CN107745384A - A kind of both arms cooperation robot - Google Patents
A kind of both arms cooperation robot Download PDFInfo
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- CN107745384A CN107745384A CN201710981041.7A CN201710981041A CN107745384A CN 107745384 A CN107745384 A CN 107745384A CN 201710981041 A CN201710981041 A CN 201710981041A CN 107745384 A CN107745384 A CN 107745384A
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Automation & Control Theory (AREA)
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Abstract
The present invention proposes a kind of both arms cooperation robot, including the both arms module of central processing unit and the central processing unit signal communication, binocular vision module, end effector fast replacement system, voice module, quick learning system, human computer cooperation system；This bell machines people can realize the quick teaching debugging of robot, man-machine coordination works, ensure the safety of personnel and robot, reduce the space taken, the utilization rate of robot is improved, realizes the stronger work of harmony, and control by phonetic entry, reduce the complexity of screen input control, improve production efficiency.
Description
Technical field
The present invention relates to robot field, more particularly to both arms cooperation robot.
Background technology
With the development of society, the raising of productivity, more and more industries are substituted manually with robot, and robot can not only
Same job is done in without rest repetition, and can be under different complex environments, such as high temperature, under corrosive environment for a long time
Work, therefore robot can constantly stretch into industry, the mankind such as industry, agricultural, exploration, medical treatment and be particularly suitable for carrying out by both arms
Manufacture, the both arms of the both arms cooperation robot simulation mankind are exactly to be desirable for this advantage, can accomplish what is more coordinated
Cooperation between mechanical arm, just as the mankind, the control both arms that can coordinate are operated.
Industrial robot is all one armed robot at present, following deficiency be present：The stronger work of harmony, religion can not be completed
Lead debugging trouble, spend more time and manpower, change producing line speed compared with it is slow, end effector is relatively simple, can not realize
Quick-replaceable end effector.Man-machine collaboration is indifferent, and must add security protection, occupies more space.Without voice control
The interaction of system and voice.
The content of the invention
In order to solve the above technical problems, the present invention proposes a kind of both arms cooperation robot, including central processing unit and institute
State the both arms module of central processing unit signal communication, binocular vision module, end effector fast replacement system, voice module,
Quick learning system, human computer cooperation system；
The central processing unit is used for Data Collection and intellectual analysis to each module, and controls corresponding system to work；
The binocular vision module is used for the object for positioning work and detection and judgement to target；
The both arms module is used for practical operation, clamps article；
The end effector fast replacement system is installed on the both arms end of module, is connected using the mechanism of standard
Mouthful, when target needs 2 kinds or more end effector operations, realize the quick-replaceable of different end effectors；
The voice system is used for the typing of voice and the output of voice, robot can be controlled using voice,
When robot breaks down or needs to interact with the action of people, the prompting of voice is had；
Quick learning system：For under non-enabled state, moving robot arm, the rail that robot arm streaks manually
Mark can be remembered in real time, realize Fast Learning path, fast positioning.
Human computer cooperation system：Force snesor built in human computer cooperation system, monitor whether in real time and personnel and object during operation
There is collision, make corresponding stopping action.
Preferably, the both arms module includes two six shaft mechanical arms.
Preferably, the quick learning system include processor, be connected to it is absolute on the joint of the six shaft mechanicals arm
Formula encoder, the sensor on each joint of the mechanical arm and the memory module for storing coordinate information.
Preferably, the human computer cooperation system includes the built-in force snesor in the six shaft mechanicals arm
Preferably, the voice module includes sound recording module, acoustic processing module, sound output module, the sound
Sound processing module includes acoustic transducer, sound storehouse, and voice signal is converted to electric signal and in sound storehouse by the acoustic transducer
Contrasted.
Preferably, the binocular vision module includes CCD camera.
There is following beneficial effect in both arms cooperation robot proposed by the present invention：This bell machines people can realize robot
Quick teaching debugging, man-machine coordination work, it is ensured that the safety of personnel and robot, reduce the space of occupancy, improve robot
Utilization rate, the stronger work of harmony is realized, and is controlled by phonetic entry, reduce the complexity of screen input control,
Improve production efficiency.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described.
Fig. 1 is the system schematic of the present invention；
Wherein, 1, central processing unit；2nd, binocular vision module；3rd, human computer cooperation system；4th, sound recording module；5th, it is quick
Learning system；6th, both arms module；7th, end effector fast replacement system；8th, sound output module.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes.
The present invention proposes a kind of both arms cooperation robot, including central processing unit 1 and the signal of central processing unit 1
The both arms module 6 of connection, binocular vision module 2, end effector fast replacement system 7, voice module, quick learning system 5,
Human computer cooperation system 3；
The central processing unit 1 is used for Data Collection and intellectual analysis to each module, and controls corresponding system to work；
The binocular vision module 2 is used for the object for positioning work and detection and judgement to target, the binocular
Vision module 2 includes CCD camera, obtains current location information by CCD camera, positions target, and positional information is passed
Central processing unit 1 is delivered to, after obtaining positional information, controls both arms module 6 to work by central processing unit 1, wherein, the both arms
Module 6 is used for practical operation, clamps article, the both arms module 6 includes two six shaft mechanical arms, and the end of mechanical arm is set
End effector fast replacement system 7 is put, using the mechanism connector of standard, target needs 2 kinds or more ends to hold
When row device operates, the quick-replaceable of different end effectors is realized.
Wherein, it is to be noted that：Robot has the function of man-machine collaboration and Fast Learning, the quick learning system
Including processor, the absolute type encoder being connected on the joint of the six shaft mechanicals arm, positioned at each joint of the mechanical arm
On sensor and memory module for storing coordinate information, sensor be used to coordinate information driving to memory module, count
Calculation machine according to the positional information imparted knowledge to students every time of coordinate information record, absolute type encoder can recorder people in real time each pass
Section current location, the quick scanning of processor, the every 0.005 second numerical value for recording once each encoder, under non-enabled state,
Robot arm is moved manually, the track that robot arm streaks can be remembered in real time, realize Fast Learning path, fast positioning,
In use, can according to live actual manipulation track and angle, can real-time learning, without writing program according to operating environment,
Improve operating efficiency.
The method of Fast Learning is：
The joint of industrial robot is in non-enabled state；
Space sets horizontally and vertically direction sensor, catches the positional information of industrial robot, is established in computer empty
Between three-dimensional system of coordinate；The joint sets absolute type encoder, records the numerical value of the joint original state；Operator rotates
The joint, the path of setting is streaked, reach target location, absolute type encoder records the numerical value of the articulation；Calculate
Machine extracts the positional information of key point, and the setting of key point is as far as possible uniform to the path parameter of skimulated motion.Processor processing
The numerical generation parameter, uploads to computer, and parameter is transformed into the road of skimulated motion in 3-D walls and floor in a computer
Footpath, operator are modified to the parameter of motion path；Controller generation motion simulation program；Robot runs simulation program,
Judge whether to meet demand, if simulation program meets motion requirement, the configuration processor that controller generation confirms；If simulation program is not
Meet motion requirement, feedback error information, the error that operator corrects operation uploads data again.The computer is transported to simulation
Dynamic path parameter, the positional information of key point is extracted, and the setting of key point is as far as possible uniform.
Quick teaching step：
1st, the joint that machine human needs is instructed is made in non-enabled state；2nd, path teaching is clicked on to start；3rd, remove manually
Mobile robot streaks desired path and the point of arrival；4th, path is clicked on to confirm；5th, path is instructed successfully.
More than precision of quick teaching step when can be effectively increased artificial Mechanical hands for teaching, when artificially moving manipulator
When, the inaccuracy of some positional informations, machining accuracy can be influenceed, obtain positional information with reference to computer, the essence for making increase impart knowledge to students
Accuracy.
It is special in order to prevent mechanical arm from damaging personnel including stilling need personnel because in existing workshop, part processes
Human computer cooperation system 3 is not devised：Human computer cooperation system 3 is located at the built-in force snesor in the six shaft mechanicals arm, during operation
Monitor whether there is collision with personnel and object in real time, make corresponding stopping action, realize and assisted jointly with people in workshop inner machine
Work energy.
In addition, robot compared with existing technical staff, especially adds voice system, the voice system is used for
The typing of voice and the output of voice, robot can be controlled using voice, when robot break down or need with
During the action interaction of people, the prompting of voice is had；The voice module includes sound recording module 4, acoustic processing module, sound
Output module 8, the acoustic processing module include acoustic transducer, sound storehouse, and the acoustic transducer is converted to voice signal
Electric signal is simultaneously contrasted in sound storehouse, picks out useful signal, and according to the useful signal picked out, phase is sent to controller
The instruction answered.
The specific control method of wherein speech control system is：The acoustic processing module is real by network connection high in the clouds
Now the voice recognition information of all users is gathered, upload the data to cloud with the data interaction of cloud server, the high in the clouds
Server is held, on the one hand cloud server is compiled identical dialect or accent, improve the degree of readiness to speech recognition,
On the other hand when new production technology occurs, needs to update the instruction set in the instruction database of identification module, by the instruction of renewal
Collection packet is transferred in the acoustic processing module of industrial robot, makes the speech recognition capabilities of industrial robot strengthen, and is improved
The degree of accuracy of speech recognition.
The priority of the different instruction set in acoustic processing module, pass through the preferentially matching to specific vocabulary, then match
Popular word, realize specific function and improve the search efficiency in instruction database.
The control module connects voice playing module, when the match is successful for the electric signal and instruction set, plays real-time
The parameter of motion；When it fails to match for the electric signal and instruction set, the information that plays that it fails to match.Extra, start in processing
When, voice playing module is used to prompt to the phonetic entry of user, and guiding user inputs rational phonetic order, acoustic processing
Module judges that the priority of user's input not enough, it is necessary to when the higher vocabulary of priority is unlocked, prompts user to input unblock
Keyword, and when user inputs the phonetic order of locking machine, prompt the user whether to lock successfully.
A variety of modifications to embodiment will be apparent for those skilled in the art, determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, originally
Invention is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty
Consistent most wide scope.
Claims (6)
- The robot 1. a kind of both arms cooperate, it is characterised in that including central processing unit, with the central processing unit signal communication Both arms module, binocular vision module, end effector fast replacement system, voice module, quick learning system, man-machine collaboration system System；The central processing unit is used for Data Collection and intellectual analysis to each module, and controls corresponding system to work；The binocular vision module is used for the object for positioning work and detection and judgement to target；The both arms module is used for practical operation, clamps article；The end effector fast replacement system is installed on the both arms end of module, using the mechanism connector of standard, work When making object needs 2 kinds or more end effector operations, the quick-replaceable of different end effectors is realized；The voice system is used for the typing of voice and the output of voice, robot can be controlled using voice, work as machine When device people is broken down or needs to interact with the action of people, the prompting of voice is had；Quick learning system：For under non-enabled state, moving robot arm, the track meeting that robot arm streaks manually Memory in real time, realizes Fast Learning path, fast positioning.Human computer cooperation system：Force snesor built in human computer cooperation system, monitor whether to touch with personnel and object in real time during operation Hit, make corresponding stopping action.
- The robot 2. both arms according to claim 1 cooperate, it is characterised in that the both arms module includes two six axle machines Tool arm.
- The robot 3. both arms according to claim 2 cooperate, it is characterised in that the quick learning system includes processing Device, the absolute type encoder being connected on the joint of the six shaft mechanicals arm, the sensing on each joint of the mechanical arm Device and the memory module for storing coordinate information.
- The robot 4. both arms according to claim 2 cooperate, it is characterised in that the human computer cooperation system includes being located at institute State the built-in force snesor in six shaft mechanical arms.
- The robot 5. both arms according to claim 1 cooperate, it is characterised in that the voice module includes sound typing mould Block, acoustic processing module, sound output module, the acoustic processing module include acoustic transducer, sound storehouse, the sound conversion Voice signal is converted to electric signal and contrasted in sound storehouse by device.
- The robot 6. both arms according to claim 1 cooperate, it is characterised in that the binocular vision module includes CCD phases Machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710981041.7A CN107745384A (en) | 2017-10-20 | 2017-10-20 | A kind of both arms cooperation robot |
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| CN201710981041.7A CN107745384A (en) | 2017-10-20 | 2017-10-20 | A kind of both arms cooperation robot |
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| CN107745384A true CN107745384A (en) | 2018-03-02 |
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| CN201710981041.7A Pending CN107745384A (en) | 2017-10-20 | 2017-10-20 | A kind of both arms cooperation robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109822579A (en) * | 2019-04-10 | 2019-05-31 | 江苏艾萨克机器人股份有限公司 | Cooperation robot security's control method of view-based access control model |
| CN113001142A (en) * | 2021-03-18 | 2021-06-22 | 北京空间机电研究所 | Automatic double-mechanical-arm assembling system for large-scale block optical assembly |
| CN113898251A (en) * | 2021-09-29 | 2022-01-07 | 珠海优特电力科技股份有限公司 | Locking method and unlocking method of robot system and robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109822579A (en) * | 2019-04-10 | 2019-05-31 | 江苏艾萨克机器人股份有限公司 | Cooperation robot security's control method of view-based access control model |
| CN113001142A (en) * | 2021-03-18 | 2021-06-22 | 北京空间机电研究所 | Automatic double-mechanical-arm assembling system for large-scale block optical assembly |
| CN113898251A (en) * | 2021-09-29 | 2022-01-07 | 珠海优特电力科技股份有限公司 | Locking method and unlocking method of robot system and robot system |
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Application publication date: 20180302 |