CN107303636B - 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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- CN107303636B CN107303636B CN201610243845.2A CN201610243845A CN107303636B CN 107303636 B CN107303636 B CN 107303636B CN 201610243845 A CN201610243845 A CN 201610243845A CN 107303636 B CN107303636 B CN 107303636B
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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
-
- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses the automatic setup system based on robot, comprising: robot, the robot have the manipulator for keeping element to be assembled；Positioning system, for carrying out coarse positioning to element to be assembled；Vision system, for accurately identifying the position and direction of the element kept by the manipulator；Station, the assembly manipulation of the 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 assemble to element.The automatic setup system can follow the assembly path of customization according to different elements to be assembled to assemble different elements.Simultaneously, additionally it is possible to optimize assemble flow while guaranteeing assembly precision, to save assembly time.Automatic assembly method based on robot and the automatic assembly method for assembling the component with sheet metal member are also disclosed simultaneously.
Description
Technical field
It a kind of is used for the present invention relates to a kind of automatic setup system and automatic assembly method more particularly to based on robot
Assemble the automatic setup system and automatic assembly method of sheet metal member.
Background technique
Sheet metal member is usually very thin, is very easy to deformation, and its surface is easy to be scratched or abraded, therefore,
The assembly of sheet metal member is very challenging operating process.
Currently, usually artificially executing the assembly manipulation of sheet metal member, therefore assembly efficiency is lower, and in order to protect
The productivity for demonstrate,proving assembly work, needs that biggish effort is spent to carry out operator training, increases production cost.Moreover, assembly
Precision relies primarily on artificial experience guarantee, not can guarantee the stric consistency of assembly precision.
As product from now on is going into, configuration is more, updates fast epoch, and traditional manual assembly mode is not
Be able to satisfy requirement, need to develop it is a kind of it is agile and all-purpose, rapidly adapt to, the new assembly system and assembly method of high degree of automation.
Summary of the invention
The purpose of the present invention aims to solve the problem that at least one aspect of the above-mentioned problems in the prior art and defect.
According to an aspect of the present invention, a kind of automatic setup system based on robot is provided, comprising:
Robot, the robot have the manipulator for keeping element to be assembled；
Positioning system, for carrying out coarse positioning to element to be assembled；
Vision system, for accurately identifying the position and direction of the element kept by the manipulator；
Station, the assembly manipulation of the robot executing element described in the station,
Wherein, the automatic setup system can adaptively be selected according to the required assembly precision of element to be assembled
It selects different assembly paths to assemble element, wherein the different assembly path is including at least straight from the positioning system
It is connected to the first assembly path of the station and passes through the vision system again to the station from the positioning system
Second assembly path.
According to an exemplary embodiment, the robot is configured as:
The assembly precision of element more to be assembled and scheduled multiple assembly precision grades, when the dress of element to be assembled
When meeting the first assembly precision grade with precision, first assembly path is adaptive selected to this in the automatic setup system
Element is assembled；When the assembly precision of element to be assembled meets the second assembly precision grade, the automatic setup system
Second assembly path is adaptive selected to assemble the element；
Wherein, the corresponding assembly precision of the first assembly precision grade is corresponding lower than the second assembly precision grade
Assembly precision.
According to an exemplary embodiment, the artificial six-joint robot of machine.
According to an exemplary embodiment, what the six-joint robot can accurately be identified according to the vision system
The position and direction for the element that manipulator is kept are adaptively adjusted the assembly track of the element.
According to an exemplary embodiment, the robot has fast replacing device, and the manipulator is changed the outfit fastly by this
It sets and is connected on robot body.
According to an exemplary embodiment, the quantity of the manipulator is two, one of them is Pneumatic paw, another
A is Pneumatic suction cup.
According to an exemplary embodiment, the station further includes additional positioning mechanism, for assembling in element
It stands and the element is positioned and is fixed in the station when assembling.
According to an exemplary embodiment, the station includes the first station and the second station, in the first dress
With sub-component is assembled to form in station, the sub-component and remaining element are assembled in the second station to form final assembly
Good component.
According to an exemplary embodiment, which further includes automatic feeding system, the positioning system
It is connect with the automatic feeding system.
According to another aspect of the present invention, a kind of automatic assembly method based on robot is also provided comprising as follows
Step:
Element to be assembled is loaded into positioning system, to carry out coarse positioning to element to be assembled；
Robot grabs from positioning system or loads the element to be assembled through coarse positioning；
Determine the required assembly precision of element to be assembled, and the required assembly precision that will be determined
It is compared with scheduled multiple assembly precision grades；
When the required assembly precision meets the first assembly precision grade, Robot Selection first assembles route pair
The element to be assembled is assembled；
When the required assembly precision meets the second assembly precision grade, Robot Selection is different from described first
Second assembly route of assembly route assembles the element to be assembled.
According to an exemplary embodiment, Robot Selection first assembles route and fills to the element to be assembled
With the step of include:
Robot directly by the carry elements to be assembled through coarse positioning and is loaded into station, then in station
Middle execution assembly manipulation.
According to an exemplary embodiment, Robot Selection second assembles route and fills to the element to be assembled
With the step of include:
Component to be assembled through coarse positioning by robotic conveyance to vision system, by the vision system accurately identify by
The position and direction for the element to be assembled that the robot is kept；
Under the guidance of the vision system, element to be assembled is transported and is accurately located in station, then
Assembly manipulation is executed in station.
According to an exemplary embodiment, the corresponding assembly precision of the first assembly precision grade is lower than described second
The corresponding assembly precision of assembly precision grade.
According to an exemplary embodiment, the artificial six-joint robot of machine, the method also includes following steps:
According to the position and direction for the element that the robot that the vision system accurately identifies is kept, the six axis machine
People is adaptively adjusted the assembly track of element to be assembled.
According to an exemplary embodiment, the six-joint robot is adaptively adjusted the assembly rail of element to be assembled
The step of mark includes:
The six-joint robot adjusts element to be assembled with respect to the horizontal plane or the direction of vertical plane, so as to be assembled
Element by with respect to the horizontal plane or in a manner of vertical plane is at pre-determined tilt angle be assembled to be pre-positioned in it is another in station
On element.
According to an exemplary embodiment, the step of assembling to the element to be assembled includes: in the first dress
With sub-component is assembled to form in station, the sub-component and remaining element are assembled in the second station to form final assembly
Good component.
According to another aspect of the invention, it also provides a kind of for assembling the automatic dress of the component with sheet metal member
Method of completing the square, which includes at least the first sheet metal member, the second sheet metal member and third sheet metal member, described
Automatic assembly method includes the following steps:
First sheet metal member is loaded into positioning system, to carry out coarse positioning to the first sheet metal member；
Determine the first assembly features of the first sheet metal member, and by first assembly features determined and in advance
The multiple assembly grades first determined are compared；
When the first assembly features meet the first assembly grade, the first sheet metal member is directly loaded and is determined by robot
Position is into the first station；When the first assembly features meet the second assembly grade, robot will under the guidance of vision system
First sheet metal member is loaded and is accurately located in the first station；
Second sheet metal member is loaded into positioning system, to carry out coarse positioning to the second sheet metal member；
Determine the second assembly features of the second sheet metal member, and by second assembly features determined and in advance
The multiple assembly grades first determined are compared；
When the second assembly features meet the first assembly grade, the second sheet metal member is directly transported to the by robot
At one station, and the second sheet metal member and the first sheet metal member are assembled, to form first sub-component；When the second dress
When meeting the second assembly grade with feature, the second sheet metal member is transported to first under the guidance of vision system by robot
At station, and the second sheet metal member of accurate assembly and the first sheet metal member, to form first sub-component；
First sub-component is transmitted and is loaded into the second station；
First sub-component is located in the second station using additional positioning mechanism；
Third sheet metal member is loaded into positioning system, to carry out coarse positioning to third sheet metal member；
Determine the third assembly features of third sheet metal member, and by the third assembly features determined and in advance
The multiple assembly grades first determined are compared；
When third assembly features meet the first assembly grade, third sheet metal member is directly transported to the by robot
At two stations, and assemble third sheet metal member and first sub-component；When third assembly features meet the second assembly grade
When, third sheet metal member is transported at the second station by robot under the guidance of vision system, and accurate assembly
Three sheet metal members and first sub-component.
According to an exemplary embodiment, first sheet metal member, second sheet metal member and institute
State bottom cover, shim and the top cover that third sheet metal member is respectively optical fiber connector connection cage.
According to an exemplary embodiment, first sheet metal member, second sheet metal member and institute
The thickness for stating third sheet metal member is respectively less than 0.25mm.In other embodiments, first sheet metal member, described
The thickness of second sheet metal member and the third sheet metal member can also be greater than or equal to 0.25mm.
Compared with prior art, the automatic setup system according to the present invention based on robot is a kind of automatic dress flexible
Match system, and the automatic assembly method according to the present invention based on robot can make full use of the flexibility of robot and can compile
Cheng Xing, so that robot can follow the assembly path of customization according to different elements to be assembled to assemble different members
Part.Meanwhile the automatic setup system further includes vision system, it being capable of the high-precision assembly manipulation of guided robot progress.And
And by selecting different assembly paths, assemble flow can be optimized while guaranteeing assembly precision, thus when saving assembly
Between, further increase assembly efficiency.In addition, being somebody's turn to do the automatic setup system based on robot will lead to less element in assembly
Deformation and/or scuffing, scraping etc., will not even lead to deformed element and/or scuffing, scraping etc..
By the description made for the present invention of below with reference to attached drawing, other objects and advantages of the present invention will be aobvious and easy
See, and can help that complete understanding of the invention will be obtained.
Detailed description of the invention
Fig. 1 is the schematic diagram of the automatic setup system based on robot of an exemplary embodiment of the present invention；
Fig. 2 is the perspective view of the robot in automatic setup system shown in Fig. 1；
Fig. 3 is the stereoscopic schematic diagram of an exemplary mechanical clamping jaw of robot shown in Figure 2；
Fig. 4 is the to be assembled with sheet metal member of an exemplary embodiment of the present invention observed from the bottom up
The stereoscopic schematic diagram of component；
Fig. 5 is the to be assembled with sheet metal member of an exemplary embodiment of the present invention observed from top to bottom
The stereoscopic schematic diagram of component；
Fig. 6 is the flow chart of the automatic assembly method of an exemplary embodiment of the present invention.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.Illustrating
In book, the same or similar drawing reference numeral indicates the same or similar component.Following reference attached drawings are to embodiment of the present invention
Illustrate to be intended to explain present general inventive concept of the invention, and is not construed as to a kind of limitation of the invention.
Fig. 1 is the schematic diagram of the automatic setup system based on robot of an exemplary embodiment of the present invention.Such as Fig. 1
Shown, being somebody's turn to do the automatic setup system based on robot includes: robot 1, and robot 1 has for keeping element to be assembled
The manipulator 2 of (not shown in figure 1) will hereafter be explained in more detail robot 1；Positioning system 3, for to be assembled
Element carry out coarse positioning；Vision system 4, for accurately identifying the position and direction of the element kept by the manipulator；
Station 5,6, the assembly manipulation of the robot executing element described in the station.
In this embodiment, automatic setup system can be adaptive selected not according to the assembly features of element to be assembled
Same assembly path assembles element.In the following, specifically describing the adaptive assembly manipulation in conjunction with Fig. 1.
In this embodiment, different assembly paths includes assembling road from positioning system 3 directly into the first of station 5,6
Diameter and from positioning system 3 by vision system 4 again to the second assembly path of station 5,6.
More specifically, as an example, the assembly features of element to be assembled include the essence of assembly required by the element
Spend P.Correspondingly, the robot is configured as: the assembly precision P of element more to be assembled and scheduled multiple assembly precisions
Grade L1, L2, when the assembly precision P of element to be assembled meets the first assembly precision grade L1, automatic setup system is adaptive
Select the first above-mentioned assembly path to assemble the element with answering；When the assembly precision P of element to be assembled meets second
When assembly precision grade L2, automatic setup system is adaptive selected above-mentioned second assembly path and assembles to the element.Example
Such as, the first assembly precision grade L1 can correspond to a lower assembly precision, and the second assembly precision grade L2 can correspond to one
A higher assembly precision, correspondingly, assembly precision P, which meets the first assembly precision grade L1, means component requirements to be assembled
Assembly precision P less than or equal to the first assembly precision grade L1, assembly precision P, which meets the second assembly precision grade L2, to be meaned
The assembly precision P of component requirements to be assembled is equal to or higher than the second assembly precision grade L2.
Specifically, as shown in Figure 1, when positioning system 3 is enough element positioning to be assembled or is limited in scheduled assembly
When in accuracy class, robot 1 can directly by the carry elements and be loaded into station 5,6, without in vision system
It unites and stops at 4, to save the time of assembly process circulation.Depending on the higher assembly precision of component requirements to be assembled
When the coarse positioning of position system 3 is not enough to be located or be limited in scheduled assembly precision grade, robot 1 can be by this yuan
Part is transported to vision system 4, is then loaded the element under the guidance of vision system 4 and is located in station 5,6, from
And guarantee high-precision loading and assembling process.That is, automatic setup system according to an embodiment of the present invention being capable of basis
Different assembly paths is adaptive selected in the assembly features (such as assembly precision etc.) of element to be assembled, and vision system 4 is not
It must be applied to the loading and assembling process of all elements, also optimize assemble flow while guaranteeing assembly precision, save
Assembly time.
Preferably, robot 1 is six-joint robot, as shown in Figure 2.The six-joint robot can be according to 4 essence of vision system
The position and direction for the element that the manipulator really identified is kept are adaptively adjusted the assembly track of element to be assembled, hereafter will
This process is described in detail.
As an example, Fig. 3 shows the stereoscopic schematic diagram of the manipulator applied to robot of the invention.It is illustrating
Example in, the manipulator be mechanical grip.It should be noted that, although " manipulator " used herein describes to keep to be installed
The device for the element matched, but " manipulator " herein is not limited to set using next " hand " shape dress of mechanical actuation device, but wrap
The various devices for the element function that may be implemented to keep to be assembled are included, for example, it not necessarily includes " hand " shape of multiple fingers,
It can also use electronic, pneumatic or other types of driving device.For example, the quantity of manipulator 2 can be two, wherein one
A is Pneumatic paw, another is Pneumatic suction cup, to grab or keep the element of different shape, type respectively.
Further, robot 1 can also have fast replacing device, and manipulator 2 is connected to robot master by fast replacing device
On body.In this way, robot 1 can assemble different manipulators 2 according to different elements to be assembled.By the fast replacing device,
Robot 1 rapidly can be replaced or be switched between a variety of different manipulators 2, to keep different elements.
Referring back to Fig. 1, in this embodiment, including two stations --- the first station 5 and the second station 6.
In the exemplary embodiment, it is assembled to form sub-component in the first station 5, assembles the subgroup in the second station 6
Part and remaining element are to form the final component assembled.But the present invention does not limit the quantity of station, in other realities
It applies in example, automatic setup system may include 1,3,4 or more station.
In some embodiments, the first station 5 and/or the second station 6 can also include that additional positioning mechanism (does not show
Out).The additional positioning mechanism be used for when element assembles in station 5,6 by the element position and be fixed on station 5,
In 6, so as to be better carried out assembly manipulation, to further ensure that assembly precision.
In some embodiments, element to be assembled with direct labor can be loaded into positioning system 3.In other realities
It applies in example, automatic setup system can also include automatic feeding system (not shown), and positioning system 3 and automatic feeding system connect
It connects, element to be assembled is loaded by the automatic feeding system into positioning system 3, to realize full automatic assembling process.
In the following, the flow chart in conjunction with shown in Fig. 6, describes the automatic assembling side that automatic setup system according to the embodiment executes
Method.As shown in fig. 6, the automatic assembly method may include steps of:
S10, element to be assembled is loaded into positioning system 3, to carry out coarse positioning to element to be assembled；
S20, robot 1 grab from positioning system 3 or load the element to be assembled through coarse positioning；
S30, the assembly features for determining element to be assembled；
S40, the assembly features determined are compared with scheduled multiple assembly grades；
S50, when the assembly features meet first assembly grade when, robot 1 selection first assembly route to it is described to
The element of assembly is assembled；When the assembly features meet the second assembly grade, robot 1 is selected differently from described first
Second assembly route of assembly route assembles the element to be assembled.
Specifically, in above-mentioned steps S50, Robot Selection first assembles route and fills to the element to be assembled
With the step of include: robot 1 directly by the carry elements to be assembled through coarse positioning and load into station 5,6, so
Assembly manipulation is executed in station 5,6 afterwards.Robot Selection second assembles route and assembles to the element to be assembled
The step of include: the component to be assembled through coarse positioning by the transport of robot 1 to vision system 4, accurately by the vision system 4
Identify the position and direction of the element to be assembled kept by the robot 1；It is to be installed under the guidance of the vision system 4
The element matched is transported and is accurately located in station 5,6, then executes assembly manipulation in station 5,6.
Preferably, robot 1 is six-joint robot (as shown in Figure 2), and the automatic assembly method further includes following steps:
According to the position and direction for the element that the robot 1 that the vision system 4 accurately identifies is kept, the six-joint robot is adaptive
Adjust the assembly track of element to be assembled with answering.It is highly preferred that the six-joint robot is adaptively adjusted member to be assembled
The step of assembly track of part includes: that the six-joint robot adjusts element to be assembled with respect to the horizontal plane or the side of vertical plane
To be pre-positioned in element to be assembled with respect to the horizontal plane or in a manner of vertical plane is at pre-determined tilt angle to be assembled to
On another element in station 5,6.In one embodiment, which is 15 °.
In the following, by being to illustrate above-mentioned automatic assembly method with the connection cage of optical fiber connector.
Fig. 4,5 show the stereoscopic schematic diagram for joining cage of optical fiber connector comprising bottom cover 31, shim 32, top cover 33
With resistance spring (kick-out spring) 34, wherein bottom cover 31, shim 32, top cover 33 are typical sheet metal member
Part.In one example, bottom cover 31, shim 32, top cover 33 thickness be respectively less than 0.25mm.Certainly, in other embodiments,
Bottom cover 31, shim 32, top cover 33 thickness can also be greater than or equal to 0.25mm.It will be understood by those skilled in the art that this hair
It is bright to be not limited to specific thickness.
The assemble flow of the connection cage is as follows: multiple shims 32 are assembled on bottom cover 31, to form sub-component, then according to
Secondary spring 34 and the top cover 33 of resisting is assembled on the sub-component, to form the connection cage assembled.
Specifically, slightly fixed to be carried out to bottom cover 31 firstly, Automatic-feeding module loads bottom cover 31 into positioning system 3
Position.
Then, robot 1 draws bottom cover 31 using Pneumatic suction cup from positioning system 3.As required by the bottom cover 31
Assembly precision is higher, so bottom cover 31 is adaptively loaded to and positioned under the accurate guidance of vision system 4 by robot 1
In the first station 5.
Then, robot 1 grabs shim 32 using Pneumatic paw from positioning system 3.It is preferably positioned in bottom cover 31
And in the case where being limited in the first station 5, robot 1 is under the accurate guidance of vision system 4 adaptively by shim
Shim 32 is assembled on bottom cover 31 by 32 transports into the first station 5, and under the accurate guidance of vision system 4, with
Sub-component is formed in the first station 5.
Then, which is transmitted and is loaded into the second station 6, and the second station 6 includes additional localization machine
The sub-component being loaded in the second station 6 is preferably positioned and is limited in the second station 6 by structure.
Then, robot is grabbed from positioning system 3 using Pneumatic paw and resists spring 34.The sub-component preferably
In the case where positioning and being limited in the second station 6, robot 1 will adaptively support under the accurate guidance of vision system 4
The anti-transport of spring 34 will resist spring 34 under the accurate guidance of vision system 4 and be assembled to subgroup into the second station 6
On part.
Then, robot draws top cover 33 using Pneumatic suction cup from positioning system 3.It is preferably positioned in the sub-component
And in the case where being limited in the second station 6, robot 1 is under the accurate guidance of vision system 4 adaptively by top cover 33
Top cover 33 is assembled on sub-component by transport into the second station 6, and under the accurate guidance of vision system 4, to be formed
The connection cage assembled.
Automatic assembly method according to an embodiment of the present invention is described using connection cage component shown in Fig. 2 and 3 as example above.
By above description it is found that the automatic setup system and automatic assembly method based on robot can be according to elements to be assembled
The adaptive adjustment of carry out such as different type, different matching requirements, that is to say, that it is a kind of flexible assembly system, can be with
It is used to cover the sheet metal class product largely customized.For example, should automatic setup system based on robot and automatic
Assembly method can cover the assembly of the various cage components such as 1 × 2,1 × 4,1 × 6.Moreover, above-described embodiment is only to join cage portion
Part is that example is illustrated automatic assembly method according to an embodiment of the present invention, automatic assembling system according to an embodiment of the present invention
System and automatic assembly method can be also used for the assembly of other types of component.
In addition, when robot 1 executes automated assembling operations in the first station 5 or the second station 6, robot 1
It can be interacted as needed with the positioning mechanism in station 5,6, in order to 1 assembling element of robot.Also, robot
1 can also cooperate with the positioning mechanism, in order to 1 assembling element of robot.
Due to the flexibility and multifunctionality of the automatic setup system based on robot, can be used to execute extremely complex
Assembly technology, such as can order robot follow complicated robotic asssembly path to imitate manual assembly operation, and
Can also order robot follow some robotic asssembly paths to carry out the even assembly manipulation that can not all execute of operator.
In addition, should automatic setup system based on robot will lead in assembly less deformed element and/or scuffing,
Scrape etc., deformed element and/or scuffing, scraping etc. will not even be caused.
Although in conjunction with attached drawing, the present invention is described, and embodiment disclosed in attached drawing is intended to preferred to the present invention
Embodiment illustrates, and should not be understood as to a kind of limitation of the invention.
Although some embodiments of this present general inventive concept have been shown and have illustrated, those of ordinary skill in the art will be managed
Solution can make a change these embodiments in the case where the principle and spirit without departing substantially from this present general inventive concept, of the invention
Range is limited with claim and their equivalent.
Claims (18)
1. a kind of automatic setup system based on robot, comprising:
Robot (1), the robot have the manipulator (2) for keeping element to be assembled；
Positioning system (3), for carrying out coarse positioning to element to be assembled；
Vision system (4), for accurately identifying the position and direction of the element kept by the manipulator；
Station (5,6), the assembly manipulation of the robot executing element described in the station,
Wherein, the automatic setup system can be adaptive selected not according to the required assembly precision of element to be assembled
Same assembly path assembles element, wherein the different assembly path is included at least from the positioning system (3) directly
It is connected to the first assembly path of the station (5,6) and passes through the vision system (4) again to institute from the positioning system (3)
State the second assembly path of station (5,6).
2. automatic setup system according to claim 1, which is characterized in that the robot is configured as:
The assembly precision of element more to be assembled and scheduled multiple assembly precision grades, when the assembly essence of element to be assembled
When degree meets the first assembly precision grade, first assembly path is adaptive selected to the element in the automatic setup system
It is assembled；When the assembly precision of element to be assembled meets the second assembly precision grade, the automatic setup system is adaptive
Select second assembly path to assemble the element with answering；
Wherein, the corresponding assembly precision of the first assembly precision grade is lower than the corresponding assembly of the second assembly precision grade
Precision.
3. automatic setup system according to claim 1 or 2, which is characterized in that the artificial six-joint robot of machine.
4. automatic setup system according to claim 3, which is characterized in that the six-joint robot can be according to the view
The position and direction for the element that the manipulator that feel system (4) accurately identifies is kept are adaptively adjusted the assembly rail of the element
Mark.
5. automatic setup system according to claim 1, which is characterized in that the robot has fast replacing device, described
Manipulator is connected on robot body by the fast replacing device.
6. automatic setup system according to claim 1, which is characterized in that the quantity of the manipulator is two, wherein
One is Pneumatic paw, another is Pneumatic suction cup.
7. automatic setup system according to claim 1, which is characterized in that the station (5,6) further includes additional fixed
Position mechanism, for the element to be positioned and is fixed in the station when element assembles in station.
8. automatic setup system according to claim 1, which is characterized in that the station includes the first station (5)
With the second station (6), it is assembled to form sub-component in the first station, the sub-component is assembled in the second station and is remained
Remaining element is to form the final component assembled.
9. automatic setup system according to claim 1, which is characterized in that it further include automatic feeding system, the positioning
System is connect with the automatic feeding system.
10. a kind of automatic assembly method based on robot, includes the following steps:
Element to be assembled is loaded into positioning system, to carry out coarse positioning to element to be assembled；
Robot grabs from positioning system or loads the element to be assembled through coarse positioning；
Determine the required assembly precision of element to be assembled, and by the required assembly precision determined and in advance
Fixed multiple assembly precision grades are compared；
When the required assembly precision meets the first assembly precision grade, Robot Selection first assembles route to described
Element to be assembled is assembled；
When the required assembly precision meets the second assembly precision grade, Robot Selection is different from first assembly
Second assembly route of route assembles the element to be assembled.
11. automatic assembly method according to claim 10, wherein Robot Selection first assembles route to described to be installed
The step of element matched is assembled include:
Robot directly by the carry elements to be assembled through coarse positioning and is loaded into station, is then held in station
Row assembly manipulation.
12. automatic assembly method described in 0 or 11 according to claim 1, wherein Robot Selection second assembles route to described
The step of element to be assembled is assembled include:
Component to be assembled through coarse positioning is accurately identified by the vision system by described by robotic conveyance to vision system
The position and direction for the element to be assembled that robot is kept；
Under the guidance of the vision system, element to be assembled is transported and is accurately located in station, is then being filled
With executing assembly manipulation in station.
13. automatic assembly method according to claim 10, which is characterized in that the first assembly precision grade is corresponding
Assembly precision is lower than the corresponding assembly precision of the second assembly precision grade.
14. automatic assembly method according to claim 12, which is characterized in that the artificial six-joint robot of machine, institute
The method of stating further includes following steps:
According to the position and direction for the element that the robot that the vision system accurately identifies is kept, the six-joint robot is certainly
Adaptively adjust the assembly track of element to be assembled.
15. automatic assembly method according to claim 14, which is characterized in that the six-joint robot is adaptively adjusted
The step of assembly track of element to be assembled includes:
The six-joint robot adjusts element to be assembled with respect to the horizontal plane or the direction of vertical plane, so that element to be assembled
Another element being pre-positioned in station is assembled to by with respect to the horizontal plane or in a manner of vertical plane is at pre-determined tilt angle
On.
16. automatic assembly method according to claim 10, which is characterized in that assembled to the element to be assembled
The step of include: to be assembled to form sub-component in the first station, the sub-component and remaining is assembled in the second station
Element is to form the final component assembled.
17. a kind of for assembling the automatic assembly method of the component with sheet metal member, which includes at least the first gold medal
Belong to thin sheet element, the second sheet metal member and third sheet metal member, the automatic assembly method to include the following steps:
First sheet metal member is loaded into positioning system, to carry out coarse positioning to the first sheet metal member；
Determine the first assembly features of the first sheet metal member, and by first assembly features determined and true in advance
Fixed multiple assembly grades are compared；
When the first assembly features meet first assembly grade when, robot directly the first sheet metal member is loaded and position to
In first station；When the first assembly features meet the second assembly grade, robot is under the guidance of vision system by first
Sheet metal member is loaded and is accurately located in the first station；
Second sheet metal member is loaded into positioning system, to carry out coarse positioning to the second sheet metal member；
Determine the second assembly features of the second sheet metal member, and by second assembly features determined and true in advance
Fixed multiple assembly grades are compared；
When the second assembly features meet the first assembly grade, the second sheet metal member is directly transported to the first dress by robot
At station, and the second sheet metal member and the first sheet metal member are assembled, to form first sub-component；When the second assembly is special
When sign meets the second assembly grade, the second sheet metal member is transported to the first assembly under the guidance of vision system by robot
It stands place, and the second sheet metal member of accurate assembly and the first sheet metal member, to form first sub-component；
First sub-component is transmitted and is loaded into the second station；
First sub-component is located in the second station using additional positioning mechanism；
Third sheet metal member is loaded into positioning system, to carry out coarse positioning to third sheet metal member；
Determine the third assembly features of third sheet metal member, and by the third assembly features determined and true in advance
Fixed multiple assembly grades are compared；
When third assembly features meet the first assembly grade, third sheet metal member is directly transported to the second dress by robot
At station, and assemble third sheet metal member and first sub-component；When third assembly features meet the second assembly grade, machine
Third sheet metal member is transported at the second station by device people under the guidance of vision system, and accurate assembly third metal
Thin sheet element and first sub-component.
18. automatic assembly method according to claim 17, which is characterized in that first sheet metal member, described
Second sheet metal member and the third sheet metal member are respectively bottom cover, shim and the top of the connection cage of optical fiber connector
Lid.
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 CN107303636A (en) | 2017-10-31 |
| CN107303636B true CN107303636B (en) | 2019-06-14 |
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| 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) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108584026B (en) * | 2018-05-06 | 2021-09-21 | 长春融成智能设备制造股份有限公司 | Mechanical initial positioning and machine vision accurate positioning device and positioning method |
| CN110539299B (en) * | 2018-05-29 | 2021-08-17 | 北京京东尚科信息技术有限公司 | Robot working method, controller and robot system |
| CN108942208B (en) * | 2018-07-06 | 2020-02-21 | 苏州富强科技有限公司 | Pasting and assembling process for swing piece assembly |
| CN108747269B (en) * | 2018-07-06 | 2023-11-24 | 苏州富强科技有限公司 | Pendulum piece subassembly assembly quality based on CCD counterpoint |
| 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 |
| 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 |
| CN113298876A (en) * | 2020-07-20 | 2021-08-24 | 阿里巴巴集团控股有限公司 | Storage position identification method and device |
| 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 |
| CN114932541B (en) * | 2022-06-15 | 2023-07-25 | 中迪机器人(盐城)有限公司 | Robot-based automatic assembly system and method |
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| US5353490A (en) * | 1993-09-08 | 1994-10-11 | Allen-Bradley Company, Inc. | Modular product assembly platform |
| JP3287152B2 (en) * | 1994-12-27 | 2002-05-27 | 日産自動車株式会社 | Automatic assembly of workpieces by assembly robot |
| US6886231B2 (en) * | 1999-06-25 | 2005-05-03 | Burke E. Porter Machinery Company | Robotic apparatus and method for mounting a valve stem on a wheel rim |
| ATE424976T1 (en) * | 2005-05-20 | 2009-03-15 | Abb Research Ltd | ACCELEROMETER FOR MOTION CONTROL OF A TOOL ATTACHED TO A ROBOT END EFFECTOR |
| JP5528095B2 (en) * | 2009-12-22 | 2014-06-25 | キヤノン株式会社 | Robot system, control apparatus and method thereof |
| JP5755038B2 (en) * | 2010-06-28 | 2015-07-29 | キヤノン株式会社 | Assembly equipment and production system |
| JP2013078825A (en) * | 2011-10-04 | 2013-05-02 | Yaskawa Electric Corp | Robot apparatus, robot system, and method for manufacturing workpiece |
| CN103481297B (en) * | 2012-06-08 | 2016-04-06 | 株式会社安川电机 | The assemble method that robot chamber is first, robot chamber is first and robot system |
| CN103264738B (en) * | 2013-06-07 | 2015-07-01 | 上海发那科机器人有限公司 | Automatic assembling system and method for vehicle windshield glass |
| CN104302163B (en) * | 2013-07-19 | 2018-01-09 | 泰科电子(上海)有限公司 | Automatic setup system and method |
| CN104057290B (en) * | 2014-06-24 | 2016-09-14 | 中国科学院自动化研究所 | A kind of robotic asssembly method and system of view-based access control model and force-feedback control |
| CN104690551B (en) * | 2015-03-18 | 2017-03-01 | 中国科学院自动化研究所 | A kind of robot automation's assembly system |
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2016
- 2016-04-19 CN CN201610243845.2A patent/CN107303636B/en active Active
-
2017
- 2017-04-12 TW TW106112123A patent/TWI711517B/en not_active IP Right Cessation
- 2017-04-18 WO PCT/IB2017/052200 patent/WO2017182937A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| TWI711517B (en) | 2020-12-01 |
| CN107303636A (en) | 2017-10-31 |
| TW201739589A (en) | 2017-11-16 |
| WO2017182937A1 (en) | 2017-10-26 |
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