CN107303636A - Automatic setup system and automatic assembly method based on robot - Google Patents
Automatic setup system and automatic assembly method based on robot Download PDFInfo
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- CN107303636A CN107303636A CN201610243845.2A CN201610243845A CN107303636A CN 107303636 A CN107303636 A CN 107303636A CN 201610243845 A CN201610243845 A CN 201610243845A CN 107303636 A CN107303636 A CN 107303636A
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- China
- Prior art keywords
- assembled
- assembly
- robot
- station
- sheet metal
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Classifications
-
- 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
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40033—Assembly, microassembly
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40111—For assembly
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40487—Sensing to task planning to assembly execution, integration, automatic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40519—Motion, trajectory planning
Abstract
The present invention discloses the automatic setup system based on robot, including：Robot, the robot has the manipulator for being used for keeping element to be assembled；Alignment system, for carrying out coarse positioning to element to be assembled；Vision system, the position and direction for accurately recognizing the element kept by the manipulator；Station, the assembly manipulation of robot executing element described in the station, wherein, the automatic setup system can be adaptive selected different assembly paths according to the assembly features of element to be assembled and element is assembled.The automatic setup system can follow the assembly path of customization to assemble different elements according to different elements to be assembled.Simultaneously, additionally it is possible to optimize assemble flow while assembly precision is ensured, so as to save installation time.Automatic assembly method based on robot and the automatic assembly method for assembling the part with sheet metal member are also disclosed simultaneously.
Description
Technical field
The present invention relates to a kind of automatic setup system and automatic assembly method, more particularly to a kind of base
In the automatic setup system and automatic assembly method that are used to assemble sheet metal member of robot.
Background technology
Sheet metal member is generally very thin, is very easy to deformation, and its surface is easily scraped
Flower is abraded, and therefore, the assembling of sheet metal member is very challenging operating process.
At present, the assembly manipulation of sheet metal member, therefore efficiency of assembling are generally artificially performed
It is relatively low, and in order to ensure the productivity ratio of assembly work, it is necessary to spend larger effort to train
Operating personnel, add production cost.Moreover, assembly precision relies primarily on artificial experience guarantee,
The stric consistency of assembly precision can not be ensured.
As product from now on is going into, configuration is more, update fast epoch, traditional people
Work assembly mode can not meet requirement, it is necessary to develop it is a kind of it is agile and all-purpose, rapidly adapt to, from
Dynamicization degree high new assembly system and assembly method.
The content of the invention
The purpose of the present invention aims to solve the problem that the above-mentioned problems in the prior art and defect extremely
Few one side.
According to an aspect of the present invention there is provided a kind of automatic setup system based on robot,
Including：
Robot, the robot has the manipulator for being used for keeping element to be assembled；
Alignment system, for carrying out coarse positioning to element to be assembled；
Vision system, position and side for accurately recognizing the element kept by the manipulator
To；
Station, the assembly manipulation of robot executing element described in the station,
Wherein, the automatic setup system can be according to the assembling required by element to be assembled
Select different assembly paths to assemble element, wherein described different accuracy self-adapting
Assembly path at least includes assembling road from the alignment system directly into the first of the station
Footpath and from the alignment system by the vision system again to the station second assembling
Path.
According to an exemplary embodiment, the robot is configured as：
Compare the assembly precision and predetermined multiple assembly precision grades of element to be assembled, when treating
When the assembly precision of the element of assembling meets the first assembly precision grade, the automatic setup system
First assembly path is adaptive selected to assemble the element；When element to be assembled
Assembly precision meet the second assembly precision grade when, the automatic setup system is adaptively selected
Second assembly path is selected to assemble the element；
Wherein, the corresponding assembly precision of the first assembly precision grade is less than the described second assembling
The corresponding assembly precision of accuracy class.
According to an exemplary embodiment, the artificial six-joint robot of machine.
According to an exemplary embodiment, the six-joint robot can be according to the vision system
The position and direction for the element that the manipulator accurately recognized of uniting is kept are adaptively adjusted described
The assembling track of element.
According to an exemplary embodiment, the robot has fast replacing device, the machinery
Hand is connected on robot body by the fast replacing device.
According to an exemplary embodiment, the quantity of the manipulator is two, one of them
For Pneumatic paw, another is Pneumatic suction cup.
According to an exemplary embodiment, the station also includes additional positioning mechanism, uses
The element is positioned and is fixed in the station in when element is assembled in station.
According to an exemplary embodiment, the station includes the first station and the second dress
With station, sub-component is assembled to form in the first station, the son is assembled in the second station
Component and remaining element are to form the final part assembled.
According to an exemplary embodiment, the automatic setup system also includes Automatic-feeding system
System, the alignment system is connected with the automatic feeding system.
According to another aspect of the present invention, a kind of automatic assembling side based on robot is also provided
Method, it comprises the following steps：
Element to be assembled is loaded into alignment system, it is slightly fixed to be carried out to element to be assembled
Position；
Robot captures or loaded the element to be assembled through coarse positioning from alignment system；
Determine the required assembly precision of element to be assembled, and by the institute determined
It is required that assembly precision be compared with predetermined multiple assembly precision grades；
When the required assembly precision meets the first assembly precision grade, Robot Selection
First assembling route is assembled to the element to be assembled；
When the required assembly precision meets the second assembly precision grade, Robot Selection
The element to be assembled is carried out different from the second assembling route of the described first assembling route
Assembling.
According to an exemplary embodiment, Robot Selection first assembles route to described to be installed
The step of element matched somebody with somebody is assembled includes：
Robot directly by the carry elements to be assembled through coarse positioning and is loaded to station
In, assembly manipulation is then performed in station.
According to an exemplary embodiment, Robot Selection second assembles route to described to be installed
The step of element matched somebody with somebody is assembled includes：
Part to be assembled through coarse positioning passes through the vision system by robotic conveyance to vision system
System accurately recognizes the position and direction of the element to be assembled kept by the robot；
Under the guiding of the vision system, element to be assembled is transported and is accurately located at
In station, assembly manipulation is then performed in station.
According to an exemplary embodiment, the first assembly precision grade is corresponding to assemble essence
Degree is less than the corresponding assembly precision of the second assembly precision grade.
According to an exemplary embodiment, the artificial six-joint robot of machine, methods described
Also comprise the following steps：
The position and side for the element that the robot accurately recognized according to the vision system is kept
To the six-joint robot is adaptively adjusted the assembling track of element to be assembled.
According to an exemplary embodiment, the six-joint robot is adaptively adjusted to be assembled
Element assembling track the step of include：
The six-joint robot adjust element to be assembled with respect to the horizontal plane or vertical plane side
To so that element to be assembled is with respect to the horizontal plane or vertical plane is into the side of pre-determined tilt angle
Formula is assembled on another element being pre-positioned in station.
According to an exemplary embodiment, the step of being assembled to the element to be assembled
Including：Sub-component is assembled to form in the first station, the son is assembled in the second station
Component and remaining element are to form the final part assembled.
According to another aspect of the invention, also provide a kind of for assembling with sheet metal member
Part automatic assembly method, the part at least include the first sheet metal member, the second gold medal
Belong to thin sheet element and the 3rd sheet metal member, the automatic assembly method comprises the following steps：
First sheet metal member is loaded into alignment system, with to the first sheet metal member
Carry out coarse positioning；
Determine the first assembly features of the first sheet metal member, and by determine described
One assembly features are compared with predetermined multiple assembling grades；
When the first assembly features, which meet first, assembles grade, robot is directly by the first metal foil
Piece element is loaded and positioned into the first station；When the first assembly features meet second assembling etc.
During level, robot loads the first sheet metal member under the guiding of vision system and accurately fixed
Position is into the first station；
Second sheet metal member is loaded into alignment system, with to the second sheet metal member
Carry out coarse positioning；
Determine the second assembly features of the second sheet metal member, and by determine described
Two assembly features are compared with predetermined multiple assembling grades；
When the second assembly features, which meet first, assembles grade, robot is directly by the second metal foil
Piece element is transported at the first station, and assembles the second sheet metal member and the first metal foil
Piece element, to form first sub-component；When the second assembly features, which meet second, assembles grade,
Second sheet metal member is transported to the first station by robot under the guiding of vision system
Place, and the sheet metal member of accurate assembly second and the first sheet metal member, to form first
Sub-component；
First sub-component is transmitted and loaded into the second station；
First sub-component is positioned in the second station using additional positioning mechanism；
3rd sheet metal member is loaded into alignment system, with to the 3rd sheet metal member
Carry out coarse positioning；
Determine the 3rd assembly features of the 3rd sheet metal member, and by determine described
Three assembly features are compared with predetermined multiple assembling grades；
When the 3rd assembly features, which meet first, assembles grade, robot is directly by the 3rd metal foil
Piece element is transported at the second station, and assembles the 3rd sheet metal member and the first subgroup
Part；When the 3rd assembly features, which meet second, assembles grade, guiding of the robot in vision system
It is lower that 3rd sheet metal member is transported at the second station, and the metal foil of accurate assembly the 3rd
Piece element and first sub-component.
According to an exemplary embodiment, first sheet metal member, second gold medal
Category thin sheet element and the 3rd sheet metal member be respectively the joints of optical fibre connection cage bottom,
Shim and top cover.
According to an exemplary embodiment, first sheet metal member, second gold medal
The thickness of category thin sheet element and the 3rd sheet metal member is respectively less than 0.25mm.Other
In embodiment, first sheet metal member, second sheet metal member and described
The thickness of three sheet metal members can also be more than or equal to 0.25mm.
Compared with prior art, it is one according to the automatic setup system based on robot of the present invention
Flexible automatic setup system is planted, and according to the automatic assembling side based on robot of the present invention
Method can make full use of the flexibility and programmability of robot, to allow the robot to according to not
Same element to be assembled follows the assembly path of customization to assemble different elements.Meanwhile, should
Automatic setup system also includes vision system, and it being capable of the high-precision assembling of guided robot progress
Operation.And by selecting different assembly paths, can be excellent while assembly precision is ensured
Change assemble flow, so as to save installation time, further improve efficiency of assembling.In addition, the base
Less deformed element will be caused when the automatic setup system of robot is in assembling and/or drawn
Wound, scraping etc., will not even cause deformed element and/or scuffing, scraping etc..
By the description made for the present invention of below with reference to accompanying drawing, other purposes of the invention and
Advantage will be evident, and can help that complete understanding of the invention will be obtained.
Brief description of the drawings
Fig. 1 is the automatic assembling system based on robot of the exemplary embodiment according to the present invention
The schematic diagram of system；
Fig. 2 is the perspective view of the robot in the automatic setup system shown in Fig. 1；
Fig. 3 is the three-dimensional signal of an exemplary mechanical clamping jaw of the robot shown in Fig. 2
Figure；
Fig. 4 be observe from the bottom up according to the present invention exemplary embodiment have metal
The schematic perspective view of the part to be assembled of thin sheet element；
Fig. 5 be observe from top to bottom according to the present invention exemplary embodiment have metal
The schematic perspective view of the part to be assembled of thin sheet element；
Fig. 6 is the flow chart of the automatic assembly method of the exemplary embodiment according to the present invention.
Embodiment
Below by embodiment, and with reference to accompanying drawing, make further tool to technical scheme
The explanation of body.In the description, same or analogous drawing reference numeral indicates same or analogous portion
Part.Following explanations referring to the drawings to embodiment of the present invention are intended to overall invention of the invention
Design is explained, and is not construed as a kind of limitation to the present invention.
Fig. 1 is the automatic assembling system based on robot of the exemplary embodiment according to the present invention
The schematic diagram of system.As shown in figure 1, being somebody's turn to do the automatic setup system based on robot includes：Machine
People 1, and robot 1 has the machinery for being used for keeping element (not shown in figure 1) to be assembled
Hand 2, hereafter robot 1 will be explained in more detail；Alignment system 3, for treating
The element of assembling carries out coarse positioning；Vision system 4, for accurately recognizing by the manipulator
The position and direction of the element of holding；Station 5,6, the robot described in the station
The assembly manipulation of executive component.
In this embodiment, automatic setup system can be according to the assembly features of element to be assembled
Different assembly paths are adaptive selected to assemble element.Below, with reference to Fig. 1, tool
Body describes the adaptive assembly manipulation.
In this embodiment, different assembly paths is included from alignment system 3 directly into station
5th, 6 the first assembly path and from alignment system 3 by vision system 4 again to station 5,
6 the second assembly path.
More specifically, as an example, the assembly features of element to be assembled include the element
Required assembly precision P.Correspondingly, the robot is configured as：Compare to be assembled
The assembly precision P of element and predetermined multiple assembly precision grades L1, L2, when to be assembled
When the assembly precision P of element meets the first assembly precision grade L1, automatic setup system is adaptive
The first assembly path for answering ground selection above-mentioned is assembled to the element；When element to be assembled
When assembly precision P meets the second assembly precision grade L2, automatic setup system is adaptively selected
Above-mentioned second assembly path is selected to assemble the element.For example, the first assembly precision grade
L1 can correspond to a relatively low assembly precision, and the second assembly precision grade L2 can correspond to one
Individual higher assembly precision, correspondingly, assembly precision P meet the first assembly precision grade L1
Mean the assembly precision P of component requirements to be assembled less than or equal to first assembly precision etc.
Level L1, assembly precision P, which meets the second assembly precision grade L2, means that element to be assembled will
The assembly precision P asked is equal to or higher than the second assembly precision grade L2.
Specifically, as shown in figure 1, be enough element positioning to be assembled when alignment system 3 or
When being limited in predetermined assembly precision grade, robot 1 can be directly by the carry elements simultaneously
And load into station 5,6, without being stopped at vision system 4, so as to save
The time of assembly process circulation.When the higher assembly precision of component requirements to be assembled is positioned
When the coarse positioning of system 3 is not enough to be located or is limited in predetermined assembly precision grade,
Robot 1 can be by the carry elements to vision system 4, then in the guiding of vision system 4
It is lower that the element is loaded and is positioned in station 5,6, so as to ensure high-precision loading
And assembling process.That is, automatic setup system according to embodiments of the present invention being capable of basis
The assembly features (such as assembly precision) of element to be assembled are adaptive selected different dresses
With path, vision system 4 need not apply to the loading and assembling process of all elements, ensure
Assemble flow is also optimized while assembly precision, installation time is saved.
Preferably, robot 1 is six-joint robot, as shown in Figure 2.The six-joint robot energy
The position and direction for the element that enough manipulators accurately recognized according to vision system 4 are kept are certainly
The assembling track of element to be assembled is adaptively adjusted, this process is discussed in detail below.
As an example, Fig. 3 shows the vertical of the manipulator of the robot applied to the present invention
Body schematic diagram.In the example shown in the series of figures, the manipulator is mechanical grip.It should be noted that
Although " manipulator " used herein describes to keep the device of element to be assembled, this
" manipulator " in text is not limited to " hand " shape dress using mechanical actuation device and put, but bag
The various devices for the element function of keeping to be assembled can be realized by including, for example, it, which differs, is set to bag
" hand " shape of multiple fingers is included, it can also use electronic, pneumatic or other types of driving
Device.For example, the quantity of manipulator 2 can be two, one of them is Pneumatic paw, separately
One is Pneumatic suction cup, to capture or keep the element of different shape, type respectively.
Further, robot 1 can also have fast replacing device, and manipulator 2 by changing the outfit soon
Put and be connected on robot body.So, according to different elements to be assembled, robot 1
Different manipulators 2 can be assembled.By the fast replacing device, robot 1 can rapidly exist
Changed or switched between a variety of manipulators 2, to keep different elements.
Referring back to Fig. 1, in this embodiment, including two stations --- the first station
5 and second station 6.In the exemplary embodiment, shape is assembled in the first station 5
Into sub-component, the sub-component and remaining element are assembled in the second station 6 to be formed most
The whole part assembled.But, the present invention does not limit the quantity of station, implements other
In example, automatic setup system can include 1,3,4 or more stations.
In certain embodiments, the first station 5 and/or the second station 6 can also include
Additional positioning mechanism (not shown).The additional positioning mechanism is used in element in station 5,6
The element is positioned and is fixed in station 5,6 during middle assembling, so as to preferably
Assembly manipulation is performed, to further ensure that assembly precision.
In certain embodiments, element to be assembled can be loaded with direct labor to alignment system
In 3.In further embodiments, automatic setup system can also include automatic feeding system (not
Show), alignment system 3 is connected with automatic feeding system, and element to be assembled is automatic by this
Feeding system is loaded into alignment system 3, so as to realize full automatic assembling process.
Below, the flow chart with reference to shown in Fig. 6, describes the automatic setup system according to embodiment
The automatic assembly method of execution.As shown in fig. 6, the automatic assembly method can include following step
Suddenly：
S10, element to be assembled loaded into alignment system 3, with to element to be assembled
Carry out coarse positioning；
S20, robot 1 are captured or loaded through the to be assembled of coarse positioning from alignment system 3
Element；
S30, the assembly features for determining element to be assembled；
S40, the assembly features determined are compared with predetermined multiple assembling grades；
S50, when the assembly features meet first assemble grade when, robot 1 selection first
Assembling route is assembled to the element to be assembled；Filled when the assembly features meet second
During with grade, robot 1 is selected differently from the second assembling route pair of the first assembling route
The element to be assembled is assembled.
Specifically, in above-mentioned steps S50, the assembling route of Robot Selection first is treated to described
The step of element of assembling is assembled includes：Robot 1 is directly by through the to be assembled of coarse positioning
Carry elements and load into station 5,6, then perform dress in station 5,6
With operation.The step that the assembling route of Robot Selection second is assembled to the element to be assembled
Suddenly include：Part to be assembled through coarse positioning is transported to vision system 4 by robot 1, is passed through
The vision system 4 accurately recognizes the position of the element to be assembled kept by the robot 1
And direction；Under the guiding of the vision system 4, element to be assembled is transported and accurate
It is positioned in station 5,6, then performs assembly manipulation in station 5,6.
Preferably, robot 1 is six-joint robot (as shown in Figure 2), the automatic assembling
Method also comprises the following steps：Protected according to the robot 1 that the vision system 4 is accurately recognized
The position and direction for the element held, the six-joint robot is adaptively adjusted element to be assembled
Assembling track.It is highly preferred that the six-joint robot is adaptively adjusted element to be assembled
Assembling track the step of include：The six-joint robot adjusts element to be assembled relative to water
The direction of plane or vertical plane so that element to be assembled with respect to the horizontal plane or vertical plane into
The mode of pre-determined tilt angle is assembled on another element being pre-positioned in station 5,6.
In one embodiment, the angle of inclination is 15 °.
Below, by using the connection cage of the joints of optical fibre to illustrate above-mentioned automatic assembly method.
Fig. 4,5 show the joints of optical fibre connection cage schematic perspective view, it include bottom 31,
Shim 32, top cover 33 and resistance spring (kick-out spring) 34, wherein, bottom 31,
Shim 32, top cover 33 are typical sheet metal member.In one example, bottom
31st, shim 32, the thickness of top cover 33 are respectively less than 0.25mm.Certainly, implement other
In example, bottom 31, shim 32, the thickness of top cover 33 can also be more than or equal to 0.25mm.
It will be understood by those skilled in the art that the present invention is not limited to specific thickness.
The assemble flow of the connection cage is as follows：Multiple shims 32 are assembled on bottom 31, with
Sub-component is formed, then resistance spring 34 and top cover 33 are assembled on the sub-component successively,
To form the connection cage assembled.
Specifically, first, Automatic-feeding module loads bottom 31 into alignment system 3,
To carry out coarse positioning to bottom 31.
Then, robot 1 draws bottom 31 using Pneumatic suction cup from alignment system 3.By
It is higher in the assembly precision required by the bottom 31, so robot 1 is in vision system 4
Adaptively bottom 31 is loaded to and is positioned in the first station 5 under accurate guiding.
Then, robot 1 captures shim 32 using Pneumatic paw from alignment system 3.
In the case where bottom 31 is preferably positioned and is limited in the first station 5, robot 1
Adaptively shim 32 is transported to the first station under the accurate guiding of vision system 4
In 5, and shim 32 is assembled on bottom 31 under the accurate guiding of vision system 4,
To form sub-component in the first station 5.
Then, the sub-component is transmitted and loaded into the second station 6, the second station
6 include additional positioning mechanism, by the sub-component being loaded in the second station 6 preferably
Position and be limited in the second station 6.
Then, robot captures resistance spring 34 using Pneumatic paw from alignment system 3.
In the case where the sub-component is preferably positioned and is limited in the second station 6, robot
1 adaptively transports resistance spring 34 to the second dress under the accurate guiding of vision system 4
With station 6 in, and under the accurate guiding of vision system 4 will resistance spring 34 be assembled to son
On component.
Then, robot draws top cover 33 using Pneumatic suction cup from alignment system 3.Institute
State in the case that sub-component preferably positions and be limited in the second station 6, robot 1 exists
Adaptively top cover 33 is transported into the second station 6 under the accurate guiding of vision system 4,
And top cover 33 is assembled on sub-component under the accurate guiding of vision system 4, to be formed
The connection cage assembled.
Described according to embodiments of the present invention as example using the connection cage part shown in Fig. 2 and 3 above
Automatic assembly method., should the automatic setup system based on robot from above description
Can be according to different type, different matching requirements of element to be assembled etc. with automatic assembly method
Carry out adaptive adjustment, that is to say, that it is a kind of flexible assembly system, can be used to
Cover the sheet metal class product of substantial amounts of customization.For example, should the automatic dress based on robot
Match system and automatic assembly method can cover the various cage parts such as 1 × 2,1 × 4,1 × 6
Assembling.Moreover, above-described embodiment is example to according to embodiments of the present invention only to join cage part
Automatic assembly method illustrate, automatic setup system according to embodiments of the present invention and automatic
Assembly method can be also used for the assembling of other types of part.
In addition, when robot 1 performs automatic dress in the first station 5 or the second station 6
During with operation, robot 1 can be carried out with the detent mechanism in station 5,6 as needed
Interaction, in order to the assembling element of robot 1.Also, robot 1 can also be with the localization machine
Structure cooperates, in order to the assembling element of robot 1.
Due to the flexible and multifunctionality of the automatic setup system based on robot, it can be used
To perform extremely complex assembly technology, for example can order robot follow the robot of complexity
Assembly path come imitate manual assembly operation, and can also order robot follow some machines
People's assembly path carries out the even assembly manipulation that can not all perform of operating personnel.
In addition, less element will be caused in assembling by being somebody's turn to do the automatic setup system based on robot
Deformation and/or scuffing, scraping etc., will not even cause deformed element and/or scuffing, scraping etc..
Although with reference to accompanying drawing, the present invention is described, the embodiment purport disclosed in accompanying drawing
Illustrative to the preferred embodiment for the present invention, and it is not intended that to the present invention's
One kind limitation.
Although some embodiments of this present general inventive concept are shown and illustrated, this area is common
Technical staff will be understood that, in the case of without departing substantially from the principle of this present general inventive concept and spirit,
These embodiments can be made a change, the scope of the present invention is with claim and their equivalent
Limit.
Claims (18)
1. a kind of automatic setup system based on robot, including：
Robot (1), the robot has the manipulator (2) for being used for keeping element to be assembled；
Alignment system (3), for carrying out coarse positioning to element to be assembled；
Vision system (4), the position for accurately recognizing the element kept by the manipulator
And direction；
Station (5,6), the assembly manipulation of robot executing element described in the station,
Wherein, the automatic setup system can be according to the assembling required by element to be assembled
Select different assembly paths to assemble element, wherein described different accuracy self-adapting
Assembly path at least includes from the alignment system (3) directly into the station (5,6)
The first assembly path and from the alignment system (3) by the vision system (4) again extremely
Second assembly path of the station (5,6).
2. automatic setup system according to claim 1, it is characterised in that the machine
Device people is configured as：
Compare the assembly precision and predetermined multiple assembly precision grades of element to be assembled, when treating
When the assembly precision of the element of assembling meets the first assembly precision grade, the automatic setup system
First assembly path is adaptive selected to assemble the element；When element to be assembled
Assembly precision meet the second assembly precision grade when, the automatic setup system is adaptively selected
Second assembly path is selected to assemble the element；
Wherein, the corresponding assembly precision of the first assembly precision grade is less than the described second assembling
The corresponding assembly precision of accuracy class.
3. automatic setup system according to claim 1 or 2, it is characterised in that institute
State the artificial six-joint robot of machine.
4. automatic setup system according to claim 3, it is characterised in that described six
The member that the manipulator that axle robot can accurately be recognized according to the vision system (4) is kept
The position and direction of part are adaptively adjusted the assembling track of the element.
5. the automatic setup system according to any one of claim 1-4, its feature exists
In the robot has fast replacing device, and the manipulator is connected to machine by the fast replacing device
On device human agent.
6. the automatic setup system according to any one of claim 1-5, its feature exists
In the quantity of the manipulator is two, and one of them is Pneumatic paw, and another is pneumatic
Sucker.
7. the automatic setup system according to any one of claim 1-6, its feature exists
Also include additional positioning mechanism in, the station (5,6), in element in station
The element is positioned and is fixed in the station during middle assembling.
8. the automatic setup system according to any one of claim 1-7, its feature exists
In the station includes the first station (5) and the second station (6), in the first dress
With sub-component is assembled to form in station, the sub-component and remaining member are assembled in the second station
Part is to form the final part assembled.
9. the automatic setup system according to any one of claim 1-8, its feature exists
In in addition to automatic feeding system, the alignment system is connected with the automatic feeding system.
10. a kind of automatic assembly method based on robot, comprises the following steps：
Element to be assembled is loaded into alignment system, it is slightly fixed to be carried out to element to be assembled
Position；
Robot captures or loaded the element to be assembled through coarse positioning from alignment system；
Determine the required assembly precision of element to be assembled, and by the institute determined
It is required that assembly precision be compared with predetermined multiple assembly precision grades；
When the required assembly precision meets the first assembly precision grade, Robot Selection
First assembling route is assembled to the element to be assembled；
When the required assembly precision meets the second assembly precision grade, Robot Selection
The element to be assembled is carried out different from the second assembling route of the described first assembling route
Assembling.
11. automatic assembly method according to claim 10, wherein Robot Selection
The step of one assembling route is assembled to the element to be assembled includes：
Robot directly by the carry elements to be assembled through coarse positioning and is loaded to station
In, assembly manipulation is then performed in station.
12. the automatic assembly method according to claim 10 or 11, wherein machine person
Selecting the step of the second assembling route is assembled to the element to be assembled includes：
Part to be assembled through coarse positioning passes through the vision system by robotic conveyance to vision system
System accurately recognizes the position and direction of the element to be assembled kept by the robot；
Under the guiding of the vision system, element to be assembled is transported and is accurately located at
In station, assembly manipulation is then performed in station.
13. the automatic assembly method according to any one of claim 10-12, its feature
It is, the corresponding assembly precision of the first assembly precision grade is less than second assembly precision
The corresponding assembly precision of grade.
14. the automatic assembly method according to any one of claim 10-13, its feature
It is, the artificial six-joint robot of machine, methods described also comprises the following steps：
The position and side for the element that the robot accurately recognized according to the vision system is kept
To the six-joint robot is adaptively adjusted the assembling track of element to be assembled.
15. automatic assembly method according to claim 14, it is characterised in that described
The step of six-joint robot is adaptively adjusted the assembling track of element to be assembled includes：
The six-joint robot adjust element to be assembled with respect to the horizontal plane or vertical plane side
To so that element to be assembled is with respect to the horizontal plane or vertical plane is into the side of pre-determined tilt angle
Formula is assembled on another element being pre-positioned in station.
16. the automatic assembly method according to any one of claim 10-15, its feature
It is, the step of being assembled to the element to be assembled includes：Filled in the first station
With sub-component is formed, the sub-component and remaining element are assembled in the second station to be formed
The final part assembled.
17. a kind of automatic assembly method for being used to assemble the part with sheet metal member, should
Part at least includes the first sheet metal member, the second sheet metal member and the 3rd sheet metal
Element, the automatic assembly method comprises the following steps：
First sheet metal member is loaded into alignment system, with to the first sheet metal member
Carry out coarse positioning；
Determine the first assembly features of the first sheet metal member, and by determine described
One assembly features are compared with predetermined multiple assembling grades；
When the first assembly features, which meet first, assembles grade, robot is directly by the first metal foil
Piece element is loaded and positioned into the first station；When the first assembly features meet second assembling etc.
During level, robot loads the first sheet metal member under the guiding of vision system and accurately fixed
Position is into the first station；
Second sheet metal member is loaded into alignment system, with to the second sheet metal member
Carry out coarse positioning；
Determine the second assembly features of the second sheet metal member, and by determine described
Two assembly features are compared with predetermined multiple assembling grades；
When the second assembly features, which meet first, assembles grade, robot is directly by the second metal foil
Piece element is transported at the first station, and assembles the second sheet metal member and the first metal foil
Piece element, to form first sub-component；When the second assembly features, which meet second, assembles grade,
Second sheet metal member is transported to the first station by robot under the guiding of vision system
Place, and the sheet metal member of accurate assembly second and the first sheet metal member, to form first
Sub-component；
First sub-component is transmitted and loaded into the second station；
First sub-component is positioned in the second station using additional positioning mechanism；
3rd sheet metal member is loaded into alignment system, with to the 3rd sheet metal member
Carry out coarse positioning；
Determine the 3rd assembly features of the 3rd sheet metal member, and by determine described
Three assembly features are compared with predetermined multiple assembling grades；
When the 3rd assembly features, which meet first, assembles grade, robot is directly by the 3rd metal foil
Piece element is transported at the second station, and assembles the 3rd sheet metal member and the first subgroup
Part；When the 3rd assembly features, which meet second, assembles grade, guiding of the robot in vision system
It is lower that 3rd sheet metal member is transported at the second station, and the metal foil of accurate assembly the 3rd
Piece element and first sub-component.
18. automatic assembly method according to claim 17, it is characterised in that described
First sheet metal member, second sheet metal member and the 3rd sheet metal member
Respectively the joints of optical fibre connection cage bottom, shim and top cover.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610243845.2A CN107303636B (en) | 2016-04-19 | 2016-04-19 | Automatic setup system and automatic assembly method based on robot |
| TW106112123A TWI711517B (en) | 2016-04-19 | 2017-04-12 | Robot-based automatic assembly system and automatic assembly method |
| PCT/IB2017/052200 WO2017182937A1 (en) | 2016-04-19 | 2017-04-18 | Robot automatic assembling system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610243845.2A CN107303636B (en) | 2016-04-19 | 2016-04-19 | Automatic setup system and automatic assembly method based on robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107303636A true CN107303636A (en) | 2017-10-31 |
| CN107303636B CN107303636B (en) | 2019-06-14 |
Family
ID=58739302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610243845.2A Active CN107303636B (en) | 2016-04-19 | 2016-04-19 | Automatic setup system and automatic assembly method based on robot |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN107303636B (en) |
| TW (1) | TWI711517B (en) |
| WO (1) | WO2017182937A1 (en) |
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| CN108584026A (en) * | 2018-05-06 | 2018-09-28 | 长春北方化工灌装设备股份有限公司 | Mechanical just positioning and machine vision accurate positioning device and localization method |
| CN108747269A (en) * | 2018-07-06 | 2018-11-06 | 苏州富强科技有限公司 | A kind of pendulum assembly mounting device based on CCD para-position |
| CN108942208A (en) * | 2018-07-06 | 2018-12-07 | 苏州富强科技有限公司 | A kind of pendulum component pastes packaging technology |
| CN110480306A (en) * | 2019-07-09 | 2019-11-22 | 金榀精密工业(苏州)有限公司 | Intelligent locating formula intelligent casting component assembly method |
| CN110539299A (en) * | 2018-05-29 | 2019-12-06 | 北京京东尚科信息技术有限公司 | Robot working method, controller and robot system |
| CN110814742A (en) * | 2019-11-29 | 2020-02-21 | 航天科技控股集团股份有限公司 | Screen ring combined assembling system and method based on six-axis robot platform |
| CN111195911A (en) * | 2019-12-30 | 2020-05-26 | 江西江铃集团新能源汽车有限公司 | Pin changing system, pin changing method and vehicle production system |
| CN112621765A (en) * | 2021-03-09 | 2021-04-09 | 佛山隆深机器人有限公司 | Automatic equipment assembly control method and device based on manipulator |
| CN114932541A (en) * | 2022-06-15 | 2022-08-23 | 中迪机器人(盐城)有限公司 | Robot-based automatic assembly system and method |
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| CN110814742A (en) * | 2019-11-29 | 2020-02-21 | 航天科技控股集团股份有限公司 | Screen ring combined assembling system and method based on six-axis robot platform |
| CN111195911B (en) * | 2019-12-30 | 2021-04-27 | 江西江铃集团新能源汽车有限公司 | Pin changing system, pin changing method and vehicle production system |
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| CN112621765B (en) * | 2021-03-09 | 2021-06-01 | 佛山隆深机器人有限公司 | Automatic equipment assembly control method and device based on manipulator |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2017182937A1 (en) | 2017-10-26 |
| TW201739589A (en) | 2017-11-16 |
| TWI711517B (en) | 2020-12-01 |
| CN107303636B (en) | 2019-06-14 |
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