background
As a conventional construction machine, excavators perform heavy and arduous tasks. Due to the ever-changing, diverse and uncertain working conditions on construction sites, this type of work is still carried out manually. However, the excavator operation is undoubtedly hard and tiring, and the outdoor working environment of high temperature, sun and dust is not only difficult, but also brings great challenges to the health of workers. So an integrator in North China tried to perform this task with a robotic arm, and the idea of the project was relatively simple - the robotic arm was human-like, and the robotic arm was installed in the cockpit of the excavator, and the robotic arm was remotely controlled to control the excavator's movement and operation. However, this seemingly "simple" requirement is really difficult to implement.
challenge
There are a total of 4 operating levers of the excavator, and according to the operating habits of the left and right hands, 2 operating levers are controlled with one hand - 1 remote rod (2 degrees of freedom) and 1 push rod (1 degree of freedom). Therefore, the most intuitive solution is to replace human hands with 2 robotic arms to imitate the existing manual operation habits.
This requires the robot to have three characteristics:
First, the structure is very compact; The space in the operating room is small, and the space where the robot can be installed is extremely limited.
second, the flexibility of robots; The joints have enough degrees of freedom in a small space to ensure that there are no dead spots and interferences when setting the trajectory for the robot.
Third, programming is simple, and the robotic arm needs to identify the position of the joystick and actuator, so as to ensure that the robot can respond to the joystick in real time when the robot is operated remotely. In the end, the cobot gave a satisfactory answer.
solution
Elite participated in the development and design of this project, and two EC63 (3kg) cobots replaced the left and right hand operated joysticks and push rods respectively. The operator does not need to sit in the crowded excavator operation cabin, and can remotely operate the robot to start the excavator operation in the remote control cabin. In this project, Elite defined the remote control stick as 255 signal positions, and the robotic arm can identify the moving position of the joystick, and then accurately control the moving position according to the signal input, so as to achieve all-round real-time response control of remote operation.
Each joint of the 6-joint EC63 cobot supports ± 360° rotation, with a working radius of 624mm and a dead weight of only 13kg. The compact design and flexible movement space make the robot comfortable working in tight spaces.
It is worth mentioning that Elite also made a seat design for this project - when remote operation, two robotic arms drive the excavator to work, and when personnel want to enter the cockpit to operate, the robotic arm can be moved to the back of the cockpit to leave space for the driver. The fact that cobots can share the operating space with humans also ensures the safety of human-computer interaction.
Collaborative robots are added to this type of traditional work
It brings imagination and new ideas
1. Robot substitution to reduce outdoor work;
2. Realize the control of multiple excavators by a remote control cabin through CAN bus communication;
3. Using the internal motion interface of Elite, only 9 points on the teaching lever and 3 points on the push rod are needed to complete the writing of the whole program during the programming process.
4. As a pioneering attempt in the construction industry, it is possible to replicate it in other outdoor operations;
5. The installation space is compact, which can not only realize the robot to operate the excavator in automatic mode, but also move the robot to other positions to leave space for the operator, thereby increasing the flexibility of the operation mode;
6. The cobot is easy to program, and the whole project cycle only takes 2 weeks!
The future is more than just excavators
Collaborative robots will increasingly appear in many traditional types of work
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