CN104589358A - Industrial robot disassembling dumping method based on force sensor and database comparison - Google Patents
Industrial robot disassembling dumping method based on force sensor and database comparison Download PDFInfo
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- CN104589358A CN104589358A CN201410727470.8A CN201410727470A CN104589358A CN 104589358 A CN104589358 A CN 104589358A CN 201410727470 A CN201410727470 A CN 201410727470A CN 104589358 A CN104589358 A CN 104589358A
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Abstract
The invention discloses an industrial robot disassembling dumping method based on force sensor and database comparison. According to the main technical scheme, the method comprises the steps that when an industrial robot is utilized for disassembling a workpiece and dumping liquid inside the workpiece, a force sensor is utilized for collecting weight information of the workpiece; when the weight changes slightly or the weight approximates the workpiece weight stored in a database, it is considered that dumping is finished. The method can be used for the dumping procedure when the robot conducts disassembling working, and the robot is in communication with other robots to complete the disassembling working jointly.
Description
Technical field:
The present invention relates to a kind of industrial robot contrasted based on power sensing and database and disassemble the method for toppling over, belong to industrial robot application.
Background technology:
Robot (Robot) is the installations automatically performing work.It both can accept mankind commander, can run again the program of layout in advance, also can according to the principle guiding principle action of formulating with artificial intelligence technology.Its task assists or replace the work of human work, such as production industry, building industry, or the work of danger.Robot is generally made up of executing agency, drive unit, checkout gear and control system and complicated machinery etc.
From applied environment, robot is divided into two large classes, i.e. industrial robot and specialized robot.Industrial robot is exactly multi-joint manipulator towards industrial circle or multi-freedom robot.Industrial robot is the installations automatically performing work, is to lean on self power and control ability to realize a kind of machine of various function.It can accept mankind commander, also can run according to the program of layout in advance, the principle guiding principle action that modern industrial robot can also be formulated according to artificial intelligence technology.Industrial robot is made up of main body, drive system and control system three essential parts.Main body and support and executing agency, comprise arm, wrist and hand, some robots also have walking mechanism.There are 3 ~ 6 freedoms of motion in most industry robot, and wherein wrist has 1 ~ 3 freedom of motion usually; Drive system comprises power set and transmission mechanism, produces corresponding action in order to make executing agency; Control system sends command signal according to the program of input to drive system and executing agency, and control.Industrial robot is divided into four kinds by the forms of motion of arm.The arm of cartesian co-ordinate type can move along three rectangular co-ordinates; The arm of circular cylindrical coordinate type can be elevated, turn round and expanding-contracting action; The arm of spherical coordinates type can turn round, pitching and flexible; The arm of joint type has multiple cradle head.Industrial robot, again can branch bit-type and continuous path type by the Control function of executing agency's motion.Point bit-type only controls the accurate location that executing agency is put to another by a bit, is applicable to the operations such as lathe loading and unloading, spot welding and general carrying, handling; Continuous path type can control executing agency and move by given trace, is applicable to the operation such as continuous welding and application.Industrial robot follow procedure input mode is distinguished imported and imported two classes of teaching of programming.There is sense of touch, power feels or the industrial robot of simple vision, can work under comparatively complex environment; As there is recognition function or further increasing self adaptation, self-learning function, namely become intelligent industrial robot.Free or the self-compiling program of its " macro-instruction " that can give according to people deacclimatizes environment, and automatically completes more complicated work.Industrial robot can substitute more and more expensive labour, can promote operating efficiency and product quality simultaneously.The assembling task of production line precision component can be accepted by robot of Foxconn, more alternatively manually to work in the bad working environments such as spraying, welding, assembling, and can produce in conjunction with Mould Machining with machine-tools such as numerical control ultra-precision iron beds, enhance productivity, Substitute For Partial unskilled worker.Use industrial robot can to reduce the number of rejects and seconds rate and product cost, improve the utilization rate of equipment, reduce the risk etc. that workman's maloperation brings, its a series of benefits brought are also fairly obvious, such as, reduce labo r usage, reduce equipment loss, accelerate technological innovation speed, improve enterprise competitiveness etc.Robot has the ability performing various task particularly high-risk task, and mean time between failures reaches more than 60000 hours, more advanced than traditional automation process.In developed country, industrial robot automatic production line outfit has become the main flow of automated arm and the developing direction in future.The industries such as Automotive Industry Abroad, electronic enterprises, engineering machinery use industrial robot automatic production line to ensure product quality and production high efficiency in a large number.Typical outfit has limousine housing punching automation systems technology and outfit, heavy-duty machines people automotive body welding automated system technology and the robot such as outfit, electronic apparatus at present.
At present, disassembling of waste and old material is reclaimed again, generally adopt and manually disassemble mode.Along with recruitment cost improves constantly, and the lifting of people's environmental consciousness, use manually to disassemble and more and more do not meet actual requirement.And disassemble in process at machinery, how to simulate the thinking of people, whether the operations such as judgement is disassembled, internal liquid is toppled over complete, and are problems to be solved.During manual operation, be completed by visual determination liquid pouring, and in robot manipulation, judge that liquid pouring difficulty is very big by Visual identification technology.
Summary of the invention:
The present invention is that the method for toppling over disassembled by a kind of industrial robot contrasted based on power sensing and database, its technical scheme is for utilizing industrial robot execution workpiece to disassemble, and when toppling over the liquid in workpiece, force snesor is utilized to gather the weight information of workpiece, when weight change is minimum or weight close to this workpiece weight stored in database time, think and topple over end.
Threshold value is established to weight change speed, when weight change speed is less than this threshold value, thinks that toppling over action completes.Threshold value according to disassembled workpiece type, and can set with reference to experience.
Robot by with other operation robot communications, or take Visual identification technology identification workpiece configurations information and coding etc., obtain disassemble the model of workpiece.The weight information of all model targets of control system storage inside, comprise do not topple over topple over after weight information.When toppling over operation and performing, workpiece weight, close to the weight after toppling in database, thinks that toppling over action completes.
When two kinds of algorithms conflict, when namely not diminishing close to database final weight and weight change, be as the criterion with algorithm described in right 3, think that toppling over action does not complete, and liquid is poured out, until weight meets standard described in right 3 by methods such as vibrations, all standings.
Beneficial effect:
At present, disassembling of waste and old material is reclaimed again, generally adopt and manually disassemble mode.Along with recruitment cost improves constantly, and the lifting of people's environmental consciousness, use manually to disassemble and more and more do not meet actual requirement.And disassemble in process at machinery, how to simulate the thinking of people, whether the operations such as judgement is disassembled, topple over complete, and are problems to be solved.During manual operation, be completed by visual determination liquid pouring, and in robot manipulation, judge that liquid pouring difficulty is very big by Visual identification technology.The method contrasted based on power sensing and database that patent of the present invention proposes, utilize the force snesor that mechanical arm carries, judge workpiece weight, and contrast with database information, effectively can judge whether liquid has toppled over, compensate for robot and disassemble and toppling over the deficiency in judgement.
Accompanying drawing illustrates:
Fig. 1 is that robot system captures aluminium scrap packing agglomerate and the schematic diagram thrown in.
Reference numeral: 1-control system; 2-mechanical arm; The pending workpiece of 3-.
Detailed description of the invention:
Composition graphs 1 Benq disassembles in a kind of industrial robot contrasted based on power sensing and database mentioned by content of the present invention the preferred version that the method for toppling over disassembles for waste and old excide battery.
Hardware platform adopts KUKA company KR210 industrial robot platform, maximum working radius 2900mm, mechanical arm maximum capacity 210Kg.
Control system adopts KUKA company KR C4 control system, collection security control, robot controlling, logic control, motion control and process control are integrated in one, real-time Communication for Power can be carried out, cooling device service free and be not with filter felt between control module special.
System weight pace of change threshold value is set to 2g/s, thinks that liquid no longer flows out lower than during this threshold value.Disassembling object is the waste and old excide battery of certain model, electrolyte inside topple over after residuals weight be 2.5kg, weight threshold is set to 2.52kg, has toppled over lower than thinking after this weight.
When topple over do not complete and liquid no longer flows out time, adopt the mode of mechanical arm vibrations (at a high speed back and forth) to discharge residue electrolyte.
Claims (4)
1. the method for toppling over disassembled by the industrial robot contrasted based on power sensing and database, it is characterized in that: perform workpiece utilizing industrial robot and disassemble, and when toppling over the liquid in workpiece, force snesor is utilized to gather the weight information of workpiece, when weight change is minimum or weight close to this workpiece weight stored in database time, think and topple over end.
2. according to right 1, disassemble the method for toppling over, it is characterized in that: establish threshold value to weight change speed, when weight change speed is less than this threshold value, think that toppling over action completes, threshold value can according to disassembled workpiece type, and with reference to experience setting.
3. according to right 1, disassemble the method for toppling over, it is characterized in that: robot by with other operation robot communications, or take Visual identification technology identification workpiece configurations information and coding etc., obtain disassemble the model of workpiece, the weight information of all model targets of control system storage inside, comprise do not topple over topple over after weight information, when topple over operation perform time, workpiece weight, close to the weight after toppling in database, thinks that toppling over action completes.
4. according to right 2,3, disassemble the method for toppling over, it is characterized in that: when two kinds of algorithms conflict, when namely not diminishing close to database final weight and weight change, be as the criterion with algorithm described in right 3, think that toppling over action does not complete, and liquid is poured out, until weight meets standard described in right 3 by methods such as vibrations, all standings.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410727470.8A CN104589358A (en) | 2014-12-03 | 2014-12-03 | Industrial robot disassembling dumping method based on force sensor and database comparison |
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| CN201410727470.8A CN104589358A (en) | 2014-12-03 | 2014-12-03 | Industrial robot disassembling dumping method based on force sensor and database comparison |
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| CN104589358A true CN104589358A (en) | 2015-05-06 |
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| CN201410727470.8A Pending CN104589358A (en) | 2014-12-03 | 2014-12-03 | Industrial robot disassembling dumping method based on force sensor and database comparison |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363492A (en) * | 2017-06-26 | 2017-11-21 | 江苏密斯欧智能科技有限公司 | A kind of method that assembly precision is improved on automatic assembly line |
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| CN101927490A (en) * | 2009-06-26 | 2010-12-29 | 王蕾睿 | Full-automatic beer robot |
| JP2012115910A (en) * | 2010-11-29 | 2012-06-21 | Ihi Corp | Assembly robot and control method therefor |
| CN103919467A (en) * | 2014-04-30 | 2014-07-16 | 杨尚林 | Intelligent beverage supplying machine |
| CN103990285A (en) * | 2014-05-12 | 2014-08-20 | 祁国祥 | Acting robot |
| CN104154747A (en) * | 2014-09-02 | 2014-11-19 | 山东亨圆铜业有限公司 | Automatic dumping device of intermediate frequency smelting furnace |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005257343A (en) * | 2004-03-09 | 2005-09-22 | Nagoya Industrial Science Research Inst | Optical tactile sensor, and sensing method and system, object operation force control method and device, object gripping force control device, and robot hand using optical tactile sensor |
| CN101927490A (en) * | 2009-06-26 | 2010-12-29 | 王蕾睿 | Full-automatic beer robot |
| JP2012115910A (en) * | 2010-11-29 | 2012-06-21 | Ihi Corp | Assembly robot and control method therefor |
| CN103919467A (en) * | 2014-04-30 | 2014-07-16 | 杨尚林 | Intelligent beverage supplying machine |
| CN103990285A (en) * | 2014-05-12 | 2014-08-20 | 祁国祥 | Acting robot |
| CN104154747A (en) * | 2014-09-02 | 2014-11-19 | 山东亨圆铜业有限公司 | Automatic dumping device of intermediate frequency smelting furnace |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363492A (en) * | 2017-06-26 | 2017-11-21 | 江苏密斯欧智能科技有限公司 | A kind of method that assembly precision is improved on automatic assembly line |
| CN107363492B (en) * | 2017-06-26 | 2019-07-05 | 江苏密斯欧智能科技有限公司 | The method of assembly precision is improved on a kind of automatic assembly line |
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Application publication date: 20150506 |