CN109976328A - A kind of composite machine people - Google Patents
A kind of composite machine people Download PDFInfo
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- CN109976328A CN109976328A CN201711457696.0A CN201711457696A CN109976328A CN 109976328 A CN109976328 A CN 109976328A CN 201711457696 A CN201711457696 A CN 201711457696A CN 109976328 A CN109976328 A CN 109976328A
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- 239000002131 composite material Substances 0.000 title claims abstract description 122
- 238000012545 processing Methods 0.000 claims abstract description 23
- 238000007599 discharging Methods 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 230000005611 electricity Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 23
- 238000004458 analytical method Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 9
- 230000003993 interaction Effects 0.000 description 6
- 150000001875 compounds Chemical class 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 206010054949 Metaplasia Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
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- 230000002463 transducing effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
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Abstract
The embodiment of the present invention provides a kind of composite machine people, composite machine people is included in analysis and calculating sensor sensing data collected and the central processing unit for the instruction for making corresponding control mode, for controlling the security control plate of safety return circuit switched on and off, for acquiring sensor signal and sensor signal being transferred to the system I O board of the central processing unit, for driving the joint drive system of the joint motions of the composite machine people, for carrying out the end clamping jaw system of operation of feeding and discharging, for carrying out pinpoint end positioning unit to the end clamping jaw system, for guiding the composite machine people to carry out mobile complex navigation system, for drive driving wheel operate and control the composite machine people pose chassis drive system.Composite machine people provided in an embodiment of the present invention, which is not only able to achieve to carry, material but also is able to achieve loading and unloading function, and then is suitble to apply in small space environment and low in cost.
Description
Technical field
The present invention relates to the technical fields of robot, and in particular to it is a kind of not only can be with transported material and can automatically up and down
The composite machine people of material.
Background technique
With the continuous improvement of industrial automation level, the AGV trolley (also referred to as robot) of material is carried industrial automatic
It is widely applied in metaplasia producing line.Currently, AGV trolley can only realize the function of carrying material, the loading and unloading on production line
Still manual operation is needed.When the AGV trolley equipped with material to get off from a production line is reached home formula, it usually needs people
Work, which removes material to push away again from production line, puts to the AGV trolley of next station.This mode of operation not only occupies vehicle
Between valuable space, also add the cost of equipment investment and maintenance.
Therefore, for existing the problems of the AGV trolley for carrying material, it is desirable to provide one kind had both been able to achieve carrying object
Material is able to achieve the composite machine people of loading and unloading function again, and then is suitble to apply in small space environment and low in cost.
Summary of the invention
For existing the problems of the AGV trolley for carrying material, the embodiment of the present invention proposes that a kind of be both able to achieve is removed
Fortune material is able to achieve the composite machine people of loading and unloading function again.Composite machine people provided in the embodiment of the present invention passes through end
Clamping jaw system and end positioning unit effectively realize the function of loading and unloading, so that composite machine people is suitble in small space
It is applied in environment and low in cost.
The concrete scheme of composite machine people is as follows: a kind of composite machine people, including central processing unit, by analyze and based on
Sensor sensing data collected is calculated, and makes the instruction of corresponding control mode；Security control plate, for controlling safety return circuit
Switch on and off；System I O board is electrically connected with the central processing unit, for acquiring sensor signal and by sensor signal
It is transferred to the central processing unit；Joint drive system, for driving the joint motions of the composite machine people；End clamping jaw system
System, for carrying out operation of feeding and discharging；End positioning unit, for being accurately positioned to the end clamping jaw system；Composite guide
Boat system, for guiding the composite machine people to move；Chassis drive system, for driving driving wheel to operate and control
The pose of the composite machine people.
Preferably, the central processing unit uses RC controller.
Preferably, the complex navigation system includes laser navigation sensor system, the laser navigation sensor system
Including preceding laser sensor and rear laser sensor.
Preferably, the complex navigation system includes magnetic navigation sensor system, the magnetic navigation sensor system detection
The navigation information of magnet areas in environment navigates to the composite machine people.
Preferably, the end positioning unit includes smart camera sensor.
Preferably, intra articular of the joint drive system integration in the composite machine people.
Preferably, the composite machine people further includes wireless device, for by the state parameter of the composite machine people and
Image is sent to Terminal Server Client.
Preferably, the composite machine people further includes man-machine interaction unit, for receiving operator to loading and unloading operation
The configuration instruction of parameter.
Preferably, the composite machine people further includes air pump system, for be mounted on composite machine people end
Air-powered tools source.
Preferably, the composite machine people further includes battery capacity monitor board, for monitoring the electricity of the composite machine people
Pond electricity simultaneously realizes management of charging and discharging.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
The embodiment of the present invention provides a kind of composite machine people, and composite machine people not only has the transport of traditional AGV trolley
Material function also effectively realizes the function of loading and unloading, so that compound by end clamping jaw system and end positioning unit
Robot is suitble to apply in small space environment and low in cost.
Detailed description of the invention
Fig. 1 is the block diagram representation of the composite machine people provided in the embodiment of the present invention a kind of；
Fig. 2 is the composition block schematic illustration of the composite machine people provided in the embodiment of the present invention a kind of；
Fig. 3 is a kind of step flow diagram of the composite machine people feeding process provided in the embodiment of the present invention.
Numbering in the drawing explanation:
100, composite machine people 10, central processing unit 20, security control plate
30, chassis drive system 40, complex navigation system 50, system I O board
60, end positioning system 70, joint drive system 80, end clamping jaw system
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
As shown in Figure 1, the block diagram representation of the composite machine people provided in the embodiment of the present invention a kind of.In the embodiment
In, composite machine people 100 includes for analyzing and calculating sensor sensing data collected and make corresponding control mode
The central processing unit 10 of instruction, for controlling the security control plate 20 of safety return circuit switched on and off, with central processing unit 10
It is electrically connected and is used to acquire sensor signal and sensor signal is transferred to the system I O board 50 of central processing unit 10, for driving
The joint drive system 70 of the joint motions of dynamic composite machine people 10, for carrying out the end clamping jaw system 80 of operation of feeding and discharging,
For carrying out pinpoint end positioning unit 60 to end clamping jaw system 80, for guiding composite machine people 100 to move
Dynamic complex navigation system 40, for driving driving wheel to operate and the chassis of the pose of control composite machine people 100 driving system
System 30.
In this embodiment, central processing unit 10 carries composite machine people control algolithm, composite machine people control algolithm master
It to include realizing that the mobile control of composite machine people and composite machine people carry out the functions such as loading and unloading control in predetermined position.Center
Processor 10 is analyzed and is calculated to the collected data of sensor, and according to built-in algorithm, provides corresponding processing side
The control instruction of formula.In one embodiment, RC controller can be used in central processing unit 10.
Safety control system of the security control plate 20 as composite machine people 100 can avoid composite machine people due to operation
Personnel caused by improper or other reasons or financial losses.Security control plate 20 passes through the shape of real-time detection composite machine people 100
State parameter then controls safety return circuit disconnection once there are abnormal conditions for state parameter, so that composite machine people suspends.Preferably,
The instruction that security control plate 20 can also be issued according to central processing unit 10, control safety return circuit disconnect.Preferably, security control
Plate 20 further includes man-machine interaction interface, and by modes of operation such as display screen or buttons, user can input emergency stop order or system event
Barrier, security control plate 20 disconnect safety return circuit after receiving emergency stop order or the system failure.
Chassis drive system 30 is used to that driving wheel to be driven to operate and control the pose of composite machine people 100.Chassis driving
System 30 drives driving wheel operating, to realize the function of 100 transported material of composite machine people.Chassis drive system 30 can be with
The control command of central processing unit 10 is received to control the pose of composite machine people 100 in real time.In a particular embodiment, compound
Robot 100 may include that above-mentioned function is realized in 30 timesharing of chassis drive system, may also comprise multiple chassis drive systems with
Above-mentioned function is realized respectively.
Complex navigation system 40 is for guiding composite machine people 100 to move.In this embodiment, complex navigation system
40 include laser navigation sensor system and magnetic navigation sensor system.When the work that composite machine people 100 is laid with into no magnetic stripe
When making in environment, laser navigation sensor system navigates to composite machine people using built-in laser map, and effectively
Ground carries out avoidance.Preferably, laser navigation sensor system includes preceding laser sensor and rear laser sensor, so as to have
Effect ground carries out comprehensive navigation.Magnetic navigation sensor system is by the navigation information of the magnet areas in detection environment to described multiple
Robot is closed to navigate.When, there are when magnetic stripe, composite machine people 100 uses in the working environment where composite machine people 100
Magnetic navigation sensor system simply can plan that ground track is navigated along magnetic stripe, so that composite machine people be significantly increased
Operational efficiency.
System I O board 50 can acquire sensor signal and sensor signal is transferred to central processing unit 10.Sensor signal
Including discrete sensor signal and analog sensor signal, in this embodiment, sensor signal uses discrete sensor signal.
Discrete sensor signal facilitates the processing and analysis of central processing unit 10.Sensor signal specifically may include pose signal, speed
Spend signal, current signal, voltage signal, distance signal or environmental signal etc..System I O board 50 can also be by composite machine people's 100
Working condition is transmitted to teaching box or display terminal (computer, cell phone, pad etc.), and for monitoring work, personnel are real-time
Solve the working condition of compound robot 100.
End positioning unit 60 and end clamping jaw system 80 are mainly used for completing the loading and unloading function of composite machine people 100.
End positioning unit 60 is for being accurately positioned end clamping jaw system 80, so that end clamping jaw system 80 can be exactly in
At the position of required loading and unloading.In one embodiment, smart camera sensor can be used in end positioning unit 60, passes through intelligent phase
Machine sensor image information obtained judges that end clamping jaw system 80 whether in predeterminated position, and then is completed to press from both sides end
The positional deviation correction of jaw system 80 works.Certainly, end positioning unit 60 can also use other positioning methods, such as infrared positioning,
The modes such as laser positioning.End clamping jaw system 80 is mainly used for carrying out operation of feeding and discharging.End clamping jaw system 80 belongs to compound
The end of robot 100 executes tool.Central processing unit 10 controls end clamping jaw system 80 and is in force control mode, passes through selection
Suitable chucking power, to carry out nondestructively loading and unloading operation.
Joint drive system 70 is used to drive the joint motions of composite machine people 10.Composite machine people 100 has multiple passes
Section, such as seven axis robots have 6 joints with 7 joints, six-joint robot.Joint drive system 70 realizes composite machine
Acquisition of the people 100 to each joint position data, and each joint is controlled, to complete the pose demand of different operating.
Preferably, joint drive system 70 is integrated in the intra articular of composite machine people 100, so that vehicle body space is not take up, so that multiple
Close the working environment that robot 100 adapts to small space.
In one embodiment, composite machine people 100 further includes wireless device (Fig. 1 is not shown).Wireless device is used for
The state parameter of composite machine people 100 and image are sent to Terminal Server Client, to be conducive to the real time monitoring of monitoring personnel.
Wireless device concrete type may include 3G network, 4G network, 5G network, wifi wireless network, zigbee wireless network etc..Remotely
Client may include computer, mobile phone, ipad, dedicated terminal etc..
In one embodiment, composite machine people 100 further includes man-machine interaction unit (Fig. 1 is not shown).Human-computer interaction
Unit is for receiving operator to the configuration instruction of loading and unloading job parameter.Man-machine interaction unit specifically may include that configuration touches
The human-computer interaction devices such as screen, intelligent keyboard.
In one embodiment, composite machine people 100 further includes air pump system (Fig. 1 is not shown).Air pump system is used for
For the air-powered tools source for being mounted on 100 end of composite machine people.
In one embodiment, composite machine people 100 further includes battery capacity monitor board (Fig. 1 is not shown).Battery electricity
Amount monitor board is used to monitor the battery capacity of composite machine people 100 and realizes management of charging and discharging.
In the above-described embodiments, it only enumerates composite machine people 100 while there is the main of material transportation and loading and unloading function
Component does not enumerate all components of composite machine people 100 completely.Some common components of composite machine people 100, as bus,
The components such as power supply, no longer repeat one by one.
Composite machine people provided by the embodiment of the present invention not only has the function of the transported material of traditional AGV trolley, also logical
It crosses end clamping jaw system and end positioning unit effectively realizes the function of loading and unloading, so that composite machine people is suitble to narrow
It is applied in small space environment and low in cost.
As shown in Fig. 2, the composition block schematic illustration of the composite machine people provided in the embodiment of the present invention a kind of.The present invention is real
Example is applied using a kind of six axis composite machine people as specific embodiment, illustrates the composition frame of composite machine people in practical applications.
As shown in Fig. 2, composite machine people 100 include RC controller, security control plate, system I O board, Ethernet switch,
Laser sensor, arm camera, chassis camera, wireless client, configuration touch screen, magnetic navigation sensor, chassis servo-drive
Plate, motor, sensor capture card, electricity monitor board, safety execute plate, cylinder solenoid valve, air pump and air pump source of stable pressure.
In this embodiment, the collected sensing data such as sensor analog input card and IO, analog sensor passes through CAN
Bus transfer gives RC controller.Sensor analog input card can acquire the button signal of composite machine people 100, sonar avoidance signal or
Anticollision signal etc..Composite machine people 100 is powered using the lithium battery of 48V or 60V.Electricity monitors board monitoring lithium battery
Electrical parameter, and electrical parameter is fed back into RC controller by CAN bus.According to components different in composite machine people 100
Voltage is supplied to corresponding component at the different voltage such as 5V, 12V and 24V by the difference of required voltage, power distribution board.
In this embodiment, chassis driving is carried out using two motors and two chassis servo-drive plates.
Configuration touch screen is communicated by Modbus and is communicated with RC controller.In this embodiment, magnetic navigation sensor
System is included two magnetic navigation sensors, and is all communicated using RS232 serial ports with RC controller.Preceding laser sensor,
Laser sensor, arm camera, chassis camera and wireless network client all pass through Ethernet switch afterwards and RC controller carries out
Communication.RC controller is communicated also by ECAT with system I O board by ECAT and security control board communications, security control plate.
System I O board controls 6 joint motions of composite machine people 100 by ECAT, and then controls end I O board and cylinder solenoid valve.
By opening and closing cylinder solenoid valve, the operation of feeding and blanking is can be completed in end clamping jaw.In this embodiment, safety control
Making sheet also executes plate with safety with system I O board and connects.Safety, which executes plate, can receive external safety command, specific received side
Formula includes: the safe I/O port such as system emergency stop, panel button and indicator light or reserved I/O port etc..
As shown in figure 3, a kind of step flow diagram of the composite machine people feeding process provided in the embodiment of the present invention.
In this embodiment, composite machine people is using composite machine people 100 described in above-described embodiment.Composite machine people's 100 is upper
Material process includes six steps, described in detail below:
Step S1:RC controller receives feeding instruction.The turn-key system of composite machine people is by terrestrial wireless AP to compound
The wireless client of robot 100 sends feeding instruction, and the RC controller of composite machine people 100 receives feeding instruction.
Step S2: built-in SLAM navigation is moved to specified station.After RC controller receives feeding instruction, by built-in
SLAM navigation algorithm, and combine preceding laser sensor and rear laser sensor transducing signal, watched by CAN bus to chassis
Take the instruction that driving plate sends mobile composite machine people 100.In the process of moving, the two dimension of chassis camera real-time detection station
Code beacon.After when chassis, camera detects the two-dimentional code beacon of specified station, RC controller judges that composite machine people 100 is moved to
Specified station.
Step S3: it is accurately positioned.After composite machine people 100 moves to specified station, RC controller is switched to accurate positioning mould
Formula carries out accurate two-dimensional localization to composite machine people by chassis camera, so that composite machine people 100 can be effectively performed
Blanking operation.
Step S4: crawl material.After the completion of composite machine people is accurately positioned, RC controller calls the control of composite machine people
Algorithm grabs material by EtherCAT bus scheduling composite machine people.After the completion of composite machine people crawl, dispatch robot
Go to pre- discharge position.
Step S5: material is placed in prevention discharge position correction.After composite machine people 100 reaches pre- discharge position, RC control
Device obtains image information by arm camera and control algolithm is combined to carry out accurately positional deviation correction, then, then controls compounding machine
The end clamping jaw of device people places material.
Step S6: mechanical arm is withdrawn.After the completion of composite machine people 100 places material, RC controller withdraws mechanical arm,
And the information that feeding is completed is sent to turn-key system.
Since the process of blanking operation is similar with the process that feeding operates, blanking operating process is no longer carried out herein
Repeat.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of composite machine people, which is characterized in that the composite machine people includes:
Central processing unit for analyzing and calculating sensor sensing data collected, and makes the instruction of corresponding control mode；
Security control plate, for controlling switching on and off for safety return circuit；
System I O board is electrically connected with the central processing unit, for acquiring sensor signal and sensor signal being transferred to institute
State central processing unit；
Joint drive system, for driving the joint motions of the composite machine people；
End clamping jaw system, for carrying out operation of feeding and discharging；
End positioning unit, for being accurately positioned to the end clamping jaw system；
Complex navigation system, for guiding the composite machine people to move；
Chassis drive system, for driving driving wheel to operate and control the pose of the composite machine people.
2. a kind of composite machine people according to claim 1, which is characterized in that the central processing unit is controlled using RC
Device.
3. a kind of composite machine people according to claim 1, which is characterized in that the complex navigation system includes that laser is led
Navigate sensing system, and the laser navigation sensor system includes preceding laser sensor and rear laser sensor.
4. a kind of composite machine people according to claim 1, which is characterized in that the complex navigation system includes magnetic navigation
Sensing system, the navigation information of the magnet areas in the magnetic navigation sensor system detection environment is to the composite machine people
It navigates.
5. a kind of composite machine people according to claim 1, which is characterized in that the end positioning unit includes intelligent phase
Machine sensor.
6. a kind of composite machine people according to claim 1, which is characterized in that the joint drive system integration is described
The intra articular of composite machine people.
7. a kind of composite machine people according to claim 1, which is characterized in that the composite machine people further includes without traditional thread binding
It sets, for the state parameter of the composite machine people and image to be sent to Terminal Server Client.
8. a kind of composite machine people according to claim 1, which is characterized in that the composite machine people further includes man-machine friendship
Mutual unit, for receiving operator to the configuration instruction of loading and unloading job parameter.
9. a kind of composite machine people according to claim 1, which is characterized in that the composite machine people further includes air pump system
System, for the air-powered tools source to be mounted on composite machine people end.
10. a kind of composite machine people according to claim 1, which is characterized in that the composite machine people further includes battery
Electricity monitor board, for monitoring the battery capacity of the composite machine people and realizing management of charging and discharging.
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| CN201711457696.0A CN109976328A (en) | 2017-12-28 | 2017-12-28 | A kind of composite machine people |
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| CN201711457696.0A CN109976328A (en) | 2017-12-28 | 2017-12-28 | A kind of composite machine people |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111428317A (en) * | 2020-04-06 | 2020-07-17 | 宁波智诚祥科技发展有限公司 | Joint friction torque compensation method based on 5G and recurrent neural network |
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Application publication date: 20190705 |