CN104570938B - A kind of control method inserting the two arm robot system in production - Google Patents
A kind of control method inserting the two arm robot system in production Download PDFInfo
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- CN104570938B CN104570938B CN201510004814.7A CN201510004814A CN104570938B CN 104570938 B CN104570938 B CN 104570938B CN 201510004814 A CN201510004814 A CN 201510004814A CN 104570938 B CN104570938 B CN 104570938B
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- workpiece
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- laser displacement
- production
- displacement sensor
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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
- B25J9/16—Programme controls
- B25J9/1694—Programme 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
- B25J9/1697—Vision controlled systems
Abstract
The present invention provides the two arm robot systems in a kind of inserting production, including two monocular cameras, two laser displacement sensors, two arms, binocular vision and two pieces of LED to insert plate；The system control floor is made of industrial computer and high speed Ethercat bus, and the present invention also provides the intelligent control methods of two arm robot system in inserting production a kind of, comprising: system initialization and zero；Binocular camera carries out coarse localization, sends the data to motion controller and is handled, and obtains the angle and laser displacement sensor distance of laser sensor rotation, is accurately positioned；Target workpiece coordinate under laser ranging system is obtained by location algorithm；Tow-armed robot is moved to target position, end gripper grabbing workpiece by coordinate；Workpiece, which is put into, to be needed to install in the equipment assembled.The configuration of the present invention is simple, operating efficiency are high, the inserting production that can be widely used in LED car lamp and Automobile motor claw-pole precision assembly.
Description
Technical field
The present invention relates to tow-armed robot technical fields, specifically, it is related to a kind of both arms machine inserted in production
The control method of people's system.
Background technique
Currently, the research of Two-Arm Cooperating Robots operation has received widespread attention, because tow-armed robot is than single armed machine
People has bigger superiority and more applications.For example, tow-armed robot can be under circumstances not known, such as space, depth
Under sea etc. or hazardous environment, such as nuclear pollution area, work is completed instead of people；In addition, tow-armed robot can complete single armed machine
The complex work that device people cannot complete, such as space station maintenance, carry heavier object or soft-body at complicated assembling work
Body, installation complicated part and dragsaw etc..But many tow-armed robots are non-redundancy robots, cannot avoid joint angle
The limit, avoiding barrier, flexibility are poor；It in motion control layer, is made of mostly industrial personal computer and motion control card, data transmission
Speed is slower, is unable to satisfy requirement of real-time, such as not can be carried out task under the conditions of failure and plans again, from error correcting capability,
Reliability is poor.
Summary of the invention
Aiming at the shortcomings in the prior art, the problem to be solved in the present invention is to provide a kind of both arms machine inserted in production
The control layer of device people's system, the system is formed using industrial computer and high speed Ethercat bus structures, which not only may be used
To overcome singularity, joint angular limit is avoided, improves flexibility, avoiding barrier obtains Minimal joint torque, and has and hold
Mistake can carry out in failure conditions task and plan again, improve system real time, reliability.
Another technical problem to be solved by the present invention is that providing a kind of tow-armed robot intelligent control side inserted in production
Method, this method can effectively improve the flexibility and real-time of system, be efficient work of the tow-armed robot under particular job environment
Industry provides strong technical guarantee.
In order to solve the above-mentioned technical problem, the technical scheme adopted by the invention is that:
A kind of two arm robot system inserted in production, including two monocular cameras, two laser displacement sensors, two
A arm, binocular vision and two pieces of LED insert plate, and control layer is made of industrial computer and high speed Ethercat bus.
The system uses modular electromechanical integral joint as workbench, in modular electromechanical integral joint equipment
Operation under the inserting environment of platform pushes each joint motions and correction crawl pose camera by 14 driving joint direct current generators, complete
It is moved at seven freedom, is established and communicated by industrial master board and Gold Mastro motion controller, i.e. Gold Mastro movement control
Device combination host computer communication processed, completes high-speed high-precision operation.
A kind of intelligent control method inserting the tow-armed robot in production includes the following steps: that (1) passes through host computer pair
Bottom returns to zero routine call, carries out system initialization and zero；(2) binocular camera carries out just positioning to workpiece first, by double
Just positioning system obtains laser displacement sensor and detects the relative rotation angle of workpiece mesh, and pivoting angle data is sent to upper
Machine system, kinetic control system execute movement, the displacement data of itself and workpiece are then measured by laser displacement sensor, most
Afterwards by monocular camera, it is accurately positioned；(3) target workpiece coordinate under laser ranging system is obtained by laser distance measuring principle
(4) tow-armed robot is moved to target position, end gripper grabbing workpiece by coordinate；(5) workpiece is put into the equipment for needing to assemble
In install, start the inserting operation of next round.
Compared with prior art, due to the adoption of the above technical scheme, proposed by the present invention to be based on high speed Ethercat bus
Dual redundant manipulators system can not only overcome singularity using modular electromechanical integral joint as workbench, keep away
Joint angular limit improves flexibility, and avoiding barrier obtains Minimal joint torque, and has fault-tolerance, can be in failure
Under the conditions of carry out task plan again, improve system real time, reliability.Two arm robot system proposed by the present invention and its control
Method, structure is simple, operating efficiency is high, the inserting essence that can be widely used in LED car lamp and Automobile motor claw-pole precision assembly
Degree problem.
Detailed description of the invention
It is specifically described the present invention below with reference to attached drawing and in conjunction with example, advantages of the present invention and implementation will
It is more obvious, wherein content only for the purpose of explanation of the present invention shown in attached drawing, without constitute to it is of the invention in all senses
On limitation, in the accompanying drawings:
Fig. 1 is two arm robot system's schematic diagram in present invention inserting production；
Fig. 2 is the tow-armed robot control method flow chart in present invention inserting production；
In figure:
1, monocular camera 2, laser displacement sensor 3, robot arm
4, binocular vision 5, LED insert plate
Specific embodiment
The present invention is further discussed below below with reference to embodiment and its attached drawing:
As shown in Figure 1 to Figure 2, it includes two monocular camera 1, two that the present invention, which inserts the two arm robot system in production,
2, two robot arms 3 of laser displacement sensor, binocular vision 4 and two pieces of LED insert plate 5, and the control layer of the system is by work
Industry computer and high speed Ethercat bus are constituted.
Both arms industrial robot system includes three aspect movements, first is that waist pitch axis moves；Second is that the two-arm coordinated movement of various economic factors；
Third is that end underactuated hand moves.The accurate positioning of terminal position is completed in waist pitching movement, the two-arm coordinated movement of various economic factors；Pass through phase
Machine adjusts end pose in real time, and the crawl and inserting of workpiece are realized in adjustment end gripper movement.
Inserting operation process is completed by multiple movements, and a basic inserting circulation includes identification, pickup and inserting three
Movement, specifically: (1) it identifies workpiece, coarse localization is carried out by binocular vision, each joint coordination of both arms is moved to above workpiece,
Monocular camera and laser displacement sensor on arm are accurately positioned according to coarse localization information, accurately identify workpiece；(2)
Tow-armed robot end gripper takes workpiece away from workbench；(3) workpiece, which is put into, needs to install in the equipment assembled, and completes one
Secondary circulation.The end gripper of both arms turns again to workbench later, carries out next round circulation, constantly can back and forth be finally completed and set
Standby inserting.
The present invention inserts the intelligent control method of the tow-armed robot in production, specifically comprises the following steps:
(1) routine call is returned to zero to bottom by host computer, carries out system initialization and zero；
(2) binocular camera carries out just positioning to workpiece first, obtains laser displacement sensor by positioning system at the beginning of binocular
With the relative rotation angle of detection workpiece, pivoting angle data is sent to master system, and kinetic control system executes movement, so
The displacement data for measuring itself and workpiece by laser displacement sensor afterwards is accurately positioned finally by monocular camera；
(3) target workpiece coordinate under laser ranging system is obtained by laser distance measuring principle；
(4) tow-armed robot is moved to target position, end gripper grabbing workpiece by coordinate；
(5) workpiece, which is put into, needs to install in the equipment assembled, and starts the inserting operation of next round.
Although above in conjunction with figure, invention has been described, and the invention is not limited to above-mentioned specific embodiment parties
Formula, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art are in this hair
Under bright enlightenment, without deviating from the spirit of the invention, many variations can also be made, these belong to guarantor of the invention
Within shield.
Claims (1)
1. the control method of the two arm robot system in inserting production a kind of, which is characterized in that including two monocular cameras, two
A laser displacement sensor, two arms, binocular vision and two pieces of LED insert plate；The control layer of the system is by industrial computer
It is constituted with high speed Ethercat bus,
Include the following steps:
(1) routine call is returned to zero to bottom by host computer, carries out system initialization and zero；
(2) binocular vision carries out just positioning to workpiece first, obtains laser displacement sensor and inspection by positioning system at the beginning of binocular
The relative rotation angle of workpiece is surveyed, pivoting angle data is sent to master system, and kinetic control system executes movement, then leads to
The displacement data that laser displacement sensor measures itself and workpiece is crossed to be accurately positioned finally by monocular camera；
(3) target workpiece coordinate under laser ranging system is obtained by laser distance measuring principle；
(4) tow-armed robot is moved to target position, end gripper grabbing workpiece by coordinate；
(5) workpiece, which is put into, needs to install in the equipment assembled, and starts the inserting operation of next round.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510004814.7A CN104570938B (en) | 2015-01-06 | 2015-01-06 | A kind of control method inserting the two arm robot system in production |
Applications Claiming Priority (1)
| 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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| Publication Number | Publication Date |
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| CN104570938A CN104570938A (en) | 2015-04-29 |
| CN104570938B true CN104570938B (en) | 2019-02-12 |
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| CN201510004814.7A Active 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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Families Citing this family (13)
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| 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 |
| 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 |
| JP6831678B2 (en) * | 2016-11-29 | 2021-02-17 | 川崎重工業株式会社 | Robot and its operation method, and application system |
| CN107571246B (en) * | 2017-10-13 | 2020-07-31 | 上海神添实业有限公司 | Part assembling system and method based on double-arm 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 |
| CN111307155B (en) * | 2020-03-04 | 2021-09-21 | 南京工程学院 | Double-cooperative-robot initial positioning measuring device and initial positioning 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 |
| 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 |
| 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 |
| CN114290016B (en) * | 2021-12-21 | 2023-01-03 | 燕山大学 | High-precision wood furniture assembling system and method based on binocular parallax calculation |
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