CN104570938A - Double-arm robot system in plug-in mounting production and intelligent control method of double-arm robot system - Google Patents

Double-arm robot system in plug-in mounting production and intelligent control method of double-arm robot system Download PDF

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Publication number
CN104570938A
CN104570938A CN201510004814.7A CN201510004814A CN104570938A CN 104570938 A CN104570938 A CN 104570938A CN 201510004814 A CN201510004814 A CN 201510004814A CN 104570938 A CN104570938 A CN 104570938A
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China
Prior art keywords
plug
workpiece
arm robot
double
mounting
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CN201510004814.7A
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CN104570938B (en
Inventor
陈丹惠
陈剑
赵江海
王鹏程
刘博�
陈海霞
张春苗
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Institute of Advanced Manufacturing Technology
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Institute of Advanced Manufacturing Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697Vision controlled systems

Abstract

The invention provides a double-arm robot system in plug-in mounting production. The double-arm robot system comprises two industrial cameras, two laser ranging displacement sensors, two arms, binocular vision cameras and two LED plug-in mounting plates. A system control layer is composed of an industrial computer and a high-speed Ethercat bus. The invention further provides an intelligent control method of the double-arm robot system in plug-in mounting production. The method includes the steps of initiating the system and returning to zero, conducting rough positioning through the binocular vision cameras, sending data to a movement controller to be processed to obtain the laser sensor rotating angle and the laser ranging sensor distance so that precise positioning can be achieved, obtaining coordinates of a target workpiece under a laser ranging system through a positioning algorithm, moving a double-arm robot to the target position according to the coordinates, grapping the workpiece through claws at the tail ends, and placing the workpiece into the device to be assembled to be installed. The double-arm robot system is simple in structure, high in work efficiency and capable of being widely applied to plug-in mounting production of precise assembling of LED automobile lamps and automobile motor claw poles.

Description

Two arm robot system in a kind of plug-in mounting production and intelligent control method thereof
Technical field
The present invention relates to tow-armed robot technical field, specifically, it relate to a kind of plug-in mounting produce in two arm robot system and intelligent control method.
Background technology
At present, the research of Two-Arm Cooperating Robots operation receives extensive concern, because tow-armed robot has larger superiority and more application scenario than one armed robot.Such as, tow-armed robot can, under circumstances not known, as under space, deep-sea etc. or hazardous environment, as nuclear pollution area, replace people to finish the work; In addition, tow-armed robot can complete the complex work that one armed robot can not complete, and as space station maintenance, complicated assembling work, carries heavier object or soft objects, the part of installation complexity and dragsaw etc.But a lot of tow-armed robot is non-redundancy robots, and can not avoid the joint angle limit, avoiding barrier, dirigibility is poor; At motion control layer, be mostly made up of industrial computer and motion control card, data rate is comparatively slow, cannot requirement of real time, plans as do not carried out task under the condition of breaking down again, poor from error correcting capability, reliability.
Summary of the invention
For deficiency of the prior art, the problem to be solved in the present invention is, the two arm robot system in providing a kind of plug-in mounting to produce, and the key-course of this system adopts industrial computer and high speed Ethercat bus structure to form, this system not only can overcome singularity, avoid the joint angle limit, improve dirigibility, avoiding barrier, obtain Minimal joint torque, and there is fault-tolerance, task can be carried out in failure conditions and plan again, improve system real time, reliability.
Another technical matters that the present invention will solve is, tow-armed robot intelligent control method in providing a kind of plug-in mounting to produce, the method effectively can improve dirigibility and the real-time of system, for the high-efficient homework of tow-armed robot under particular job environment provides strong technical guarantee.
In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
A two arm robot system in plug-in mounting production, comprise two industrial cameras, two laser ranging displacement transducers, two arms, binocular vision and two blocks of LED plug-in mounting plates, its key-course is made up of industrial computer and high speed Ethercat bus.
This system adopts modular electromechanical integral joint as workbench, operation under the plug-in mounting environment of modular electromechanical integral joint table of equipment, by 14 driving joint direct current generators, promote each joint motions and correct to capture pose camera, complete seven freedom motion, set up communication by industrial master board and Gold Mastro motion controller, namely Gold Mastro motion controller is in conjunction with host computer communication, completes high-speed high-precision operation.
Plug-in mounting produce in the intelligent control method of tow-armed robot, comprise the steps: (1) by host computer to the next back to zero routine call, carry out system initialization and zero; (2) first binocular camera carries out just location to workpiece, obtain laser displacement sensor by the first positioning system of binocular and detect the relative rotation angle of workpiece, pivoting angle data sends to master system, kinetic control system performs an action, then the displacement data of self and workpiece is recorded by laser range sensor, finally by hand monocular camera, accurately locate; (3) under obtaining laser distance measuring system by laser distance measuring principle, target workpiece coordinate (4) tow-armed robot moves to target location by coordinate, end paw grabbing workpiece; (5) workpiece is put into needs the equipment of assembling to install, and starts the plug-in mounting operation of next round.
Compared with prior art, owing to adopting technique scheme, the dual redundant manipulators system based on high speed Ethercat bus that the present invention proposes, with modular electromechanical integral joint for workbench, not only singularity can be overcome, avoid the joint angle limit, improve dirigibility, avoiding barrier, obtain Minimal joint torque, and there is fault-tolerance, task can be carried out in failure conditions and plan again, improve system real time, reliability.The two arm robot system that the present invention proposes and control method thereof, structure is simple, operating efficiency is high, can be widely used in the plug-in mounting precision problem in LED car lamp and Automobile motor claw-pole Fine Boring.
Accompanying drawing explanation
Below by with reference to accompanying drawing describe the present invention particularly in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in accompanying drawing is only for explanation of the present invention, and does not form restriction of going up in all senses of the present invention, in the accompanying drawings:
Fig. 1 is the two arm robot system's schematic diagram during plug-in mounting of the present invention is produced;
Fig. 2 is the tow-armed robot control method process flow diagram during plug-in mounting of the present invention is produced;
In figure:
1, industrial camera 2, laser ranging displacement transducer 3, robot arm
4, binocular vision 5, LED plug-in mounting plate
Embodiment
The present invention is described further below in conjunction with embodiment and accompanying drawing thereof:
As shown in Figure 1 to Figure 2, two arm robot system in plug-in mounting production of the present invention comprises two industrial cameras, 1, two laser ranging displacement transducers, 2, two robot arms 3, binocular vision 4 and two blocks of LED plug-in mounting plates 5, and the key-course of this system is made up of industrial computer and high speed Ethercat bus.
Both arms industrial robot system comprises three aspect motions, and one is the motion of waist pitch axis; Two is two-arm coordinated movements of various economic factors; Three is the motions of end underactuated hand.Waist luffing, the two-arm coordinated movement of various economic factors completes the accurate location of terminal position; Adjust end pose in real time by camera, the motion of adjustment end paw realizes crawl and the plug-in mounting of workpiece.
Plug-in mounting operation process is completed by multiple action, a basic plug-in mounting circulation comprises identification, pickup and plug-in mounting three actions, be specially: (1) identifies workpiece, coarse localization is carried out by binocular vision, the each joint coordination of both arms moves to above workpiece, monocular camera on arm and laser displacement sensor are accurately located according to coarse localization information, accurately identify workpiece; (2) tow-armed robot end paw takes workpiece away from worktable; (3) workpiece is put into needs the equipment of assembling to install, and completes and once circulates.The end paw of both arms gets back to worktable again afterwards, carries out next round circulation, constantly back and forth just can the plug-in mounting of final finishing equipment.
The intelligent control method of the tow-armed robot in plug-in mounting production of the present invention, specifically comprises the steps:
(1) by host computer to the next back to zero routine call, carry out system initialization and zero;
(2) first binocular camera carries out just location to workpiece, obtain laser displacement sensor by the first positioning system of binocular and detect the relative rotation angle of workpiece, pivoting angle data sends to master system, kinetic control system performs an action, then the displacement data of self and workpiece is recorded by laser range sensor, finally by hand monocular camera, accurately locate;
(3) by target workpiece coordinate under laser distance measuring principle acquisition laser distance measuring system;
(4) tow-armed robot moves to target location by coordinate, end paw grabbing workpiece;
(5) workpiece is put into needs the equipment of assembling to install, and starts the plug-in mounting operation of next round.
Although invention has been described for composition graphs above; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment is only schematic; instead of it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; when not departing from present inventive concept, can also make a lot of distortion, these all belong within protection of the present invention.

Claims (2)

1. the two arm robot system in plug-in mounting production, is characterized in that, comprise two industrial cameras, two laser ranging displacement transducers, two arms, binocular vision and two blocks of LED plug-in mounting plates; The key-course of this system is made up of industrial computer and high speed Ethercat bus.
2. be applicable to the intelligent control method of two arm robot system in plug-in mounting according to claim 1 production, it is characterized in that, comprise the steps:
(1) by host computer to the next back to zero routine call, carry out system initialization and zero;
(2) first binocular vision carries out just location to workpiece, obtain laser displacement sensor by the first positioning system of binocular and detect the relative rotation angle of workpiece, pivoting angle data sends to master system, kinetic control system performs an action, then the displacement data of self and workpiece is recorded by laser range sensor, finally by hand monocular camera, accurately locate;
(3) by target workpiece coordinate under laser distance measuring principle acquisition laser distance measuring system;
(4) tow-armed robot moves to target location by coordinate, end paw grabbing workpiece;
(5) workpiece is put into needs the equipment of assembling to install, and starts the plug-in mounting operation of next round.
CN201510004814.7A 2015-01-06 2015-01-06 A kind of control method inserting the two arm robot system in production Active CN104570938B (en)

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Application Number Priority Date Filing Date Title
CN201510004814.7A CN104570938B (en) 2015-01-06 2015-01-06 A kind of control method inserting the two arm robot system in production

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105128009A (en) * 2015-08-10 2015-12-09 深圳百思拓威机器人技术有限公司 Bionic robot with object shape and pose accurate sensing function and sensing method of bionic robot
CN106291278A (en) * 2016-08-03 2017-01-04 国网山东省电力公司电力科学研究院 A kind of partial discharge of switchgear automatic testing method based on many visual systemes
CN106275133A (en) * 2016-08-05 2017-01-04 江苏金坛汽车工业有限公司 A kind of automobile wind shield glass installation method
CN107571246A (en) * 2017-10-13 2018-01-12 上海神添实业有限公司 A kind of component assembly system and method based on tow-armed robot
CN107817766A (en) * 2016-09-14 2018-03-20 天津思博科科技发展有限公司 Automatic assembling apparatus based on artificial intelligence technology
CN108257137A (en) * 2017-11-27 2018-07-06 南京浩梁景信息科技有限公司 A kind of angle measurement method and system of the automatic interpretation of view-based access control model hot spot
CN109922672A (en) * 2016-11-29 2019-06-21 川崎重工业株式会社 Robot and its method of operation and application system
CN110549341A (en) * 2019-09-24 2019-12-10 山东省智能机器人应用技术研究院 industrial robot coordinate positioning system and method
CN111307155A (en) * 2020-03-04 2020-06-19 南京工程学院 Double-cooperative-robot initial positioning measuring device and initial positioning method
CN111745623A (en) * 2020-06-24 2020-10-09 天津大学 Five-degree-of-freedom hybrid robot tail end pose error detection and compensation system and method
CN111993466A (en) * 2020-08-24 2020-11-27 哈工大机器人集团股份有限公司 Double-arm robot combined operation test method based on laser tracker
CN113473834A (en) * 2021-06-23 2021-10-01 珠海格力电器股份有限公司 Method, device and system for inserting special-shaped element, electronic equipment and storage medium

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105128009A (en) * 2015-08-10 2015-12-09 深圳百思拓威机器人技术有限公司 Bionic robot with object shape and pose accurate sensing function and sensing method of bionic robot
CN106291278A (en) * 2016-08-03 2017-01-04 国网山东省电力公司电力科学研究院 A kind of partial discharge of switchgear automatic testing method based on many visual systemes
CN106291278B (en) * 2016-08-03 2019-01-15 国网山东省电力公司电力科学研究院 A kind of partial discharge of switchgear automatic testing method based on more vision systems
CN106275133A (en) * 2016-08-05 2017-01-04 江苏金坛汽车工业有限公司 A kind of automobile wind shield glass installation method
CN107817766A (en) * 2016-09-14 2018-03-20 天津思博科科技发展有限公司 Automatic assembling apparatus based on artificial intelligence technology
CN109922672A (en) * 2016-11-29 2019-06-21 川崎重工业株式会社 Robot and its method of operation and application system
CN107571246A (en) * 2017-10-13 2018-01-12 上海神添实业有限公司 A kind of component assembly system and method based on tow-armed robot
CN108257137A (en) * 2017-11-27 2018-07-06 南京浩梁景信息科技有限公司 A kind of angle measurement method and system of the automatic interpretation of view-based access control model hot spot
CN110549341A (en) * 2019-09-24 2019-12-10 山东省智能机器人应用技术研究院 industrial robot coordinate positioning system and method
CN111307155A (en) * 2020-03-04 2020-06-19 南京工程学院 Double-cooperative-robot initial positioning measuring device and initial positioning method
CN111745623A (en) * 2020-06-24 2020-10-09 天津大学 Five-degree-of-freedom hybrid robot tail end pose error detection and compensation system and method
CN111745623B (en) * 2020-06-24 2021-11-23 天津大学 Five-degree-of-freedom hybrid robot tail end pose error detection and compensation system and method
CN111993466A (en) * 2020-08-24 2020-11-27 哈工大机器人集团股份有限公司 Double-arm robot combined operation test method based on laser tracker
CN111993466B (en) * 2020-08-24 2022-03-08 哈工大机器人集团股份有限公司 Double-arm robot combined operation test method based on laser tracker
CN113473834A (en) * 2021-06-23 2021-10-01 珠海格力电器股份有限公司 Method, device and system for inserting special-shaped element, electronic equipment and storage medium
CN113473834B (en) * 2021-06-23 2022-04-15 珠海格力电器股份有限公司 Method, device and system for inserting special-shaped element, electronic equipment and storage medium

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