to rotate.

As a possibility, the first mechanical arm mechanism 5 may be a Scara robot with at least four axes and four degrees of freedom of movement, i.e. including translation in the X, Y, Z directions and rotational degrees of freedom about the Z axis. The second mechanical arm mechanism 6 may also be an at least four axis Scara robot having at least four axes and four degrees of freedom of movement, i.e. including translational movements in the X, Y, Z directions and rotational degrees of freedom about the Z axis. Of course, in other possible embodiments, the first mechanical arm mechanism 5 may be a robot with more axes or degrees of freedom of movement, which is not limited in any way in the present application.

As shown in fig. 1, as a possible, the first robot arm mechanism 5 may include a first rotating arm 51, a second rotating arm 59, and a first moving joint 52. The first rotating arm 51 may be driven to rotate by the second driving unit 53 with the second rotating shaft 54. For example, the first rotating arm 51 may be connected to the base rotating member 2 through the second driving unit 53. The second rotation shaft 54 may be parallel to the first rotation shaft 4. The second rotation shaft 54 does not coincide with the first rotation shaft 4. For another example, the first mechanical arm mechanism 5 may include a first base 58, the first base 58 is fixedly connected to the base rotating member 2, and the first rotating arm 51 may be connected to the first base 58 through the second driving unit 53. The second rotation arm 59 may be driven to rotate by the third rotation shaft 55 by the third driving unit 56. For example, the second rotating arm 59 may be connected to the first rotating arm 51 through the third driving unit 56. The third rotation axis 55 may be parallel to the second rotation axis 54. The third rotation axis 55 does not coincide with the second rotation axis 54. The first moving joint 52 may be provided on the second rotating arm 59, and the first moving joint 52 may be connected to the second rotating arm 59 through the fourth driving unit 57. The first movable joint 52 is driven by the fourth driving unit 57 to rotate about the fourth rotation shaft 511. The fourth rotation shaft 511 may be parallel to the third rotation shaft 55. The fourth rotation shaft 511 does not coincide with the third rotation shaft 55. The fourth rotation shaft 511 may be an axis of the first movable joint 52. The first moving joint 52 is driven to move in the direction of the fourth rotation shaft 511 by the fifth driving unit 510. One end of the first moving joint 52 may be connected to the fourth driving unit 57, the other end of the first moving joint 52 may be a tool mounting portion, and the other end of the first moving joint 52 may be movable along the fourth rotation axis 511 with respect to the one end of the first moving joint 52.

Similarly, as possible, the second robot arm mechanism 6 may include a third rotating arm 61, a fourth rotating arm 69, and a second moving joint 62. The third rotation arm 61 can be driven to rotate by the fifth rotation shaft 64 by the sixth driving unit 63. For example, the third rotating arm 61 may be connected to the base rotating member 2 through a sixth driving unit 63. The fourth rotation shaft 511 may be parallel to the first rotation shaft 4. The fourth rotation shaft 511 does not coincide with the third rotation shaft 55. For another example, the second mechanical arm mechanism 6 may include a second base 68, the second base 68 is fixedly connected to the base rotating member 2, and the third rotating arm 61 may be connected to the second base 68 through a sixth driving unit 63. The fourth rotation arm 69 can be driven to rotate by the sixth rotation shaft 65 by the seventh driving unit 66. For example, the fourth rotating arm 69 may be connected to the third rotating arm 61 through the seventh driving unit 66. The sixth rotation shaft 65 may be parallel to the fifth rotation shaft 64. The sixth rotation shaft 65 does not coincide with the fifth rotation shaft 64. The second moving joint 62 may be provided on the fourth rotating arm 69, and the second moving joint 62 may be connected to the fourth rotating arm 69 through the eighth driving unit 67. The second movable joint 62 is driven by the eighth driving unit 67 to rotate about the seventh rotation shaft 611. The seventh rotation shaft 611 may be parallel to the sixth rotation shaft 65. The seventh rotation shaft 611 does not coincide with the sixth rotation shaft 65. The seventh rotation shaft 611 may be an axis of the second movable joint 62. The second moving joint 62 is driven to move in the direction of the seventh rotation shaft 611 by the ninth driving unit 610. One end of the second moving joint 62 may be connected to the eighth driving unit 67, the other end of the second moving joint 62 may be a tool mounting portion, and the other end of the second moving joint 62 may be movable along an eighth rotation axis direction with respect to the one end of the second moving joint 62.

As a practical matter, the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 may be mounted at opposite ends of the base rotating member 2, and the first rotating shaft 4 may be located between the two ends of the base rotating member 2, for example, may be located in the middle of the base rotating member 2, so that interference between the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 during operation may be avoided as much as possible, and in addition, when the base rotating member 2 rotates, the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 may be changed substantially.

As a possibility, the driving unit may include a servo motor, or may include a servo motor connected to a decelerator.

The robotic system may comprise a control unit 7. The control unit 7 may be used for controlling the entire robot system, for example, the first driving unit 3 may be controlled to realize rotation of the base mechanism, i.e. rotation of the base rotating member 2 relative to the fixed base 1, the second driving unit 53 may be controlled to realize rotation of the first rotating arm 51, i.e. rotation of the first rotating arm 51 relative to the base rotating member 2, the third driving unit 56 may be controlled to realize rotation of the second rotating arm 59, the fourth driving unit 57 may be controlled to realize rotation of the first movable joint 52, the fifth driving unit 510 may be controlled to realize movement of the first movable joint 52 in the direction of the fourth rotation axis 511, and the control unit 7 may likewise control the sixth driving unit 63, the seventh driving unit 66, the eighth driving unit 67 and the ninth driving unit 610.

Fig. 2 is an operation state of the first mechanical arm mechanism, the second mechanical arm mechanism 6 and the first driving unit 3 of the robot system in different operation modes in the embodiment of the present invention, and as shown in fig. 2, the control unit 7 may be used to control the robot system to have the first operation mode. In the first operation mode, the control unit 7 may control the first and second arm mechanisms 5, 6 to be in an operable state, and the base mechanism to be in a locked state. The operable state may mean that each driving unit in the first mechanical arm mechanism 5 can drive the corresponding first rotating arm 51, second rotating arm 59 and first moving joint 52 to move, so as to implement the first operation of the tool mounted on the tool mounting portion of the first mechanical arm mechanism 5, and each driving unit in the second mechanical arm mechanism 6 can drive the corresponding third rotating arm 61, fourth rotating arm 69 and second moving joint 62 to move, so as to implement the second operation of the tool mounted on the tool mounting portion of the second mechanical arm mechanism 6. The locked state may mean that the first driving unit 3 cannot drive the base rotation member 2 to rotate with respect to the fixed base 1 about the first rotation axis 4.

The first job may be the same type of operation as the second job, or may be a different type of operation.

As shown in fig. 2, the control unit 7 may be used to control that the robotic system can have a second mode of operation. In the second operation mode, the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are controlled to be in an operable state, and the base mechanism is controlled to be in an operable state. When the first work is about to be completed by the tools mounted on the tool mounting portion of the first arm mechanism 5, or when the second work is about to be completed by the tools mounted on the tool mounting portion of the second arm mechanism 6, the control unit 7 may control the robot system to enter a second operation mode in which the first driving unit 3 is controlled to operate, the base rotating member 2 starts to rotate relative to the fixed base 1, and the positions of the first arm mechanism 5 and the second arm mechanism 6 may be simultaneously changed, during which each driving unit in the first arm mechanism 5 continues to drive the corresponding first rotating arm 51, second rotating arm 59, and first moving joint 52, thereby realizing the first work by the tools mounted on the tool mounting portion of the first arm mechanism 5 until the first work is completed, and each driving unit in the second arm mechanism 6 continues to drive the corresponding third rotating arm 61, fourth rotating arm 69, and second moving joint 62, thereby realizing the second work by the tools mounted on the tool mounting portion of the second arm mechanism 6 until the second work is completed.

As shown in fig. 2, the control unit 7 may be used to control the robotic system to have a third mode of operation. In the third mode of operation, the first 5 and second 6 robotic arm mechanisms are controlled to be in a locked state and the base mechanism is in an operable state. After the tool operation mounted on the tool mounting portion of the first mechanical arm mechanism 5 is completed, and after the tool operation mounted on the tool mounting portion of the second mechanical arm mechanism 6 is completed, the operation of the first driving unit 3 is continuously controlled, the base rotating member 2 is continuously rotated relative to the fixed base 1, and the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are continuously changed, so that the tools mounted on the tool mounting portions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 can perform the operation of the second wheel. The first work performed by the tool mounted on the tool mounting portion of the first robot arm mechanism 5 and the second work performed by the tool mounted on the tool mounting portion of the second robot arm mechanism 6 in the above portions may be defined as first round work.

As shown in fig. 2, the base rotating member 2 rotates relative to the fixed base 1, and the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are continuously changed, but when the rotation of the base rotating member 2 relative to the fixed base 1 is not completely completed, the robot system enters the next round of operation, and the control unit 7 controls the robot system to enter the second working mode. For example, in the second operation mode, the tool mounted on the tool mounting portion of the first robot arm mechanism 5 may perform the second operation, and the tool mounted on the tool mounting portion of the second robot arm mechanism 6 may perform the first operation. Since the first and second robot mechanisms 5 and 6 can adjust the position of the tool mounted on the tool mounting portion to a certain extent in the horizontal direction by their own adjustment, the first robot mechanism 5 can perform the second operation and the second robot mechanism 6 can perform the first operation even when the rotation of the base rotary 2 with respect to the fixed base 1 is not completely completed.

As shown in fig. 2, when the rotation of the base rotation member 2 with respect to the stationary base 1 is completely completed, the control unit 7 controls the robot system to enter the first operation mode. The tool mounted on the tool mounting portion of the first robot arm mechanism 5 continues the second work, and the tool mounted on the tool mounting portion of the second robot arm mechanism 6 continues the first work. When the first work is about to be completed by the tools mounted on the tool mounting portion of the first arm mechanism 5 or when the second work is about to be completed by the tools mounted on the tool mounting portion of the second arm mechanism 6, the control unit 7 controls the robot system to enter a second operation mode in which the first driving unit 3 is controlled to operate, the base rotating member 2 starts to rotate relative to the fixed base 1, and the positions of the first arm mechanism 5 and the second arm mechanism 6 can be simultaneously changed, during which each driving unit in the first arm mechanism 5 continues to drive the corresponding first rotating arm 51, second rotating arm 59 and first moving joint 52 to move, thereby realizing that the tools mounted on the tool mounting portion of the first arm mechanism 5 perform the second work until the second work is completed, and each driving unit in the second arm mechanism 6 continues to drive the corresponding third rotating arm 61, fourth rotating arm 69 and second moving joint 62 to move, thereby realizing that the tools mounted on the tool mounting portion of the second arm mechanism 6 continue to perform the first work until the first work is completed.

The first and second operations are performed by the tool mounted on the tool mounting portion of the one arm mechanism to complete a complete work flow. After that, the control unit 7 may control the robot system to enter the third working mode, continuously control the first driving unit3 to operate, continuously rotate the base rotating member 2 relative to the fixed base 1, continuously change the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6, and move to the position of the first round of work. The above-mentioned process can be continuously circulated, so that the circulation operation of the robot system in the production and processing can be implemented. That is, the control unit 7 may control the robot system to sequentially switch to the first operation mode, the second operation mode, the third operation mode, and the second operation mode, and thus to continuously cycle.

Specifically, for example, the first operation of the first robot mechanism 5 may be to grasp the object from the area a for some processing operation, and the second operation of the first robot mechanism 5 may be to place the object after the processing operation to the area B. The second operation of the second robot mechanism 6 may be to place the object after the processing operation in the region C, and the first operation of the second robot mechanism 6 may be to pick up the object from the region D for some processing operation. The control unit 7 can control the robot system to sequentially switch to a first working mode, a second working mode, a third working mode, a second working mode, a first working mode, a second working mode, a third working mode and a second working mode, so that the continuous cyclic switching can realize that a plurality of objects are carried from an area A to an area B and certain processing operations are carried out, and a plurality of objects are carried from an area D to an area C and certain processing operations are carried out. As a practical matter, the area a is far from the area B, the area C is far from the area D, and the robot system sequentially executes the second operation mode, the third operation mode, and the second operation mode, so that the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 can be moved substantially simultaneously, the first mechanical arm mechanism 5 can be moved between the area a and the area B, and the second mechanical arm mechanism 6 can be moved between the area C and the area D.

In the course of the large-scale movement of the first and second arm mechanisms 5, 6 by driving the first rotating shaft 4 to rotate the base rotating member 2, the second operation mode is experienced twice, that is, when the first operation by the first arm mechanism 5 is not finished and the second operation by the second arm mechanism 6 is not finished, the first rotating shaft 4 starts to rotate the base rotating member 2 to start the movement of the first and second arm mechanisms 5, 6, so that the first arm mechanism 5 moves from the region a to the region B and the second arm mechanism 6 moves from the region C to the region D. When the movement of the first and second arm mechanisms 5 and 6 by driving the first rotation shaft 4 to rotate the base rotation member 2 is not completely completed, the first arm mechanism 5 starts the second work in the region B and the second arm mechanism 6 starts the first work in the region D. The time for completing a complete operation flow can be shortened through the process, so that the operation efficiency is improved. Second, a large change in the position of at least 2 robot arm mechanisms can be achieved by rotation of one base mechanism, and therefore, the cost spent on robots can be reduced with the robot system.

Fig. 3 is a schematic diagram of a control unit in the embodiment of the present invention, and as shown in fig. 4, the control unit 7 may include a switching unit 71, a first mechanical arm mechanism instruction operation unit 72, a second mechanical arm mechanism instruction operation unit 73, a base mechanism instruction operation unit 74, and a compensation unit 77.

Wherein the switching unit 71 is configured to switch the robotic system among a first operation mode, a second operation mode and a third operation mode. Fig. 4 is a flowchart of processing an instruction signal in the embodiment of the present invention, as shown in fig. 4, the control unit 7 is configured to receive the instruction signal, process the instruction signal to form an operation mode instruction, and send the operation mode instruction to the switching unit 71, where the instruction signal includes information about a required operation mode of the robot system, and the switching unit 71 is configured to receive the operation mode instruction and switch the robot system among a first operation mode, a second operation mode and a third operation mode according to the operation mode instruction.

In the above process, the required operation mode information of the robot system specifically refers to an operation mode that the robot system needs to enter, such as the first operation mode, the second operation mode, or the third operation mode.

At this time, as shown in fig. 4, the base mechanism command operation unit 74 is configured to receive a command signal including the command speed of the first drive unit 3 in the base mechanism, and process the command signal to form the command position of the first drive unit 3 in the base mechanism. Thereafter, the control unit 7 may directly control the first driving unit 3 in the base mechanism separately, so that the first driving unit 3 moves to a corresponding position, thereby realizing the rotation of the base rotating member 2, and the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are changed at the same time. The above steps may be performed when the switching unit 71 switches the robot system to the third operation mode. The above steps may also be performed when the switching unit 71 switches the robotic system to the second mode of operation.

The compensation unit 77 is configured to receive the command signal, and determine whether compensation operation is required according to the command signal. When the command position of the first driving unit 3 in the base mechanism does not affect the range of operation of the first and second arm mechanisms 5 and 6, compensation calculation is required. When the command position of the first driving unit 3 in the base mechanism affects the working range of the first arm mechanism 5 and the second arm mechanism 6, compensation calculation is not required. The critical value of whether the instruction position of the first driving unit 3 in the base mechanism affects the range of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 for operation may be the time when the third operation mode may be switched to the second operation mode, and when the instruction position of the first driving unit 3 in the base mechanism does not affect the range of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 for operation, the third operation mode may be switched to the second operation mode. When the compensation unit 77 determines that compensation operation is required, the instruction position of the first driving unit 3 in the base mechanism is sent to the first arm mechanism instruction operation unit 72 and the second arm mechanism instruction operation unit 73.

The first mechanical arm mechanism command operation unit 72 is configured to receive a command signal when the robot system switches to the second operation mode, process the command signal to form a command position under the coordinate system of the first mechanical arm mechanism 5, calculate a command position under the coordinate system of the base mechanism according to the command position under the coordinate system of the first mechanical arm mechanism 5, and calculate a command position of each driving unit in the compensated first mechanical arm mechanism 5 according to the command position under the coordinate system of the base mechanism and the command position of the first driving unit 3 in the base mechanism.

Fig. 5 is a schematic diagram of compensation calculation in the embodiment of the present invention, as shown in fig. 5, a specific calculation process of the compensation calculation according to the command position under the coordinate system of the base mechanism and the command position of the first driving unit 3 in the base mechanism to obtain the command position of each driving unit in the compensated first mechanical arm mechanism 5 is as follows:

R1(n+1)=inv_J1w×R1_w(n+1)

=(Xr1_(n+1),Yr1_(n+1),Zr1_(n+1),θr1_(n+1)),

Wherein,

R1_w(n+1)=(Xb_(n+1),Yb_(n+1),Zb_(n+1),θb_(n+1));

Xr1_(n+1)＝cos(θs)×Xb_(n+1)+sin(θs)×Yb_(n+1);

Yr1_(n+1)＝-sin(θs)×Xb_(n+1)+cos(θs)×Yb_(n+1)–rb;

Zr1_(n+1)＝Zb_(n+1);

θr1_(n+1)＝θb_(n+1)-θs;

R1 (n+1) represents the command position of each driving unit in the first mechanical arm mechanism after compensation, (Xr 1 _(n+1),Yr1_(n+1),Zr1_(n+1),θr1_(n+1)) represents the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and rotation angle around the Z-axis in turn under the first mechanical arm mechanism coordinate system, R1_w (n+1) represents the command position under the base mechanism coordinate system, (Xb _(n+1),Yb_(n+1),Zb_(n+1),θb_(n+1)) represents the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and rotation angle around the Z-axis in turn under the base mechanism coordinate system, rb represents the distance between the origin of the base mechanism coordinate system and the origin of the first mechanical arm mechanism coordinate system, θs represents the rotation angle of the base rotating member, specifically the difference between the angle of the first driving unit of the base rotating member and the command position S1 (n+1) of the first driving unit in the base mechanism. When the robot system is in the second working mode, the influence of the rotation of the base rotating member on the instruction positions of the driving units in the first mechanical arm mechanism when the first mechanical arm mechanism works can be eliminated through compensation calculation.

Similarly, the second mechanical arm mechanism command operation unit 73 is configured to receive a command signal when the robot system switches to the second operation mode, process the command signal to form a command position under the coordinate system of the second mechanical arm mechanism 6, calculate a command position under the coordinate system of the base mechanism according to the command position under the coordinate system of the second mechanical arm mechanism 6, and calculate a command position of each driving unit in the compensated second mechanical arm mechanism 6 according to the command position under the coordinate system of the base mechanism and the command position of the second driving unit 53 in the base mechanism. The calculation process of the command positions of the respective driving units in the second mechanical arm mechanism 6 after the compensation is calculated according to the command positions in the base mechanism coordinate system and the command positions of the second driving units 53 in the base mechanism is similar to the above, and only the various data about the first mechanical arm mechanism 5 need to be replaced by the various data of the first mechanical arm mechanism, which is not described in detail herein.

As a practical matter, the first mechanical arm mechanism command operation unit 72 is configured to receive a command signal when the robotic system switches to the first operation mode, process the command signal to form a command position under the coordinate system of the first mechanical arm mechanism 5, calculate the command position under the coordinate system of the base mechanism according to the command position under the coordinate system of the first mechanical arm mechanism 5, and the compensation unit 77 determines that compensation operation is not required, and then directly calculate the command position of each driving unit in the first mechanical arm mechanism 5 according to the command position under the coordinate system of the base mechanism.

Similarly, the second mechanical arm mechanism command operation unit 73 is configured to receive a command signal when the robotic system switches to the first operation mode, process the command signal to form a command position under the coordinate system of the second mechanical arm mechanism 6, calculate the command position under the coordinate system of the base mechanism according to the command position under the coordinate system of the second mechanical arm mechanism 6, and the compensation unit 77 determines that compensation operation is not required, and then directly calculate the command position of each driving unit in the second mechanical arm mechanism 6 according to the command position under the coordinate system of the base mechanism.

The control unit 7 may further include a first mechanical arm mechanism control subunit 75, where the first mechanical arm mechanism control subunit 75 is configured to control each driving unit in the first mechanical arm mechanism 5 according to a command position of each driving unit in the first mechanical arm mechanism 5, so that each driving unit in the first mechanical arm mechanism 5 moves to a corresponding position, and finally, implement an operation performed by a tool mounted on a tool mounting portion of the first mechanical arm mechanism 5.

Similarly, the control unit 7 may further include a second mechanical arm mechanism control subunit 76, where the second mechanical arm mechanism control subunit 76 is configured to control each driving unit in the second mechanical arm mechanism 6 according to the instruction position of each driving unit in the second mechanical arm mechanism 6, so that each driving unit in the second mechanical arm mechanism 6 moves to a corresponding position, and finally, implement an operation performed by a tool installed on the tool installation portion of the second mechanical arm mechanism 6.

As a practical matter, the control unit 7 may also be configured to detect the command position of each driving unit in the first mechanical arm mechanism 5, the command position of each driving unit in the second mechanical arm mechanism 6, and the command position of the first driving unit 3 in the base mechanism, so as to confirm whether the command position of each driving unit is within a normal range, and if so, issue a command, and if not, issue an error warning.

The application also provides a control method of the robot system, which can comprise the following steps:

a command signal is received, the command signal including desired operating mode information of the robotic system. The command signal may be transmitted to the robot system through an external operation program, or may be transmitted from an operation program inside the robot system.

The robot system is switched to the first working mode according to the instruction signal, the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are in an operable state, and the base mechanism is in a locking state. In this step, the required operation mode information of the robot system is the first operation mode.

After controlling the first and second robot mechanisms 5, 6 to be in an operable state and the base mechanism to be in a locked state, the respective driving units in the first and second robot mechanisms 5, 6 may be controlled based on command signals including command speeds of the respective driving units in the first robot system and command speeds of the respective driving units in the second robot system.

The method specifically comprises the steps of processing command signals to form command positions under a coordinate system of the first mechanical arm mechanism 5, calculating command positions of all driving units in the first mechanical arm mechanism 5 according to the command positions under the coordinate system of the first mechanical arm mechanism 5, and controlling all driving units in the first mechanical arm mechanism 5 according to the command positions of all driving units in the first mechanical arm mechanism 5. Through the steps, each driving unit in the first mechanical arm mechanism 5 can be moved to the corresponding position, and finally, the operation of the tool mounted on the tool mounting part of the first mechanical arm mechanism 5 is realized. The steps of controlling the respective driving units in the first mechanical arm mechanism 5 are similar to those described above, and will not be described here again.

After controlling each driving unit in the first mechanical arm mechanism 5 and each driving unit in the second mechanical arm mechanism 6, the robot system is switched to the second working mode according to the command signal when or after the first working mode is finished, the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are in an operable state, and the base mechanism is in an operable state.

After the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are controlled to be in the operable state and the base mechanism is in the operable state, the respective driving units in the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 and the first driving unit 3 in the base mechanism may be controlled based on the command signals including the command speeds of the respective driving units in the first mechanical arm mechanism 5, the command speeds of the respective driving units in the second mechanical arm mechanism 6 and the command speeds of the first driving unit 3 in the base mechanism.

The steps may specifically include:

Receiving the command signal and processing the command signal to form a command position of the first drive unit 3 in the base unit, and controlling the first drive unit 3 in the base unit according to the command position of the first drive unit 3 in the base unit. By the steps, the first driving unit 3 in the base mechanism starts to move to the corresponding position, the base rotating piece 2 starts to rotate according to the required requirement, the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are changed at the same time, and the base rotating piece starts to move to the required position.

The method comprises the steps of controlling each driving unit in a first mechanical arm mechanism 5 based on command signals, wherein the command signals comprise command speeds of each driving unit in the first mechanical arm mechanism 5, specifically, the method comprises the steps of processing the command signals to form command positions under the first mechanical arm mechanism 5, calculating the command positions under a base mechanism coordinate system according to the command positions under the first mechanical arm mechanism 5 coordinate system if compensation operation is required according to the command signals, and calculating the command positions of each driving unit in the compensated first mechanical arm mechanism 5 according to the command positions under the base mechanism coordinate system and the command positions of the first driving units 3 in the base mechanism. Through the steps, when the base rotating piece 2 rotates, each driving unit in the first mechanical arm mechanism 5 can move to the corresponding position, and finally, the tool mounted on the tool mounting part of the first mechanical arm mechanism 5 can perform work.

The instruction positions of the driving units in the first mechanical arm mechanism 5 after compensation are calculated according to the instruction positions of the base mechanism coordinate system and the instruction positions of the first driving units 3 in the base mechanism, and the specific calculation process is as follows:

R1(n+1)=inv_J1w×R1_w(n+1)

=(Xr1_(n+1),Yr1_(n+1),Zr1_(n+1),θr1_(n+1)),

Wherein,

R1_w(n+1)=(Xb_(n+1),Yb_(n+1),Zb_(n+1),θb_(n+1));

Xr1_(n+1)＝cos(θs)×Xb_(n+1)+sin(θs)×Yb_(n+1);

Yr1_(n+1)＝-sin(θs)×Xb_(n+1)+cos(θs)×Yb_(n+1)–rb;

Zr1_(n+1)＝Zb_(n+1);

θr1_(n+1)＝θb_(n+1)-θs;

R1 (n+1) represents the command position of each driving unit in the first mechanical arm mechanism after compensation, (Xr 1 _(n+1),Yr1_(n+1),Zr1_(n+1),θr1_(n+1)) represents the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and rotation angle around the Z-axis in turn under the first mechanical arm mechanism coordinate system, R1_w (n+1) represents the command position under the base mechanism coordinate system, (Xb _(n+1),Yb_(n+1),Zb_(n+1),θb_(n+1)) represents the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and rotation angle around the Z-axis in turn under the base mechanism coordinate system, rb represents the distance between the origin of the base mechanism coordinate system and the origin of the first mechanical arm mechanism coordinate system, θs represents the rotation angle of the base rotating member, specifically the difference between the angle of the first driving unit of the base rotating member and the command position S1 (n+1) of the first driving unit in the base mechanism.

The control of each driving unit in the second mechanical arm mechanism 6 is based on a command signal, wherein the command signal comprises a command speed of each driving unit in the second mechanical arm mechanism 6, and specifically comprises the steps of processing the command signal to form a command position under the second mechanical arm mechanism 6, calculating the command position under the coordinate system of the base mechanism according to the command position under the coordinate system of the second mechanical arm mechanism 6 if the compensation operation is judged to be required according to the command signal, and calculating the command position of each driving unit in the compensated second mechanical arm mechanism 6 according to the command position under the coordinate system of the base mechanism and the command position of the second driving unit 53 in the base mechanism. Through the steps, when the base rotating piece 2 rotates, each driving unit in the second mechanical arm mechanism 6 can move to a corresponding position, and finally, the tool mounted on the tool mounting part of the second mechanical arm mechanism 6 can perform work.

The robot system is switched to the third working mode at the end of the second working mode or after the second working mode according to the command signal, the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are in a locking state, and the base mechanism is in an operational state.

After the first and second robot mechanisms 5, 6 are in the locked state and the base mechanism is in the operable state, the first drive unit 3 in the base mechanism may be controlled based on a command signal comprising a command speed of the first drive unit 3 in the base mechanism. Through the steps, the first driving unit 3 in the base mechanism can continuously move to the corresponding position, so that the base rotating piece 2 can continuously rotate according to the required requirement, the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 can be continuously changed at the same time, and the base rotating piece can continuously move to the required position.

And switching the robot system to the second working mode according to the command signal when or after the third working mode is finished, wherein the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are in an operable state, and the base mechanism is in an operable state.

After the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 are controlled to be in the operable state and the base mechanism is in the operable state, the respective driving units in the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 and the first driving unit 3 in the base mechanism may be controlled based on the command signals including the command speeds of the respective driving units in the first mechanical arm mechanism 5, the command speeds of the respective driving units in the second mechanical arm mechanism 6 and the command speeds of the first driving unit 3 in the base mechanism. Through the steps, the first driving unit 3 in the base mechanism can be completely moved to the corresponding position, so that the base rotating piece 2 can be rotated according to the requirement, and the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 can be changed at the same time, so that the base rotating piece can be completely moved to the required position. At the same time, before the base rotary 2 is completely moved to the corresponding position, the tools mounted on the tool mounting portion of the first arm mechanism 5 and the tools mounted on the tool mounting portion of the second arm mechanism 6 are started to perform work.

As a practical matter, the above steps may be repeatedly performed in sequence, thereby realizing a cyclic operation of the robot system in the production process.

According to the application, the positions of the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 can be changed greatly simultaneously by the operation of the first driving unit 3 in the base mechanism in the second operation mode, the operation of the first driving unit 3 in the base mechanism in the third operation mode and the operation of the first driving unit 3 in the base mechanism in the second operation mode, so that the two areas can be moved. A substantial change in the position of at least 2 robot arm mechanisms can be achieved by rotation of one base mechanism, so that the cost spent on robots can be reduced with the robot system.

The cyclic operation of the robot system between two remote areas in production and processing can be realized by controlling the cyclic switching of the robot system among the first working mode, the second working mode, the third working mode, the second working mode, the first working mode, the second working mode, the third working mode and the second working mode in sequence. During the large movement of the first and second robot arm mechanisms 5, 6 by driving the first rotation shaft 4 to rotate the base rotation member 2, the second operation mode is experienced twice. When the first robot mechanism 5 does not end the first work and the second robot mechanism 6 does not end the second work, the first rotating shaft 4 starts to be driven to rotate the base rotating member 2, and the first robot mechanism 5 and the second robot mechanism 6 start to move. When the movement of the first and second arm mechanisms 5 and 6 by driving the first rotation shaft 4 to rotate the base rotation member 2 is not completely completed, the first arm mechanism 5 has already started the second work and the second arm mechanism 6 has already started the first work. The time for completing a complete operation flow can be shortened through the process, so that the operation efficiency is improved.

The application also provides a control device of the robot system, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the control method of any one of the above. In particular, the control device may be a computer terminal, a server or similar computing means.

The present application also proposes a computer-readable storage medium storing a computer program for executing the control method of any one of the above.

All articles and references, including patent applications and publications, disclosed herein are incorporated by reference for all purposes. The term "consisting essentially of" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not substantially affect the essential novel features of the combination. The use of the terms "comprises" or "comprising" to describe combinations of elements, components, or steps herein also contemplates embodiments consisting essentially of such elements, components, or steps. By using the term "may" herein, it is intended that any attribute described as "may" be included is optional. Multiple elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, component, section or step is not intended to exclude other elements, components, sections or steps.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other. The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.

Claims

1. A robotic system, the robotic system comprising:

a first mechanical arm mechanism mounted on the base rotation member;

a second mechanical arm mechanism mounted on the base rotation member;

2. The robotic system of claim 1, wherein the control unit is configured to control the robotic system to have a third mode of operation in which the first and second robotic arm mechanisms are controlled to be in a locked state and the base mechanism is configured to be in an operational state.

3. The robotic system of claim 1, wherein the first robotic arm mechanism is a at least four-axis Scara robot having at least four axes and four degrees of freedom of movement;

And/or the number of the groups of groups,

4. The robotic system as set forth in claim 2 wherein the control unit includes:

5. The robotic system as set forth in claim 2 wherein the control unit includes:

6. The robotic system as set forth in claim 5 wherein the control unit includes:

7. The robot system according to claim 6, wherein the instruction positions of the respective driving units in the first mechanical arm mechanism after compensation calculation is obtained according to the instruction positions in the coordinate system of the base mechanism and the instruction positions of the first driving units in the base mechanism, and the specific calculation process is as follows:

R1(n+1)=inv_J1w×R1_w(n+1)

=(Xr1_(n+1),Yr1_(n+1),Zr1_(n+1),θr1_(n+1)),

Wherein,

R1_w(n+1)=(Xb_(n+1),Yb_(n+1),Zb_(n+1),θb_(n+1));

Xr1_(n+1)＝cos(θs)×Xb_(n+1)+sin(θs)×Yb_(n+1);

Yr1_(n+1)＝-sin(θs)×Xb_(n+1)+cos(θs)×Yb_(n+1)–rb;

Zr1_(n+1)＝Zb_(n+1);

θr1_(n+1)＝θb_(n+1)-θs;

R1 (n+1) represents the command position of each driving unit in the first mechanical arm mechanism after compensation, (Xr 1 _(n+1),Yr1_(n+1),Zr1_(n+1),θr1_(n+1)) represents the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and rotation angle around the Z-axis in sequence under the first mechanical arm mechanism coordinate system, R1_w (n+1) represents the command position under the base mechanism coordinate system, (Xb _(n+1),Yb_(n+1),Zb_(n+1),θb_(n+1)) represents the X-axis coordinate, Y-axis coordinate, Z-axis coordinate and rotation angle around the Z-axis in sequence under the base mechanism coordinate system, rb represents the distance between the origin of the base mechanism coordinate system and the origin of the first mechanical arm mechanism coordinate system, θs represents the rotation angle of the base rotating member, specifically the difference between the angle of the first driving unit of the base rotating member and the command position S1 (n+1) of the first driving unit in the base mechanism.

8. The robotic system as set forth in claim 5 wherein the control unit includes:

9. A control method of a robot system, characterized in that the robot system comprises:

a first mechanical arm mechanism mounted on the base rotation member;

a second mechanical arm mechanism mounted on the base rotation member;

the control method comprises the following steps:

10. The control method of a robot system according to claim 9, characterized in that the control method further comprises:

11. The control method of a robot system according to claim 10, characterized in that the control method further comprises:

all the steps are repeated to be continuously circulated.

12. The control method of a robot system according to claim 9, characterized in that the control method further comprises:

13. The control method of the robot system according to claim 12, wherein the command positions of the respective driving units in the first robot arm mechanism after compensation are calculated according to the command positions in the coordinate system of the base mechanism and the command positions of the first driving units in the base mechanism, and the specific calculation process is as follows:

R1(n+1)=inv_J1w×R1_w(n+1)

=(Xr1_(n+1),Yr1_(n+1),Zr1_(n+1),θr1_(n+1)),

Wherein,

R1_w(n+1)=(Xb_(n+1),Yb_(n+1),Zb_(n+1),θb_(n+1));

Xr1_(n+1)＝cos(θs)×Xb_(n+1)+sin(θs)×Yb_(n+1);

Yr1_(n+1)＝-sin(θs)×Xb_(n+1)+cos(θs)×Yb_(n+1)–rb;

Zr1_(n+1)＝Zb_(n+1);

θr1_(n+1)＝θb_(n+1)-θs;

14. A control device for a robotic system, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the control method according to any one of claims 9-13 when executing the computer program.

15. A computer-readable storage medium storing a computer program for executing the control method according to any one of claims 9 to 13.