CN109676642B - Multi-robot collaboration system and implementation method - Google Patents

Abstract

The invention provides a multi-robot cooperation system and an implementation method, belonging to the technical field of robots. It solves technical problems such as incoordination during cooperation of existing multi-robot cooperative systems. The multi-robot collaborative system includes a number of robots, each robot arm is provided with an end gripper, each robot is also equipped with a posture/position controller, and each end gripper is equipped with a dynamometer, and each dynamometer is connected to the Corresponding posture/position controllers are electrically connected. The multi-robot collaboration system can adjust the posture and position of the robot during the handling process in real time, and improve the coordination and stability of the multi-robot assistance system.

Description

A multi-robot collaboration system and its implementation method

technical field

The invention belongs to the technical field of robots, and relates to a multi-robot cooperation system and an implementation method.

Background technique

In current industrial applications, for the production tasks of flexible large loads, since a single robot cannot complete them, considering the system cost, it is impossible to design and manufacture a large robot that can meet various large loads. The multi-robot system has the characteristics of strong load capacity, high flexibility, and high reliability. Therefore, a collaborative system that uses multi-robots to work together and share the load has emerged. However, in multi-robot collaborative work, due to the differences in the capabilities of each robot, the load capacity between robots is also quite different. Therefore, the study of load distribution among multi-robots is a key research issue for multi-robot system coordination.

The problem of robot load distribution among high-load multi-robots, the dynamic torque problem of each robot joint, and the stability of the robot during the moving process are all problems that need to be solved urgently for high-load robots at this stage. At this stage, many literatures focus on the coordination of two robots, discussing the theory of "master-slave control", using one of the robots as a "master" and the other as a "slave", following the movement of the master, focusing on the analysis of the "slave". However, it does not consider the robot's ability to vary under large loads, and the problem of uneven load distribution is prone to occur.

Contents of the invention

The present invention aims at the above-mentioned problems existing in the existing technology, and provides a multi-robot cooperation system, which can adjust the posture and position of the robot in the handling process in real time, and improve the coordination of the multi-robot assistance system.

The purpose of the present invention can be achieved through the following technical solutions:

A multi-robot collaborative system, including several robots, each robot arm is provided with end clamps, is characterized in that each robot is also provided with a posture/position controller, and each end clamp is provided with a dynamometer, Each force gauge is electrically connected to a corresponding attitude/position controller.

The multi-robot collaborative system refers to a system including two or more robots. The robots can be small robots carrying low loads, or large robots carrying high loads, or a combination of small robots and large robots. The mechanical arms of each robot are equipped with end clamps. When working, the end clamps on each robot are used to fix the load. The dynamometers installed on each end clamp can measure the force that the corresponding end clamps bear when carrying the load. Each dynamometer sends its measured values to the posture/position controller, and the posture/position controller controls the corresponding robot according to the collected values of each force, and adjusts the posture and position of each robot so that Each robot is in the best working condition. The multi-robot collaboration system can adjust the posture and position of the robot during the handling process in real time, and improve the coordination and stability of the multi-robot assistance system.

In the above-mentioned multi-robot collaborative system, the end clamp includes a base, a bottom plate and a plurality of damping rods, one end of each damping rod is fixedly connected to the base, and the other end of each damping rod is connected to the bottom plate. Fixedly connected, each damping rod is provided with the dynamometer. In this embodiment, the base is used for connecting with the end flange on the robot arm, and the bottom plate is used for connecting with the load.

In the above-mentioned multi-robot collaborative system, each damping rod includes a damping link, and the two ends of each damping link are respectively connected with a first universal joint and a second universal joint, and each first universal joint All are fixedly connected with the base, and each second universal joint is fixedly connected with the bottom plate. Both the first universal joint and the second universal joint can rotate. This structure enables the corresponding bottom plate to adjust the position of the bottom plate according to the force situation and the position of the robot. The adjustment method is fine-tuning, which can make each robot evenly work at their best and improve coordination among them.

In the aforementioned multi-robot collaborative system, the damping link is provided with a force-measuring interface. The dynamometer interface is a plug-in interface, which facilitates the transmission of data in the dynamometer.

In the aforementioned multi-robot collaboration system, the multi-robot collaboration system further includes a frame for installing the robots. The rack can facilitate the installation of the robot. When the robot is a small robot with low load, the small robot is installed on the rack, which can increase the overall height of the small robot, so that it can better cooperate with the large robot and improve the system coordination.

Another object of the present invention is to provide a method for realizing a multi-robot collaborative system. The object of the present invention can be achieved through the following technical solutions:

A method for realizing a multi-robot collaborative system, comprising the steps of:

A. Fix the load through the end clamps on each robot;

B. The dynamometer on each end fixture measures the value of the force that the corresponding end fixture bears when it is loaded, and sends the respective measured values to the attitude/position controller;

C. The posture/position controller controls the corresponding robot according to the collected values of each force, and adjusts the posture and position of each robot.

Compared with prior art, advantage of the present invention is as follows:

1. The multi-robot collaboration system can adjust the posture and position of the robot in real-time during the handling process, and improve the coordination and stability of the multi-robot assistance system.

2. When the multi-robot collaborative system handles high loads, it can well solve the error problem of the end in the multi-robot coordinated motion.

Description of drawings

Figure 1 is a schematic structural diagram of the multi-robot collaborative system.

Fig. 2 is a schematic diagram of the structure of the end clamp.

Fig. 3 is a structural schematic diagram of the damping rod.

Fig. 4 is a working principle block diagram of the multi-robot collaborative system.

In the figure, 1, robot; 2, end fixture; 2a, base; 2b, bottom plate; 2c, damping rod; 2c1, damping connecting rod; 2c2, first universal joint; 2c3, second universal joint; Force interface; 3. Rack; 4. Load.

Detailed ways

The following are specific embodiments of the present invention and in conjunction with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

As shown in Figure 1, the multi-robot collaborative system includes a number of robots 1, each robot 1 is equipped with an end gripper 2 on its mechanical arm, each robot 1 is also equipped with a posture/position controller, and each end gripper 2 is equipped with There are dynamometers, each of which is electrically connected to a corresponding attitude/position controller.

As shown in Figure 2, in this embodiment, the end clamp 2 includes a base 2a, a bottom plate 2b and a plurality of damping rods 2c, one end of each damping rod 2c is fixedly connected with the base 2a, and the other end of each damping rod 2c All parts are fixedly connected with the bottom plate 2b, and each damping rod 2c is provided with a dynamometer. In this embodiment, the base 2 a is used for connecting with the end flange on the mechanical arm of the robot 1 , and the bottom plate 2 b is used for connecting with the load 4 .

As another solution, the end clamp 2 can be replaced with other connecting parts, such as springs. The ends of the mechanical arms are connected by springs, which can reduce the internal force between the robots 1 caused by end errors and avoid system instability. Of course, other force measuring methods can also be used to detect the terminal force.

As shown in Figure 3, preferably, each damping rod 2c includes a damping link 2c1, and the two ends of each damping link 2c1 are respectively connected with a first universal joint 2c2 and a second universal joint 2c3, and each first Both universal joints 2c2 are fixedly connected with the base 2a, and each second universal joints 2c3 are fixedly connected with the bottom plate 2b. Both the first universal joint 2c2 and the second universal joint 2c3 can rotate, and this structure enables the corresponding bottom plate 2b to adjust the position of the bottom plate 2b according to the force situation and the position of the robot 1. The adjustment method is fine adjustment. All the robots 1 can be in the best working state and the coordination among them can be improved.

As shown in FIG. 3 , preferably, a force-measuring interface 2c4 is provided on the damping link 2c1. The dynamometer interface 2c4 is a plug-in interface, which facilitates the transmission of data in the dynamometer.

As shown in FIG. 1 , in this embodiment, the multi-robot collaboration system further includes a frame 3 for installing the robot 1 . The installation of the robot 1 can be facilitated by the frame 3. When the robot 1 is a small robot 1 carrying a low load 4, the small robot 1 is installed on the frame 3, which can increase the overall height of the small robot 1, so that it can be compared with the large robot. 1 Better cooperation, improve the coordination of the system.

As shown in Figure 4, the implementation method of the multi-robot collaborative system includes the following steps:

A. The load 4 is fixed by the end clamp 2 on each robot 1;

B. The dynamometer on each end fixture 2 measures the value of the force that the corresponding end fixture 2 bears the load 4, and sends the respective measured values to the posture/position controller;

C. The posture/position controller controls the corresponding robot 1 according to the collected values of each force, and adjusts the posture and position of each robot 1.

In this embodiment, the number of robots 1 is two. When working, the end clamps 2 on each robot 1 are used to fix the load 4, and the dynamometers installed on each end clamp 2 can measure the corresponding end clamps respectively. 2. The magnitude of the force borne when carrying the load 4. Each dynamometer sends its measured values to the posture/position controller, and the posture/position controller controls the corresponding robot 1 according to the collected values of each force. , adjust the posture and position of each robot 1, so that each robot 1 is in the best working state.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention belongs can make various modifications or supplements to the described specific embodiments or adopt similar methods to replace them, but they will not deviate from the spirit of the present invention or go beyond the definition of the appended claims range.

Claims (5)

1. A multi-robot cooperation system comprises a plurality of robots (1), wherein a tail end clamp (2) is arranged on a mechanical arm of each robot (1), and each tail end clamp (2) is used for grabbing the same load (4); the robot is characterized in that each robot (1) is also provided with a gesture/position controller, each tail end clamp (2) is provided with a dynamometer, and each dynamometer is electrically connected with the corresponding gesture/position controller; the tail end clamp (2) comprises a base (2 a), a bottom plate (2 b) and a plurality of damping rods (2 c), one end part of each damping rod (2 c) is fixedly connected with the base (2 a), the other end part of each damping rod (2 c) is fixedly connected with the bottom plate (2 b), and each damping rod (2 c) is provided with the dynamometer; the base (2 a) is used for being connected with a tail end flange plate on a mechanical arm of the robot (1), and the bottom plate (2 b) is used for being connected with the load (4).

2. A multi-robot collaboration system according to claim 1, wherein each damping rod (2 c) comprises a damping link (2 c 1), each damping link (2 c 1) has a first universal joint (2 c 2) and a second universal joint (2 c 3) connected to each end, each first universal joint (2 c 2) being fixedly connected to the base (2 a), each second universal joint (2 c 3) being fixedly connected to the base plate (2 b).

3. A multi-robot collaboration system according to claim 2, characterized in that the damping link (2 c 1) is provided with a force measuring interface (2 c 4).

4. A multi-robot collaboration system according to claim 1, characterized in that the multi-robot (1) collaboration system further comprises a frame (3) for mounting a robot (1).

5. A method of implementing a multi-robot collaboration system as claimed in any one of claims 1 to 4, comprising the steps of:

A. fixing the load through the tail end clamp (2) on each robot (1);

B. the force measuring meters on the end clamps (2) measure the force values born by the corresponding end clamps (2) when carrying the load, and respectively send the measured values to the gesture/position controller;

C. the posture/position controller controls the corresponding robot (1) based on the values of the collected forces, and adjusts the posture and position of each robot (1).

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