CN106112505B - Double-shaft-and-hole assembly system and its control method - Google Patents

Double-shaft-and-hole assembly system and its control method Download PDF

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CN106112505B
CN106112505B CN201610519794.1A CN201610519794A CN106112505B CN 106112505 B CN106112505 B CN 106112505B CN 201610519794 A CN201610519794 A CN 201610519794A CN 106112505 B CN106112505 B CN 106112505B
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coordinate system
mechanical arm
workpiece
biaxial
double
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CN106112505A (en
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徐静
张贶恩
陈恳
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Tsinghua University
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Tsinghua University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B23P19/12—Alignment of parts for insertion into bores

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Abstract

The present invention provides a kind of Double-shaft-and-hole assembly system and its control method, Double-shaft-and-hole assembly system includes：Pedestal；Mechanical arm；Laser tracking measurement instrument；Sensor senses contact force and contact torque in Double-shaft-and-hole assembling process between each axis and the corresponding aperture of diplopore workpiece of twin shaft workpiece in real time；And upper computer control system, it is electrically connected to mechanical arm, and be communicatively coupled to the contact force of sensor and receiving sensor transmission and the data of contact torque with real time management manipulator motion.In Double-shaft-and-hole assembly system according to the present invention, the pose for twin shaft workpiece, diplopore workpiece and the mechanical arm tail end that upper computer control system is measured based on the self-calibration program inside mechanical arm, laser tracking measurement instrument completes the preliminary alignment of twin shaft workpiece and diplopore workpiece, and it is based further on the communication partner of sensor with real time management manipulator motion, and then complete the assembly of twin shaft workpiece and diplopore workpiece, its assembly precision is high, stability is good, applied widely.

Description

Double-shaft hole assembling system and control method thereof
Technical Field
The invention relates to the field of assembly of large-scale multi-shaft hole components, in particular to a double-shaft hole assembly system and a control method thereof.
Background
In the production and manufacturing process of products, assembly operation is a very important link, and the link directly influences the quality of final products. According to statistics, in the whole manufacturing work of mechanical and electronic products, the assembly workload accounts for 20% -70%, and the assembly cost also accounts for 1/3-1/2 of the total cost. At present, a lot of assembly links in the industry are still completed by assembly workers, but manual assembly has many problems, such as low efficiency, high cost, high operation requirements of workers and easy occurrence of safety accidents. Especially for the assembly of large-scale workpieces, the workpieces are too heavy, and manual assembly is inconvenient. In such a background, a robot capable of performing automatic assembly is important. Compared with manual assembly, the robot has wider application range and is particularly suitable for assembly of heavy workpieces and other special environments.
The published documents, patents and industrial products are researched and found that the robot assembly mainly adopts two modes, namely an assembly mode based on visual servo, and the visual servo is a method for judging the pose of a workpiece at the moment by acquiring and comparing images and feeding back the judgment result to a mechanical arm for adjustment. However, the method for automatically assembling the mechanical arm by visual servo control has the following defects: (1) the visual servo control cannot accurately control the contact force of the assembled workpiece, and the workpiece is possibly damaged due to serious collision; (2) the problem that pose judgment is wrong or cannot be judged when local shielding and feature points are not obvious exists.
Another assembly method is assembly based on force sense, and is also a force control of the robot. Force control can be divided into passive force control and active force control. Passive control is the design of a compliant end joint to assist in the completion of assembly of a workpiece in situations where the position is not completely accurate. The active force control is to measure the stress of the tail end of the robot in real time by using a force sensor, judge the current contact condition by comparing a reference force with a real force, and control a mechanical arm to reduce the contact force, so that the assembly can be better completed. However, the existing force control assembly method has the following problems: (1) the compliance degree of the passive force control method is limited, and different compliance mechanical devices are designed according to different work pieces, so that the application degree is limited. And because the free space of the flexible device is too large, the flexible device is inconvenient to accurately control; (2) the existing active force control assembly method is mainly suitable for single-shaft hole assembly, is rarely suitable for multi-shaft hole assembly, and has no method suitable for flexible multi-shaft hole assembly. For large workpieces, such as workpieces of airplanes, automobiles and the like, the large workpieces have large volumes and high quality, and can not be completely regarded as rigid bodies due to deformation caused by gravity and the like, and the assembly of the large workpieces is mainly multi-axis hole assembly, so that research on an assembly method of a flexible multi-axis hole is needed.
Disclosure of Invention
In view of the problems in the background art, an object of the present invention is to provide a biaxial hole assembling system and a control method thereof, which have a wide application range, high assembling accuracy, and good stability.
In order to achieve the above object, in a first aspect, the present invention provides a biaxial hole assembling system for assembling a biaxial workpiece in a biaxial workpiece, comprising: a base; the mechanical arm is fixed on the base and is fixedly connected with the double-shaft workpiece; the laser tracking measuring instrument is used for measuring the poses of the double-shaft workpiece, the double-hole workpiece and the tail end of the mechanical arm; the sensor senses contact force and contact torque between each shaft of the double-shaft workpiece and a corresponding hole of the double-hole workpiece in real time in the assembling process of the double-shaft hole; and the upper computer control system is electrically connected with the mechanical arm, is in communication connection with the sensor and receives data of contact force and contact torque transmitted by the sensor so as to control the mechanical arm to move in real time.
In order to achieve the above object, in a second aspect, the present invention provides a control method of a biaxial hole assembling system for controlling the biaxial hole assembling system described in the first aspect of the present invention, including steps S1, S2, S3, S4, S5, and S6.
S1, determining a transformation matrix T of the biaxial workpiece in the central coordinate system of the tail end of the mechanical armt pTransformation matrix of double-hole workpiece in mechanical arm base coordinate systemAnd transformation matrix of biaxial workpiece in mechanical arm base coordinate systemThe method comprises the following steps: s11, using the laser tracking measuring instrument to measure the three-dimensional coordinates of the center of the bottom surface of the double-shaft workpiece as (X) respectively under the coordinate system of the laser tracking measuring instrumentplm，Yplm，Zplm)、(Xprm，Yprm，Zprm) The normal vector of the bottom surface of the two axes is (X)pnm，Ypnm，Zpnm) The three-dimensional coordinates of the circle centers of the top surfaces of the two holes of the double-hole workpiece (H) are respectively (X)hlm，Yhlm，Zhlm)、(Xhrm，Yhrm，Zhrm) The normal vector of the top surface of the double hole is (X)hnm，Yhnm，Zhnm) The three-dimensional coordinate of the center of the end of the robot arm is (X)tm，Ytm，Ztm) (ii) a S12, establishing a biaxial coordinate system and a double-hole coordinate system, and calculating a laser tracking measurementConversion matrix from measuring instrument coordinate system to biaxial coordinate systemAnd a conversion matrix from the coordinate system of the laser tracking measuring instrument to the coordinate system of the double holesS13, the mechanical arm automatically reads the three-dimensional coordinate (X) of the center of the tail end of the mechanical arm under the mechanical arm base coordinate systemtw，Ytw，Ztw) And Euler angles (EX, EY, EZ), and calculating a transformation matrix from the robot arm end center coordinate system to the robot arm base coordinate systemAnd a conversion matrix from the coordinate system of the laser tracking measuring instrument to the coordinate system of the mechanical arm baseS14, according to the result obtained in step S12Obtained from S13Andare respectively obtainedAndthe expression of (c), namely:
and S2, initializing the upper computer control system, checking whether all sensors work normally and whether the communication between the sensors and the upper computer control system is normal, and performing zero returning calibration on the sensors.
And S3, operating the mechanical arm through the upper computer control system to adjust the relative position of the shaft hole in real time, wherein the steps comprise S31, S32 and S33.
S31, adjusting the mechanical arm to make the biaxial coordinate system and the double-hole coordinate system aligned initially, at the momentAndwherein the values except the Z coordinate values corresponding to the original points are equal, and the transformation matrix from the tail end central coordinate system of the mechanical arm to the base coordinate system of the mechanical arm before alignment isTransformation matrix from biaxial workpiece coordinate system to mechanical arm base coordinate systemThe coordinate system of the center of the tail end of the mechanical arm after being adjusted and aligned is converted into the coordinate system of the base of the mechanical arm into a matrixThe transformation matrix from the coordinate system of the biaxial workpiece to the coordinate system of the mechanical arm base after the alignment is adjusted to be
S32, according to S31Calculating the initial value of (1), after adjustmentSetting a change matrix of a conversion matrix from a biaxial coordinate system to a mechanical arm base coordinate system before and after alignment as dT, setting a change matrix of a conversion matrix from a mechanical arm tail end center coordinate system to a mechanical arm base coordinate system as dT2, and calculating the following steps:
s33, according to the result obtained in S32Solving three-dimensional coordinates (X) of the center of the end of the robot arm in the robot arm base coordinate system after adjustmenttw2，Ytw2，Ztw2) And euler angles (EX2, EY2, EZ2), the solution formula is:
s4, the upper computer control system adjusts the center of the tail end of the mechanical arm to the three-dimensional coordinate (X) obtained in the step S33tw2，Ytw2，Ztw2) And the Euler angle is (EX2, EY2 and EZ2), and the shaft hole alignment is completed.
And S5, the upper computer control system controls the mechanical arm to move by adopting an incremental P control method based on the position feedback of the double-shaft workpiece and the difference value between the Z coordinate value of the origin of the double-shaft coordinate system and the Z coordinate value of the origin of the double-hole coordinate system, so that the double-shaft workpiece vertically descends, gradually approaches to the double-hole workpiece until contacting the double-hole workpiece.
And S6, the upper computer control system controls the mechanical arm to move by adopting an impedance control method and based on the contact force and the contact moment between each shaft of the double-shaft workpiece and the corresponding hole of the double-hole workpiece in the double-shaft hole assembly process sensed by the sensor in real time, so that the double-shaft workpiece continuously descends until being completely matched with the double-hole workpiece.
The invention has the following beneficial effects:
in the double-shaft hole assembling system, the upper computer control system completes the preliminary alignment of the double-shaft workpiece and the double-hole workpiece based on a self-calibration program in the mechanical arm, the double-shaft workpiece and the pose of the tail end of the mechanical arm measured by the laser tracking measuring instrument, and further controls the mechanical arm to move in real time based on the communication cooperation with the sensor, so that the assembly of the double-shaft workpiece and the double-hole workpiece is completed, and the double-shaft hole assembling system is high in assembling precision, good in stability and wide in application range.
Drawings
FIG. 1 is an overall assembly view of a dual-axis aperture assembly system according to the present invention;
fig. 2 to 5 are schematic views illustrating a process of controlling a biaxial bore assembling system according to a control method of the biaxial bore assembling system of the present invention, in which fig. 2 is a schematic view illustrating a position before a biaxial workpiece P is mounted on a biaxial workpiece H, fig. 3 is a schematic view illustrating a position when the biaxial workpiece P is mounted on the biaxial workpiece H and the biaxial workpiece P is aligned with the biaxial workpiece H, fig. 4 is a schematic view illustrating a position when the biaxial workpiece P is moved down and brought into contact with the biaxial workpiece H, and fig. 5 is a schematic view illustrating a state when the biaxial workpiece P is completely assembled with the biaxial workpiece H;
fig. 6 is a schematic view of a conversion relationship of coordinate systems in a control method of a biaxial hole assembling system according to the present invention;
fig. 7 is a control flowchart of an incremental type P control method in the control method of the biaxial hole assembling system according to the invention;
fig. 8 is a control flowchart of an impedance control method in the control method of the biaxial hole assembling system according to the present invention.
Wherein the reference numerals are as follows:
w base P1 axle
T arm P2 connecting plate
H double-hole workpiece of M laser tracking measuring instrument
S sensor H1 hole
C upper computer control system H2 bottom plate
P-shaped double-shaft workpiece
Detailed Description
A biaxial hole assembling system and a control method thereof according to the present invention will be described in detail below with reference to the accompanying drawings.
First, a biaxial hole assembling system according to a first aspect of the present invention will be described.
Referring to fig. 1, a biaxial hole assembling system according to the present invention for assembling a biaxial workpiece P in a biaxial workpiece H includes: a base W; the mechanical arm T (provided with a self-calibration program) is fixed on the base W and is fixedly connected with the double-shaft workpiece P; the laser tracking measuring instrument M is used for measuring the poses of the double-shaft workpiece P, the double-hole workpiece H and the tail end T1 of the mechanical arm; the sensor S senses contact force and contact torque between each shaft P1 of the double-shaft workpiece P and a corresponding hole H1 of the double-hole workpiece H in real time in the double-shaft hole assembly process; and the upper computer control system C is electrically connected with the mechanical arm T and is in communication connection with the sensor S and receives the contact force and contact torque data transmitted by the sensor S so as to control the mechanical arm T to move in real time.
In the double-shaft hole assembling system, the upper computer control system C completes the primary alignment of the double-shaft workpiece P and the double-hole workpiece H based on the self-calibration program in the mechanical arm T and the poses of the double-shaft workpiece P, the double-hole workpiece H and the mechanical arm tail end T1 measured by the laser tracking measuring instrument M, and further controls the mechanical arm T to move in real time based on the communication cooperation with the sensor S, so that the assembly of the double-shaft workpiece P and the double-hole workpiece H is completed, and the double-shaft hole assembling system is high in assembling precision, good in stability and wide in application range.
In the biaxial hole assembling system according to the present invention, the biaxial workpiece P includes two shafts P1 and a connecting plate P2 connecting the two shafts P1 as one body. The biaxial workpiece P may be a rigid workpiece or a flexible workpiece.
In the biaxial hole assembling system according to the invention, the double-hole workpiece H includes two holes H1 and a bottom plate H2 for providing two holes H1. The dual-hole workpiece H may be a rigid workpiece or a flexible workpiece.
It is additionally noted herein that the pose of the robot arm tip T1 in the present invention specifically refers to the position coordinates of the center of the robot arm tip T1. The position of the dual hole workpiece H should be within the range of motion of the robot arm end T1.
In accordance with the dual-axis bore assembly system of the present invention, in one embodiment, the sensor S may be a force sensor.
Next, a control method of the biaxial hole assembling system according to the second aspect of the present invention will be described.
Referring to fig. 2 to 8, a control method of a twin-shaft hole assembling system for controlling the twin-shaft hole assembling system according to the first aspect of the present invention includes steps S1, S2, S3, S4, S5, and S6.
S1, referring to FIG. 6, determining a transformation matrix T of the biaxial workpiece P in the central coordinate system of the end of the robot armt pConversion matrix of double-hole workpiece H in mechanical arm base coordinate systemAnd a transformation matrix of the biaxial workpiece P in the coordinate system of the mechanical arm baseThe method comprises the following steps: s11, using the laser tracking measuring instrument M, under the coordinate system of the laser tracking measuring instrument, the three-dimensional coordinates of the centers of the bottom surfaces of the two axes P1 in the two-axis workpiece P are respectively measured as (X)plm，Yplm，Zplm)、(Xprm，Yprm，Zprm) The normal vector of the bottom surface of the two axes is (X)pnm，Ypnm，Zpnm) The three-dimensional coordinates of the centers of the top surfaces of the two holes of the two-hole workpiece H are respectively (X)hlm，Yhlm，Zhlm)、(Xhrm，Yhrm，Zhrm) The normal vector of the top surface of the double hole is (X)hnm，Yhnm，Zhnm) The three-dimensional coordinate of the center of the end T1 of the robot arm is (X)tm，Ytm，Ztm) (ii) a S12, establishing a biaxial coordinate system and a double-hole coordinate system, and calculating a conversion matrix from the coordinate system of the laser tracking measuring instrument to the biaxial coordinate systemAnd a conversion matrix from the coordinate system of the laser tracking measuring instrument to the coordinate system of the double holesS13, the mechanical arm T automatically reads the three-dimensional coordinate (X) of the center of the mechanical arm tail end T1 under the mechanical arm base coordinate systemtw，Ytw，Ztw) And Euler angles (EX, EY, EZ), and calculating a transformation matrix from the robot arm end center coordinate system to the robot arm base coordinate systemAnd a conversion matrix from the coordinate system of the laser tracking measuring instrument to the coordinate system of the mechanical arm baseS14, according to the result obtained in step S12Obtained from S13Andrespectively obtain Tt p、Andthe expression of (c), namely:
wherein,is composed ofThe inverse of the matrix of (a) is,is composed ofThe inverse matrix of (c).
It should be noted that "the robot T automatically reads (based on an internally provided self-calibration program)" belongs to the function of the robot T itself, and is common knowledge.
And S2, initializing the upper computer control system C, checking whether all the sensors S work normally and whether the communication between the sensors S and the upper computer control system C is normal, and performing zero-returning calibration on the sensors S.
And S3, operating the mechanical arm T through the upper computer control system C to adjust the relative position of the shaft hole in real time, wherein the steps comprise S31, S32 and S33.
S31, adjusting the mechanical arm T to make the biaxial coordinate system and the double-hole coordinate system preliminarily aligned (namely, the connection line of the origin of the biaxial coordinate system and the origin of the double-hole coordinate system is vertical to the top surface of the double holes), and at the moment, making the reference to the mechanical arm base coordinate system, thenZ coordinate value of origin other than biaxial coordinate system andthe Z coordinate values of the origin of the two-hole coordinate system are not equal,andall other values of (1)Are equal. The transformation matrix from the coordinate system of the tail end center of the mechanical arm to the coordinate system of the base of the mechanical arm before alignment isTransformation matrix from double-shaft workpiece P coordinate system to mechanical arm base coordinate systemThe coordinate system of the center of the tail end of the mechanical arm after being adjusted and aligned is converted into the coordinate system of the base of the mechanical arm into a matrixThe transformation matrix from the adjusted and aligned biaxial workpiece P coordinate system to the mechanical arm base coordinate system is
S32, according to S31Calculating the initial value of (1), after adjustmentSetting a change matrix of a conversion matrix from a biaxial coordinate system to a mechanical arm base coordinate system before and after alignment as dT, setting a change matrix of a conversion matrix from a mechanical arm tail end center coordinate system to a mechanical arm base coordinate system as dT2, and calculating the following steps:
wherein,is Tt pThe inverse of the matrix of (a) is,is composed ofThe inverse matrix of (c).
It should be noted that, in order to prevent the dual-axis workpiece P and the dual-hole workpiece H from colliding, the dual-axis coordinate system and the dual-hole coordinate system are not moved down all the time in the preliminary alignment operation, that is, the dual-axis coordinate system and the dual-hole coordinate system are not moved down all the time, that is, the dual-axis workpiece P and the dual-Wherein,to representThird row and fourth column in (i.e. the Z-coordinate value of the origin of the biaxial coordinate system before alignment adjustment),to representThird row and fourth column (i.e., Z-coordinate values of the origin of the biaxial coordinate system after alignment adjustment).
S33, obtained according to S32Is/are as followsThe three-dimensional coordinates (X) of the center of the robot arm end T1 in the robot arm base coordinate system after adjustment are solvedtw2，Ytw2，Ztw2) And euler angles (EX2, EY2, EZ2), the solution formula is:
s4, the upper computer control system C adjusts the center of the robot arm tip T1 to the three-dimensional coordinates (X) obtained in step S33tw2，Ytw2，Ztw2) Euler angle (EX2, EY2, EZ2), completing the shaft hole alignment (as shown in fig. 3).
S5, referring to fig. 3, 4 and 7, the upper computer control system C controls the robot T to move based on the position feedback of the dual-axis workpiece P and the difference between the Z coordinate value of the origin of the dual-axis coordinate system and the Z coordinate value of the origin of the dual-hole coordinate system, so that the dual-axis workpiece P vertically descends, gradually approaches to the dual-hole workpiece H until contacting (as shown in fig. 4), and at this time, the Z coordinate value of the origin of the dual-axis coordinate system under the robot arm base coordinate system is Z coordinate value0(preset to 100 mm).
S6, referring to fig. 4, 5 and 8, the upper computer control system C uses an impedance control method and controls the robot arm T to move based on the contact force and the contact torque between each axis P1 of the dual-axis workpiece P and the corresponding hole H1 of the dual-axis workpiece H during the dual-axis hole assembling process sensed in real time by the sensor S, so that the dual-axis workpiece P continues to descend until it completely fits the dual-axis workpiece H.
According to the control method of the biaxial hole assembling system of the present invention, in step S12, the center of the connecting line of the centers of the bottom surfaces of the biaxial holes may be set as the centerThe origin and the connecting line are YpThe normal vector of the connecting plate (P2) of the axial and biaxial workpiece (P) is ZpShaft, consisting ofpCross multiplication by ZpAxis is given by XpThe axis establishes a biaxial coordinate system (as shown in fig. 1), and the three-dimensional coordinate O of the origin of the biaxial coordinate system under the coordinate system of the laser tracking measuring instrument is measured by the laser tracking measuring instrument MpThen, the transformation relationship between the coordinate system of the laser tracking measuring instrument and the biaxial coordinate system is as follows:
the center of the circle center connecting line of the top surfaces of the double holes can be used as an original point, and the connecting line is YhThe normal vector of the plane of the top surfaces of the shaft and the double holes is ZhShaft, consisting ofhCross multiplication by ZhAxis is given by XhEstablishing a double-hole coordinate system (as shown in figure 1) by the axis, and measuring a three-dimensional coordinate O of an origin of the double-hole coordinate system under the coordinate system of the laser tracking measuring instrument by the laser tracking measuring instrument MhThen, the transformation relationship between the coordinate system of the laser tracking measuring instrument and the coordinate system of the double holes is as follows:
in step S13, a transformation matrix of the robot arm tip center coordinate system to the robot arm base coordinate systemThe calculation formula of (2) is as follows:
conversion matrix from laser tracking measuring instrument coordinate system to mechanical arm base coordinate systemThe calculation formula of (2) is as follows:
that is to say that the first and second electrodes,
according to the control method of the biaxial hole assembling system of the present invention, in step S5, the upper computer control system C sets a contact force threshold value in the vertical direction, and when the contact force when the biaxial workpiece P contacts the double-hole workpiece H reaches the threshold value, the upper computer control system C controls the biaxial workpiece P to stop descending. The threshold value of the contact force set in the upper-level computer control system C may be 1N to 3N, but is not limited thereto, and may be appropriately adjusted according to the flexibility (or rigidity) of the biaxial workpiece P and the double-hole workpiece H.
In step S5, referring to fig. 7, the control method of the biaxial hole assembling system according to the present invention includes the algorithm of the incremental P control method:
p1, calculating the transformation matrix from the base coordinate system of the mechanical arm to the biaxial coordinate system in the k-th cycleAnd the difference value of the Z coordinate value of the origin of the biaxial coordinate system and the Z coordinate value of the origin of the two-hole coordinate system is as follows:
wherein,a Z coordinate value representing the origin of the two-hole coordinate system,a Z coordinate value representing an origin of the biaxial coordinate system;
p2, the downward shift of origin of the biaxial coordinate system in the k-th cycle is dZkSince the incremental P control is proportional control, then dZk＝KpezkAnd calculating the three-dimensional coordinate (X) of the center of the end T1 of the mechanical arm in the (k + 1) th cycletw(k+1)，Ytw(k+1)，Ztw(k+1)) Namely:
(Xtw(k+1),Ytw(k+1),Ztw(k+1))＝(Xtwk,Ytwk,Ztwk+dZk)
wherein KpRepresents a scaling factor and is a constant.
It is added here that the control procedure of the incremental P control method is: the value of Z (k) obtained by the k cycle measurement and Z0Value (above set Z)0100mm) when the value of Z (k) is greater than Z0In this case, the axis P1 has not yet moved downward to the specified position, and the position error e is thus indicatedzkNegative, at which time it is multiplied by a scaling factor KpThe resulting position increment dZkAlso negative, the axis P1 continues to fall (conversely, moving down excessively, the position increment is positive, the axis P1 moves up) and then the (k + 1) th cycle is performed. Wherein k is an integer.
In one embodiment, Kp＝0.9。
Biaxial bore assembly according to the inventionThe system control method comprises the step of determining the difference value (namely dZ) between the Z coordinate value of the origin of the biaxial coordinate system and the Z coordinate value of the origin of the two-hole coordinate system in the process of the incremental P control cyclek＝Ztw(k+1)-Ztwk) When the diameter is less than 0.001mm, the circulation is stopped.
In step S6, referring to fig. 8, the method for controlling the biaxial hole mounting system according to the present invention includes the following algorithm:
k1, setting relevant parameters (the parameters can be adjusted according to specific experiments of operators), Kp＝0.02，Kd＝0.002，Kv＝5，[Fx0,Fy0,Fz0]＝[5,10,20](N)，[Mx0,My0,Mz0]＝[0,0,0]((N·m)，ZC-5mm, wherein KpAs a scale factor in impedance control, KdAs a differential parameter in impedance control, KvFor the damping parameter in the impedance control, [ F ]x0,Fy0,Fz0]For reference value of contact force, [ M ]x0,My0,Mz0]As reference value of contact torque, ZCTotal amount of Z coordinate down shift for the center of arm tip T1;
k2, the contact force and the contact torque respectively [ F ] collected by the force sensor S in the K-th cyclexk,Fyk,Fzk]、[Mxk,Myk,Mzk]Namely:
Fk＝[Fxk,Fyk,Fzk,Mxk,Myk,Mzk]
dFk＝[Fx0-Fxk,Fy0-Fyk,Fz0-Fzk,Mx0-Mxk,My0-Myk,Mz0-Mzk]
wherein, FkSix-dimensional force, dF, formed by contact force and contact moment in the k-th cyclekIs formed by the difference between the contact force and the reference value of the contact force and the difference between the contact moment and the reference value of the contact momentThe six-dimensional force of (1);
k3, calculating the pose to be adjusted in the K-th cycle, namely the original point translation (dX) of the central coordinate system of the tail end of the mechanical armk,dYk,dZk) And the rotation quantity of each coordinate axis, and the calculation formula is as follows:
wherein, dXkThe translation amount, dY, of the origin of the central coordinate system of the tail end of the mechanical arm in the k-th cycle in the X directionkThe translation amount, dZ, of the origin of the central coordinate system of the tail end of the mechanical arm in the Y direction in the k cyclekThe translation amount of the origin of the central coordinate system of the tail end of the mechanical arm in the direction Z in the k circulation, d thetaxkThe rotation quantity d theta of the central coordinate system of the tail end of the mechanical arm in the kth cycle around the X coordinate axisykThe rotation quantity d theta of the central coordinate system of the tail end of the mechanical arm in the kth cycle around the Y coordinate axiszkIs the rotation quantity of the central coordinate system of the tail end of the mechanical arm around the Z coordinate axis in the kth cycle, dXk-1Is the translation amount, dY, of the origin of the central coordinate system of the tail end of the mechanical arm in the X direction in the k-1 th cyclek-1Is the translation amount of the origin of the central coordinate system of the tail end of the mechanical arm in the Y direction in the k-1 th cycle, dZk-1Is the translation amount of the origin of the central coordinate system of the tail end of the mechanical arm in the Z direction in the k-1 th cycle, dFkSix-dimensional force, dF, formed by the difference between the contact force and the reference value of the contact force and the difference between the contact moment and the reference value of the contact moment in the k-th cyclek-1Six-dimensional force, dF, formed by the difference between the contact force and the reference value of the contact force and the difference between the contact moment and the reference value of the contact moment in the k-1 th cyclek-2Six-dimensional force V formed by the difference between the contact force and the reference value of the contact force and the difference between the contact torque and the reference value of the contact torque in the k-2 th cycleZkThe down-moving speed of the biaxial workpiece P in the k-th cycle. dFk(1) Is dFkFirst value in expression, dFk(2) Is dFkSecond value in expression, dFk(3)、dFk(4)、dFk(5)、dFk(6) And so on. For the same reason, dFk-1(1) Is dFk-1First value in expression, dFk-2(1) Is dFk-2The first value in the expression, and so on.
K4, dX according to K3k、dYk、dZk、dθxk、dθyk、dθzkCalculating a transformation matrix dT required to be adjusted at the origin of the central coordinate system at the tail end of the mechanical armkposAnd a transformation matrix dT to be adjusted for each coordinate axiskx、dTky、dTkzThe calculation formula is as follows:
k5, dT obtained according to K4kx、dTky、dTkzCalculating a total transformation matrix dT required to be adjusted in the center coordinate system of the tail end of the mechanical armkAnd a transformation matrix from the coordinate system of the robot arm base to the coordinate system of the robot arm end center after transformationThe calculation formula is as follows:
dTk＝dTkxdTkydTkzdTkpos
k6, respectively calculating the position and posture of the center of the tail end T1 of the mechanical arm after each cycle adjustment according to the calculation formula given in K2-K5 until the total Z coordinate downward shift amount of the center of the tail end T1 of the mechanical arm approaches the set Z coordinateCValue (Z in this step)C＝-5mm)。
It is added here that Z in FIG. 8k(T1) is a machine in which the arm T automatically reads out at the K cycleZ coordinate value, dZ, of the center of the arm end T1k(T1) is the amount of downward movement of the center of the end of the arm T1 in the k-th cycle. Wherein, in the impedance control, the contact force F measured in the k-th cycle is negativekIs less than the set reference force F0At the absolute value of (d), the contact force error dF calculated at that timekNegative, contact force error dFkMultiplying by a scale factor KpThe obtained Z coordinate increment dZk(T1) is also negative, indicating that there is no jamming and the biaxial workpiece P can continue to descend (otherwise the resulting Z coordinate increment dZk(T1 is positive indicating that at this point the axis P1 is stuck and a point needs to be extracted and the axis P1 is moved up) and then the (k + 1) th cycle is performed until the total downward Z coordinate movement of the center of the end of the arm T1 approaches the set Z coordinateCValue, loop stops. Wherein k is an integer.
K7, changing the relevant parameter in K1, i.e. the contact force reference value is [ F ]x,Fy,Fz]＝[0,0,50](N) a contact torque reference value of [ Mx,My,Mz]＝[0,0,0](N m), total amount of Z coordinate downward shift ZCAnd (5) continuously calculating the position and posture of the center of the tail end T1 of the mechanical arm after each cycle of adjustment according to the calculation formula given in K2-K5 until the total Z coordinate downward movement amount of the center of the tail end T1 of the mechanical arm approaches to the set Z coordinate downward movement amountCValue (Z in this step)C＝-100mm)。

Claims (6)

1. A control method of a biaxial bore assembling system for assembling a biaxial workpiece (P) in a biaxial workpiece (H), comprising:
a base (W);
the mechanical arm (T) is fixed on the base (W) and is fixedly connected with the double-shaft workpiece (P);
the laser tracking measuring instrument (M) is used for measuring the poses of the double-shaft workpiece (P), the double-hole workpiece (H) and the tail end (T1) of the mechanical arm;
a sensor (S) for sensing contact force and contact torque between each axis (P1) of the biaxial workpiece (P) and the corresponding hole (H1) of the biaxial workpiece (H) in real time during the biaxial hole assembly process; and
the upper computer control system (C) is electrically connected with the mechanical arm (T) and is in communication connection with the sensor (S) and receives data of contact force and contact torque transmitted by the sensor (S) so as to control the mechanical arm (T) to move in real time;
the biaxial workpiece (P) includes two shafts (P1) and a connecting plate (P2) integrally connecting the two shafts (P1);
the double-shaft workpiece (P) is a rigid workpiece or a flexible workpiece;
the double-hole workpiece (H) comprises two holes (H1) and a bottom plate (H2) for arranging the two holes (H1);
the double-hole workpiece (H) is a rigid workpiece or a flexible workpiece;
the sensor (S) is a force sensor;
the control method of the biaxial hole assembling system includes the steps of:
s1, determining a transformation matrix T of the biaxial workpiece (P) in the central coordinate system of the tail end of the mechanical armt pTransformation matrix of double-hole workpiece (H) in mechanical arm base coordinate systemAnd a transformation matrix of the biaxial workpiece (P) in the coordinate system of the arm baseThe method comprises the following steps:
s11, using the laser tracking measuring instrument (M), under the coordinate system of the laser tracking measuring instrument, the three-dimensional coordinates of the center of the bottom surface of the double shaft workpiece (P) are respectively measured as (X)plm，Yplm，Zplm)、(Xprm，Yprm，Zprm) The normal vector of the bottom surface of the two axes is (X)pnm，Ypnm，Zpnm) The three-dimensional coordinates of the circle centers of the top surfaces of the two holes of the double-hole workpiece (H) are respectively (X)hlm，Yhlm，Zhlm)、(Xhrm，Yhrm，Zhrm) The normal vector of the top surface of the double hole is (X)hnm，Yhnm，Zhnm) Center of the end of the arm (T1)Has a three-dimensional coordinate of (X)tm，Ytm，Ztm)；
S12, establishing a biaxial coordinate system and a double-hole coordinate system, and calculating a conversion matrix from the coordinate system of the laser tracking measuring instrument to the biaxial coordinate systemAnd a conversion matrix from the coordinate system of the laser tracking measuring instrument to the coordinate system of the double holes
S13, the mechanical arm (T) automatically reads the three-dimensional coordinate (X) of the center of the mechanical arm tail end (T1) under the mechanical arm base coordinate systemtw，Ytw，Ztw) And Euler angles (EX, EY, EZ), and calculating a transformation matrix from the robot arm end center coordinate system to the robot arm base coordinate systemAnd a conversion matrix from the coordinate system of the laser tracking measuring instrument to the coordinate system of the mechanical arm base
S14, according to the result obtained in step S12Obtained from S13Andrespectively obtain Tt p、Andthe expression of (c), namely:
s2, initializing the upper computer control system (C), checking whether all sensors (S) work normally and whether the communication between the sensors (S) and the upper computer control system (C) is normal, and performing zero returning calibration on the sensors (S);
s3, operating the mechanical arm (T) through the upper computer control system (C) to adjust the relative position of the shaft hole in real time, comprising the following steps:
s31, adjusting the mechanical arm (T) to make the biaxial coordinate system and the double-hole coordinate system aligned initially, at the momentAndwherein the values except the Z coordinate values corresponding to the original points are equal, and the transformation matrix from the tail end central coordinate system of the mechanical arm to the base coordinate system of the mechanical arm before alignment isTransformation matrix from biaxial workpiece (P) coordinate system to mechanical arm base coordinate systemThe coordinate system of the center of the tail end of the mechanical arm after being adjusted and aligned is converted into the coordinate system of the base of the mechanical arm into a matrixThe transformation matrix from the coordinate system of the biaxial workpiece (P) to the coordinate system of the mechanical arm base after the alignment is adjusted to be
S32, according to S31Calculating the initial value of (1), after adjustmentSetting a change matrix of a conversion matrix from a biaxial coordinate system to a mechanical arm base coordinate system before and after alignment as dT, setting a change matrix of a conversion matrix from a mechanical arm tail end center coordinate system to a mechanical arm base coordinate system as dT2, and calculating the following steps:
s33, according to the result obtained in S32Solving the center of the end of the arm (T1) after adjustment to be at the arm baseThree-dimensional coordinates (X) in a seat coordinate systemtw2，Ytw2，Ztw2) And euler angles (EX2, EY2, EZ2), the solution formula is:
s4, the upper computer control system (C) adjusts the center of the robot arm tip (T1) to the three-dimensional coordinate (X) obtained in step S33tw2，Ytw2，Ztw2) The Euler angle is (EX2, EY2, EZ2), and the shaft hole alignment is completed;
s5, the upper computer control system (C) controls the mechanical arm (T) to move by adopting an incremental P control method based on the position feedback of the double-shaft workpiece (P) and the difference value between the Z coordinate value of the origin of the double-shaft coordinate system and the Z coordinate value of the origin of the double-hole coordinate system, so that the double-shaft workpiece (P) vertically descends, gradually approaches to the double-hole workpiece (H) until contacting;
and S6, the upper computer control system (C) controls the mechanical arm (T) to move by adopting an impedance control method and based on the contact force and the contact moment between each shaft (P1) of the double-shaft workpiece (P) and the corresponding hole (H1) of the double-hole workpiece (H) in the double-shaft hole assembly process sensed by the sensor (S) in real time, so that the double-shaft workpiece (P) continues to descend until being completely matched with the double-hole workpiece (H).
2. The control method of a biaxial hole assembling system as set forth in claim 1, wherein in step S12,
the center of a connecting line of the circle centers of the bottom surfaces of the double shafts is taken as an original point, and the connecting line is YpThe normal vector of the connecting plate (P2) of the axial and biaxial workpiece (P) is ZpShaft, consisting ofpCross multiplication by ZpAxis is given by XpEstablishing a biaxial coordinate system by the axis, and measuring a three-dimensional coordinate O of the origin of the biaxial coordinate system under the coordinate system of the laser tracking measuring instrument by the laser tracking measuring instrument (M)pCoordinate system and biaxial coordinates of laser tracking measuring instrumentThe transformation relationship of the system is as follows:
the center of a connecting line of the circle centers of the top surfaces of the double holes is taken as an original point, and the connecting line is YhThe normal vector of the plane of the top surfaces of the shaft and the double holes is ZhShaft, consisting ofhCross multiplication by ZhAxis is given by XhEstablishing a double-hole coordinate system by the axis, and measuring a three-dimensional coordinate O of the origin of the double-hole coordinate system under the coordinate system of the laser tracking measuring instrument by the laser tracking measuring instrument (M)hThe conversion relation between the coordinate system of the laser tracking measuring instrument and the coordinate system of the double holes is as follows:
in step S13, a transformation matrix of the robot arm tip center coordinate system to the robot arm base coordinate systemThe calculation formula of (2) is as follows:
conversion matrix from laser tracking measuring instrument coordinate system to mechanical arm base coordinate systemThe calculation formula of (2) is as follows:
3. the control method of a biaxial hole assembling system according to claim 1, wherein in step S5, a contact force threshold value in the vertical direction is set in the upper computer control system (C), and when the contact force at the time of contact of the biaxial workpiece (P) with the biaxial workpiece (H) reaches the threshold value, the upper computer control system (C) controls the biaxial workpiece (P) to stop descending.
4. The control method of the biaxial hole assembling system as set forth in claim 1, wherein in step S5, the algorithm of the incremental P control method is:
p1, calculating the transformation matrix from the base coordinate system of the mechanical arm (T) to the biaxial coordinate system in the k-th cycleAnd the difference value of the Z coordinate value of the origin of the biaxial coordinate system and the Z coordinate value of the origin of the two-hole coordinate system is as follows:
wherein,a Z-coordinate value representing the origin of the hole coordinate system,a Z coordinate value representing an origin of the axial coordinate system;
p2, the downward shift of origin of the biaxial coordinate system in the k-th cycle is dZkSince the incremental P control is proportional control, then dZk＝KpezkIn the k +1 th cycleThree-dimensional coordinate (X) of center of end of arm (T1)tw(k+1)，Ytw(k+1)，Ztw(k+1)) Namely:
(Xtw(k+1),Ytw(k+1),Ztw(k+1))＝(Xtwk,Ytwk,Ztwk+dZk)
wherein KpRepresents a scaling factor and is a constant.
5. The control method of a biaxial hole assembling system as set forth in claim 4, wherein the cycle is stopped when a difference between a Z-coordinate value of origin of the biaxial coordinate system and a Z-coordinate value of origin of the biaxial coordinate system is less than 0.001mm during the incremental P-control cycle.
6. The control method of the biaxial hole assembling system as set forth in claim 1, wherein in step S6, the algorithm of the impedance control method is:
k1, setting relevant parameters, Kp＝0.02，Kd＝0.002，Kv＝5，[Fx0,Fy0,Fz0]＝[5,10,20](N)，[Mx0,My0,Mz0]＝[0,0,0]((N·m)，ZC-5mm, wherein KpAs a scale factor in impedance control, KdAs a differential parameter in impedance control, KvFor the damping parameter in the impedance control, [ F ]x0,Fy0,Fz0]For reference value of contact force, [ M ]x0,My0,Mz0]As reference value of contact torque, ZCTotal amount of Z coordinate down shift for the center of arm tip T1;
k2, the contact force and the contact torque detected by the sensor (S) in the K-th cycle are respectively [ Fxk,Fyk,Fzk]、[Mxk,Myk,Mzk]Namely:
Fk＝[Fxk,Fyk,Fzk,Mxk,Myk,Mzk]
dFk＝[Fx0-Fxk,Fy0-Fyk,Fz0-Fzk,Mx0-Mxk,My0-Myk,Mz0-Mzk]，
wherein, FkSix-dimensional force, dF, formed by contact force and contact moment in the k-th cyclekThe six-dimensional force is formed by the difference between the contact force and the reference value of the contact force and the difference between the contact moment and the reference value of the contact moment;
k3, calculating the pose to be adjusted in the K-th cycle, namely the original point translation (dX) of the central coordinate system of the tail end of the mechanical armk,dYk,dZk) And the rotation quantity of each coordinate axis, and the calculation formula is as follows:
wherein, dXkThe translation amount, dY, of the origin of the center of the end of the mechanical arm in the X direction in the k cyclekThe translation amount, dZ, of the origin of the center of the end of the mechanical arm in the Y direction in the k cyclekThe translation amount of the origin of the center of the tail end of the mechanical arm in the Z direction in the k circulation, d thetaxkThe rotation quantity d theta of the central coordinate system of the tail end of the mechanical arm in the kth cycle around the X coordinate axisykThe rotation quantity d theta of the central coordinate system of the tail end of the mechanical arm in the kth cycle around the Y coordinate axiszkIs the rotation quantity of the central coordinate system of the tail end of the mechanical arm around the Z coordinate axis in the kth cycle, dXk-1The translation amount, dY, of the origin of the center of the end of the mechanical arm in the X direction in the k-1 th cyclek-1Is the translation amount of the origin of the center of the tail end of the mechanical arm in the Y direction in the k-1 th cycle, dZk-1Is the translation amount of the origin of the center of the tail end of the mechanical arm in the Z direction in the k-1 th cycle, dFk-1Six-dimensional force, dF, formed by the difference between the contact force and the reference value of the contact force and the difference between the contact moment and the reference value of the contact moment in the k-1 th cyclek-2Six-dimensional force, dF, formed by the difference between the contact force and the reference value of the contact force and the difference between the contact moment and the reference value of the contact moment in the k-2 th cyclek(1) Is dFkFirst value in expression, dFk(2) Is dFkSecond in the expressionValue, dFk(3)、dFk(4)、dFk(5)、dFk(6) By analogy, dFk-1(1) Is dFk-1First value in expression, dFk-2(1) Is dFk-2The first value in the expression is analogized in turn;
k4, dX according to K3k、dYk、dZk、dθxk、dθyk、dθzkCalculating a transformation matrix dT required to be adjusted at the origin of the central coordinate system at the tail end of the mechanical armkposAnd a transformation matrix dT to be adjusted for each coordinate axiskx、dTky、dTkzThe calculation formula is as follows:
k5, dT obtained according to K4kx、dTky、dTkzCalculating a total transformation matrix dT required to be adjusted in the center coordinate system of the tail end of the mechanical armkAnd a transformation matrix from the coordinate system of the robot arm base to the coordinate system of the robot arm end center after transformationThe calculation formula is as follows:
dTk＝dTkxdTkydTkzdTkpos
k6, respectively calculating the position and posture of the center of the tail end (T1) of the mechanical arm after each cycle adjustment according to the calculation formula given in K2-K5 until the total downward movement amount of the Z coordinate of the center of the tail end (T1) of the mechanical arm approaches the set Z coordinateCA value;
k7, changing the relevant parameter in K1, i.e. the contact force reference value is [ F ]x,Fy,Fz]＝[0,0,50](N) a contact torque reference value of [ Mx,My,Mz]＝[0,0,0](N m), total amount of Z coordinate downward shift ZCAnd (5) continuously calculating the position and posture of the center of the tail end (T1) of the mechanical arm after each cycle of adjustment according to the calculation formula given in K2-K5 until the total Z coordinate downward movement amount of the center of the tail end (T1) of the mechanical arm approaches to the set Z coordinateCThe value is obtained.
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