CN114800460B - Robotic manipulator and method of manufacturing a product using a robotic manipulator - Google Patents
Robotic manipulator and method of manufacturing a product using a robotic manipulator Download PDFInfo
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- CN114800460B CN114800460B CN202110065665.0A CN202110065665A CN114800460B CN 114800460 B CN114800460 B CN 114800460B CN 202110065665 A CN202110065665 A CN 202110065665A CN 114800460 B CN114800460 B CN 114800460B
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- product
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- robotic manipulator
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 13
- 239000012636 effector Substances 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 12
- 238000003466 welding Methods 0.000 description 4
- 238000000227 grinding Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000003698 laser cutting Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- 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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
A robotic manipulator and a method of manufacturing a product (1) using the robotic manipulator are provided, the robotic manipulator being adapted to be positioned on a work surface (101) and comprising an end effector (140) mounted with a pre-positioning tool (151) and a handling tool (152), the method comprising: picking up a component (2) by a robotic manipulator; moving a robotic manipulator to a pre-positioned position on the work surface (101) on which the product (1) has been arranged; repositioning said product (1) by a pre-positioning tool (151) of the robotic manipulator; and assembling the component (2) to the product by a handling tool (152) of a robotic manipulator.
Description
Technical Field
Embodiments of the present disclosure relate generally to product manufacturing and, more particularly, to a robotic manipulator for manufacturing a product and a method of manufacturing a product using the robotic manipulator.
Background
Industrial robots are a development trend of future industrial automation and intelligent manufacturing, and are widely applied to operation operations such as part carrying, assembly, welding, spraying, laser cutting, grinding, product detection and the like. In operation, an end effector is attached to the robot end to operate a work object.
With diversification and complicating of the operation modes of industrial robots, the precision requirements of the industrial fields on the robots become higher and higher, and the precision of the robots mainly includes repeated positioning precision and absolute positioning precision, wherein the repeated positioning precision refers to the proximity degree between the actual reaching positions of the end effectors of the robots in the process of repeatedly reaching the same target position (ideal position), and the absolute positioning precision refers to the proximity degree between the actual reaching positions of the end effectors of the robots and the target position (theoretical position).
At present, an industrial robot generally has higher repeated positioning precision, but the absolute positioning precision is lower, which is mainly caused by errors of robot kinematic parameters, difficulty in accurate positioning of a robot base coordinate system and the like, so that the reliability and precision of some robot applications are affected. The lower absolute positioning accuracy results in that the industrial robot cannot meet the requirements of precision machining and production, which greatly limits the application range of the robot.
Disclosure of Invention
The present disclosure is directed to overcoming at least one of the above and other problems and disadvantages in the art.
According to one aspect of the present disclosure, there is provided a method of manufacturing a product using a robotic manipulator adapted to be positioned on a work surface and including an end effector mounted with a pre-positioning tool and a manipulation tool, the method comprising: picking up a part by a robotic manipulator; moving the robotic manipulator to a pre-positioned position on the work surface on which the product has been arranged; repositioning the product by a pre-positioning tool of a robotic manipulator; and assembling the components to the product by a handling tool of a robotic manipulator.
In some embodiments, picking up a component by the robotic manipulator includes picking up the component by the manipulation tool.
In some embodiments, repositioning the product by a pre-positioning tool of the robotic manipulator comprises: moving the pre-positioning tool to a position of the product on the work surface with a first positioning accuracy; and contacting the pre-positioning tool with the product to adjust the position of the product.
In some embodiments, contacting the pre-positioning tool with the product to adjust the position of the product comprises: the positioning tool is brought into contact with an outer surface of the product to reposition the product.
In some embodiments, the product includes an aperture, and contacting the pre-positioning tool with the product to adjust the position of the product includes: the positioning tool is at least partially inserted into the aperture to reposition the product.
In some embodiments, assembling the components to the product by a handling tool of a robotic manipulator comprises: after repositioning the product by the positioning tool, the handling tool with the component picked up is moved to an adjusted position of the product with a second positioning accuracy different from the first positioning accuracy and the component is assembled to the product.
In some embodiments, the first positioning accuracy and the second positioning accuracy are each characterized by a movement distance error, and the second positioning accuracy is 1/10 or less of the first positioning accuracy.
In some embodiments, the second positioning accuracy is less than or equal to 0.02mm.
According to another aspect of the present disclosure, there is also provided a robot manipulator including: a base adapted to be positioned on a work surface on which a product is adapted to be disposed; a support arm rotatably connected to the base; and an end effector rotatably coupled to the support arm, the end effector mounting a pre-positioning tool configured to reposition the product that has been disposed on the work surface and a handling tool configured to assemble a component to the product after the pre-positioning tool has repositioned the product.
In some embodiments, the handling tool is adapted to pick up the component.
In some embodiments, the pre-positioning means is adapted to re-position the product in a state in which the component is picked up by the handling means.
In some embodiments, the pre-positioning tool and the manipulation tool are mounted to the end effector in spaced apart relation such that the positions of the pre-positioning tool and the manipulation tool relative to each other are fixed.
In some embodiments, a pre-positioning tool is adapted to contact the product to adjust the position of the product.
In some embodiments, the pre-positioning tool comprises a positioning pin having a tapered end adapted to be partially inserted into a hole of the product or in contact with an outer surface of the product to adjust the position of the product.
In some embodiments, at least one of the pre-positioning tool and the manipulation tool is replaceable.
Drawings
The above and other aspects, features and advantages of various embodiments of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:
FIG. 1 is a perspective schematic diagram illustrating operation of an exemplary robotic manipulator;
fig. 2 is a perspective view schematically illustrating a structure of a robot manipulator according to an exemplary embodiment of the present disclosure; and
fig. 3 is a flowchart schematically illustrating a method of manufacturing a product using a robotic manipulator according to one exemplary embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In the present specification, the same or similar parts are denoted by the same or similar reference numerals. The following description of embodiments of the present disclosure with reference to the accompanying drawings is intended to illustrate the general concepts of the disclosure and should not be taken as limiting the disclosure.
Furthermore, in the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In other instances, well-known structures and devices are shown in the drawings in order to simplify the drawings.
Fig. 1 and 2 illustrate exemplary robotic manipulators that may be used for a variety of operations performed on a work object, such as product or part handling, assembly, welding, painting, laser cutting, grinding, inspection, and the like. The robotic manipulator includes a base 110, support arms (120, 130), and an end effector 140. The base 110 is adapted to be positioned on the work surface 101, such as fixedly or movably mounted on a work table. A work object or product 1 is arranged on the work surface for corresponding work operations thereon by the robotic manipulator. The support arms may be rotatably or pivotably connected to the base 110, such as by a pivot 111, and may include a first support arm 120 and a second support arm 130, the first support arm 120 being pivotally connected to the base 110 at one end and the second support arm 130 at the other end, such as by a pivot 121, the end of the second support arm 130 being connected to an end effector 140, the end effector 140 being rotatable or movable relative to the base or support arm to perform a corresponding work operation.
The accuracy of the robotic manipulator in performing the different operations is different, mainly including the repeated positioning accuracy and the absolute positioning accuracy. Referring now to the drawings, the accuracy of the robotic manipulator will be described taking the pick-up component as an example. As shown in fig. 1, assuming that the end effector 140 of the robotic manipulator performs part pick-up and mount work that moves from point a to point B (e.g., pick up a part at point B) and then back to point a (e.g., mount a part at point a), the actual positions of the end effector 140 to point a are A1, A2, respectively, due to the implications of positioning errors. In the case where the accuracy thereof is characterized by a movement distance error, the absolute positioning accuracy of each movement of the robot manipulator may be represented by distances AA1 and AA2, respectively, and the repeated positioning accuracy may be represented by a distance A1 A2. Typically, such repeated positioning accuracy is relatively small, whereas absolute positioning accuracy is relatively large, for example, tens of times or more the repeated positioning accuracy, resulting in large positioning errors in operations of component pickup, positioning, mounting, and the like.
As shown in fig. 2, the end effector of the robotic manipulator according to the embodiment of the present disclosure is mounted with a pre-positioning tool 151 and a manipulating tool 152, the pre-positioning tool 151 being used to reposition the product 1 that has been arranged on the work surface 101, and the manipulating tool 152 being used to perform a corresponding working operation on the product 1 after such repositioning. As an example, after repositioning the product 1 by the positioning tool 151, the handling tool 152 assembles a component 2 to the product 1. It will be appreciated that the "assembly" described herein may involve a variety of suitable operations, such as assembly, welding, fixing, etc. of a product or component. Illustratively, the handling tool 152 is adapted to pick up the component 2, and may comprise a clamp, for example. In some examples, the pre-positioning tool 151 and the steering tool 152 may be mounted to the end effector 140 in a spaced apart relationship such that the positions of the two relative to each other are fixed.
Fig. 3 illustrates a method of manufacturing a product using a robotic manipulator according to one exemplary embodiment of the present disclosure. It will be appreciated that the "manufacture" described herein may also relate to a variety of suitable operations, such as assembly, welding, fixing, spraying, cutting or machining, inspection, etc. of a product or component. The assembly of the component 2 to the product 1 is described below as an example.
In step S101, a component 2 is picked up, for example by the handling tool 152, from a first position, from a conveyor belt or from a component storage position; subsequently, in step S102, the end effector of the robotic manipulator is moved to a pre-positioning position on the work surface 101, on which work surface 101 the product 1 has been arranged in a second position. As an example, the predetermined position is closer to the second position where the product 1 is located than the first position. In step S103, the product 1 is repositioned by the pre-positioning tool 151 of the robotic manipulator, and then in step S104 the part 2 is moved by the handling tool 152 of the robotic manipulator to the position where the product 1 is located and assembled to the product 1.
Thus, by repositioning the product, positioning errors in the process of the robot manipulator directly moving the component from the first position to the second position where the product is located can be corrected or eliminated, absolute positioning accuracy when the component is directly moved to the product is converted into repeated positioning accuracy when the robot manipulator repeatedly arrives at the product position (including the operation of repositioning the product and the operation of moving the component to the position of the product), thereby reducing the positioning errors and improving the operation accuracy.
For example, upon repositioning, the robotic manipulator moves the pre-positioning tool to a position of the product on the work surface with a first positioning accuracy; after repositioning the product by the positioning tool, the robotic manipulator moves the picked-up component handling tool to the adjusted position of the product with a second positioning accuracy that is different from the first positioning accuracy, the first positioning accuracy corresponding to the absolute positioning accuracy of the robotic manipulator and the second positioning accuracy corresponding to the repeated positioning accuracy of the robotic manipulator. As an example, when the first positioning accuracy and the second positioning accuracy are characterized by the movement distance error, the second positioning accuracy is 1/10, 1/100 or less of the first positioning accuracy. For example, in some applications, the first positioning accuracy is a few millimeters, while the second positioning accuracy is less than or equal to 0.02mm.
The pre-positioning means 151 can reposition the product 1 in a state where the component 2 is picked up by the handling means 152. As an example, the pre-positioning tool 152 is adapted to contact the product 1 to adjust 1 the position of the product 1 on the work surface.
In some embodiments, as shown in fig. 3, the positioning tool 151 includes a positioning pin having a tapered end that is partially inserted into the hole 11 of the product 1 or in contact with the outer surface of the product 1 to adjust the position of the product 1 when repositioning the product. After repositioning the product 1, the robotic manipulator picks up the handling tool 152 with the component 2, moves to the adjusted position of the product 1, and assembles the component 2 to the product 1, e.g. inserts the component 2 into the hole 11 or places the component 2 on the product 1 for subsequent operations.
In some embodiments, the pre-positioning tool or the handling tool is replaceable to accommodate different product operating requirements.
Although embodiments of the present disclosure have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the disclosure, the scope of which is defined in the claims and their equivalents. Furthermore, it should be noted that the terms "comprising," "including," "having," and the like, as used herein, do not exclude other elements or steps, unless otherwise specified. In addition, any element numbers of the claims should not be construed as limiting the scope of the disclosure.
Claims (14)
1. A method of manufacturing a product (1) using a robotic manipulator adapted to be positioned on a work surface (101) and comprising an end effector (140) mounted with a pre-positioning tool (151) and a manipulation tool (152), the method comprising:
picking up a component (2) by a robotic manipulator;
moving a robotic manipulator to a pre-positioned position on the work surface (101) on which the product (1) has been arranged;
repositioning said product (1) by a pre-positioning tool (151) of a robotic manipulator, said pre-positioning tool being adapted to be in contact with said product to adjust the position of said product on said work surface; and
-assembling the component (2) to the product by a handling tool (152) of a robotic manipulator.
2. The method of claim 1, wherein picking up a component by a robotic manipulator comprises picking up the component by the manipulation tool.
3. The method of claim 1, wherein repositioning the product (1) by a pre-positioning tool (151) of a robotic manipulator comprises:
moving the pre-positioning tool to a position of the product on the work surface with a first positioning accuracy; and
the pre-positioning tool is brought into contact with the product to adjust the position of the product.
4. The method of claim 3, wherein contacting the pre-positioning tool with the product to adjust the position of the product comprises:
the positioning tool is brought into contact with an outer surface of the product to reposition the product.
5. A method according to claim 3, wherein the product comprises an aperture (11), and contacting the pre-positioning tool with the product to adjust the position of the product comprises:
the positioning tool is at least partially inserted into the aperture to reposition the product.
6. The method according to any of claims 3-5, wherein assembling the component (2) to the product by a handling tool (152) of a robotic manipulator comprises:
after repositioning the product by the positioning tool, the handling tool with the component picked up is moved to an adjusted position of the product with a second positioning accuracy different from the first positioning accuracy and the component is assembled to the product.
7. The method of claim 6, wherein the first and second positioning accuracies are each characterized by a movement distance error and the second positioning accuracy is 1/10 or less of the first positioning accuracy.
8. The method of claim 7, wherein the second positioning accuracy is less than or equal to 0.02mm.
9. A robotic manipulator, comprising:
a base (110) adapted to be positioned on a work surface (101) on which the product (1) is adapted to be arranged;
a support arm rotatably connected to the base; and
an end effector (140) rotatably connected to the support arm, the end effector being fitted with a pre-positioning tool (151) configured to be in contact with the product to adjust the position of the product on the work surface to reposition the product (1) already arranged on the work surface, and a handling tool (152) configured to assemble a component (2) to the product after the pre-positioning tool has repositioned the product.
10. The robotic manipulator of claim 9, wherein the manipulation tool is adapted to pick up the component.
11. The robotic manipulator of claim 10, wherein the pre-positioning tool is adapted to reposition the product in a state where the component is picked up by the handling tool.
12. The robotic manipulator of claim 9, wherein the pre-positioning tool and the manipulation tool are mounted to the end effector in spaced apart relation such that the positions of the pre-positioning tool and the manipulation tool relative to each other are fixed.
13. The robotic manipulator of claim 9, wherein the pre-positioning tool comprises a positioning pin having a tapered end adapted to be partially inserted into a hole of the product or in contact with an outer surface of the product to adjust the position of the product.
14. The robotic manipulator of claim 9, wherein at least one of the pre-positioning tool and the manipulation tool is replaceable.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110065665.0A CN114800460B (en) | 2021-01-18 | 2021-01-18 | Robotic manipulator and method of manufacturing a product using a robotic manipulator |
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| CN202110065665.0A CN114800460B (en) | 2021-01-18 | 2021-01-18 | Robotic manipulator and method of manufacturing a product using a robotic manipulator |
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| CN114800460A CN114800460A (en) | 2022-07-29 |
| CN114800460B true CN114800460B (en) | 2023-12-22 |
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| JP2005149299A (en) * | 2003-11-18 | 2005-06-09 | Fanuc Ltd | Teaching position correction apparatus |
| CN101321606A (en) * | 2005-06-30 | 2008-12-10 | 直观外科手术公司 | Indicator for tool state communication in multiarm robotic telesurgery |
| CN102802551A (en) * | 2009-05-29 | 2012-11-28 | 南洋理工大学 | Robotic system for flexible endoscopy |
| CN106002966A (en) * | 2015-03-31 | 2016-10-12 | 佳能株式会社 | Automated assembly apparatus and automated assembly method |
| JP2017052072A (en) * | 2015-09-11 | 2017-03-16 | ライフロボティクス株式会社 | Robot device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9785911B2 (en) * | 2013-07-25 | 2017-10-10 | I AM Robotics, LLC | System and method for piece-picking or put-away with a mobile manipulation robot |
| JP6677689B2 (en) * | 2017-09-28 | 2020-04-08 | ファナック株式会社 | robot |
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2021
- 2021-01-18 CN CN202110065665.0A patent/CN114800460B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005149299A (en) * | 2003-11-18 | 2005-06-09 | Fanuc Ltd | Teaching position correction apparatus |
| CN101321606A (en) * | 2005-06-30 | 2008-12-10 | 直观外科手术公司 | Indicator for tool state communication in multiarm robotic telesurgery |
| CN102802551A (en) * | 2009-05-29 | 2012-11-28 | 南洋理工大学 | Robotic system for flexible endoscopy |
| CN106002966A (en) * | 2015-03-31 | 2016-10-12 | 佳能株式会社 | Automated assembly apparatus and automated assembly method |
| JP2017052072A (en) * | 2015-09-11 | 2017-03-16 | ライフロボティクス株式会社 | Robot device |
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| CN114800460A (en) | 2022-07-29 |
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