CN107571246A - A kind of component assembly system and method based on tow-armed robot - Google Patents
A kind of component assembly system and method based on tow-armed robot Download PDFInfo
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- CN107571246A CN107571246A CN201710954110.5A CN201710954110A CN107571246A CN 107571246 A CN107571246 A CN 107571246A CN 201710954110 A CN201710954110 A CN 201710954110A CN 107571246 A CN107571246 A CN 107571246A
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Abstract
The invention discloses a kind of component assembly system and method based on tow-armed robot, the system includes：Base；The feed mechanism being arranged on base, it is used to place part to be assembled；The tow-armed robot being arranged on base, it is used for Assembly part, and, the visual identifying system being arranged on tow-armed robot, it is used to treat Assembly part progress three-dimensional reconstruction, to gather rigging position information and send to the tow-armed robot.Cooperative motion of the invention by two mechanical arms, master arm exchange in real time with slave arm, realize the upset of assembling semi-finished product in space, cancel upset frock, and working range can be adjusted by the rotation in each joint of mechanical arm, realization is quickly remodeled or feed supplement, improves efficiency of assembling.
Description
Technical field
The present invention relates to Industrial Robot Technology field, and in particular to a kind of component assembly system based on tow-armed robot
And method.
Background technology
Electronic industry product category is more, and package assembly is complicated, and 3C assembles the picture mobile phone, notes that demand is most in industry at present
The assembling of the portable sets such as sheet, tablet personal computer is most of by being accomplished manually, and needs to handle substantial amounts of special-shaped thin wall part, and
Assembled between part for Over-constrained, inappropriate external force, operation can all cause precision to be lost, the once conjunction of the product of manual assembly
Lattice rate is relatively low.
Traditional one armed robot is suitable only for the operation of rigid workpiece, and is limited by environment, and to many assembly works
For single armed operation be inadequate.Sophisticated electronic product is assembled using traditional robot, not only needs substantial amounts of frock to determine
Position could complete the assembling of special-shaped part, and the assembling of a kind of product can only be met by often making a frock, and have frock to determine
It is largely that assembling is completed in a plane, but the assembling of electronic product needs the assembling in each face, is during the assembling of position
Assembling in one three dimensions, therefore a turning device is also needed in traditional Fixture Design, this results in tradition machinery
The efficiency of arm assembling is low.
The content of the invention
It is an object of the invention to provide a kind of special-shaped thin wall component assembly system and method based on tow-armed robot, solve
Certainly above-mentioned problem of the prior art.
To reach above-mentioned purpose, the invention provides a kind of component assembly system based on tow-armed robot, including：
Base；
The feed mechanism being arranged on base, it is used to place part to be assembled；
The tow-armed robot being arranged on base, it is used for Assembly part, and,
The visual identifying system being arranged on tow-armed robot, it is used to treat Assembly part progress three-dimensional reconstruction, to adopt
Packaging is with positional information and sends to the tow-armed robot.
The above-mentioned component assembly system based on tow-armed robot, wherein, the feed mechanism includes：
The profiling groove matched with part shape to be assembled, is arranged on feed mechanism, and it is used to place to be installed replace the spare parts；
The fast-positioning device being arranged on feed mechanism, it is used for feed mechanism and the fast positioning to be installed that replaces the spare parts.
The above-mentioned component assembly system based on tow-armed robot, wherein, the first positioning hole is provided with the base；Often
Individual to be installed replace the spare parts up to is provided with second positioning hole less；The fast-positioning device includes：
The first alignment pin coordinated with the first positioning hole, is arranged on feed mechanism, and it is used for quickly fixed to feed mechanism
Position；
The second alignment pin coordinated with the second positioning hole, is arranged on feed mechanism, and it is used to treating Assembly part quick
Positioning.
The above-mentioned component assembly system based on tow-armed robot, wherein, the tow-armed robot includes：
The robot body being arranged on base；
The mechanical arm of each one of robot body both sides is arranged on, it is used to grip part to be assembled；
The controller being arranged on robot body, it is connected with mechanical arm and visual identifying system respectively, for controlling
The motion of mechanical arm.
The above-mentioned component assembly system based on tow-armed robot, wherein, the mechanical arm is connected by multiple rotary joints
Form, it also includes：
With rotary joint multiple rotary joint motors correspondingly, it is connected with controller, for adjusting rotary joint
Position；
The flexible assembly fixture of mechanical arm tail end is arranged on, its material is elastomeric material, for adsorbing special-shaped thin wall part,
So that part being capable of minute movement and swing；
The multi-dimension force sensor of mechanical arm tail end is arranged on, it is connected with controller, for measuring mechanical arm tail end flexibility
The contact of assembling jig and part.
The above-mentioned component assembly system based on tow-armed robot, wherein, the controller includes：
Position control ring, it is used to the contact signal received from multi-dimension force sensor being converted into mechanical arm tail end position
Confidence number；
Direct torque ring, it is used for the mechanical arm tail end position signalling adjustment rotary joint electricity sent according to position control ring
The torque of machine.
The above-mentioned component assembly system based on tow-armed robot, wherein, the visual identifying system includes：
Visual identifying system support；
The binocular vision camera being arranged on visual identifying system support, it is connected with controller, to be assembled for gathering
The image information of part；
A laser range sensor being arranged on visual identifying system support, it is connected with controller, for gathering
The positional information to be installed to replace the spare parts.
Present invention also offers a kind of component assembling method based on tow-armed robot, comprise the steps of：
Step 1：Parts Recognition：To assembling semi-finished product collection image information and controller is passed to by binocular vision camera,
Controller control machinery arm is moved to above assembling semi-finished product；
Step 2：Part captures：Two mechanical arms of tow-armed robot are divided into master arm and slave arm, and controller can be real
When control mechanical arm to carry out the exchange of master arm and slave arm；Controller control slave arm clamps assembling by flexible assembly fixture
Semi-finished product are simultaneously hanging, wait assembling to be combined；
Step 3：It is accurately positioned：Controller controls master arm and slave arm to spin upside down assembling semi-finished product, will assembling half
Finished product bottom surface is upward；And the position gathered by binocular vision camera acquired image information and laser distance sensor is believed
The three-dimensional body reconstruction that assembling semi-finished product are carried out with redundant constaint point is ceased, is accurately positioned the position of each redundant constaint point；
Step 4：Combination assembling：Controller control master arm, which is clamped, to be installed to replace the spare parts and takes out；And according to redundant constaint point
Precise position information, carry out it is to be installed replace the spare parts and assemble semi-finished product combination assemble；Combine assembling process in, controller according to
The signal of multi-dimension force sensor, contact and the position of mechanical arm are adjusted, the mixing control of power and position is carried out, with reference to flexibility
Assembling jig makes replace the spare parts minute movement within the specific limits and swing to be installed, realizes once being assembled to for each redundant constaint point
Position.
The above-mentioned component assembling method based on tow-armed robot, wherein, it is described to spin upside down assembling process of semi-finished
Specially：
Step A1：Controller control slave arm clamps assembling semi-finished product from the back side, and controls master arm simultaneously from assembling half
Clamped in the front of finished product；
Step A2：After assembling semi-finished product are clamped completely, controller control master arm and slave arm will assemble semi-finished product just
Face and the upset at the back side；
Step A3：After assembling semi-finished product upset, controller control master arm and slave arm exchange, and control master arm to decontrol
Assemble semi-finished product.
The above-mentioned component assembling method based on tow-armed robot, wherein, the method that the three-dimensional body is rebuild is specially：
Step B1：Controller carries out gradient edge calculating to binocular vision camera acquired image information；
Step B2：Controller is carried out according to the positional information that laser range sensor is gathered to the marginal point of image information
Three-dimensional reconstruction；
Step B3：Controller is fitted three-dimensional coordinate to the point do not rebuild according to the marginal point of surrounding.
Relative to prior art, the invention has the advantages that：
Component assembly system and method for the invention based on tow-armed robot, is passed by binocular vision camera and laser ranging
Sensor realizes the three-dimensional reconstruction to be installed to replace the spare parts, realizes the collection of rigging position information, then install by two mechanical arm tail ends
Multi-dimension force sensor, realize the power and Position Hybrid Control to mechanical arm tail end flexible assembly fixture, with reference to flexible assembly press from both sides
Have to part and assembling semi-finished product flexible crawl after can minute movement and swing within the specific limits, compensated by above measure
The supplied materials error of part and whole mechanical arm realize contraposition in three dimensions, complete the flexibility of part to the error of fixture
Redundancy coordinates assembling；Exchanged in real time with slave arm by the cooperative motion of two mechanical arms, master arm again, realize assembling semi-finished product
Upset in space, cancel upset frock, and working range can be adjusted by the rotation in each joint of mechanical arm, realize
It is quick to remodel or feed supplement, improve efficiency of assembling.
Brief description of the drawings
Fig. 1 is the structural representation of the component assembly system of the invention based on tow-armed robot.
Embodiment
Below in conjunction with accompanying drawing, by specific embodiment, the invention will be further described, and these embodiments are merely to illustrate
The present invention, it is not limiting the scope of the invention.
As shown in figure 1, the invention provides a kind of component assembly system based on tow-armed robot, including：
Base 100；
The feed mechanism 200 being arranged on base 100, it is used to place part to be assembled；
The tow-armed robot being arranged on base 100, it is used for Assembly part, and,
The visual identifying system being arranged on tow-armed robot, it is used to treat Assembly part progress three-dimensional reconstruction, to adopt
Packaging is with positional information and sends to the tow-armed robot.
The feed mechanism 200 includes：
The profiling groove matched with part shape to be assembled, is arranged on feed mechanism 200, and it is used to place to be assembled zero
Part；
The fast-positioning device being arranged on feed mechanism 200, its be used for feed mechanism 200 and it is to be installed replace the spare parts it is quick
Positioning.
The first positioning hole is provided with the base 100；Each to be installed replace the spare parts up to is provided with one second less
Positioning hole；
The fast-positioning device includes：
The first alignment pin coordinated with the first positioning hole, is arranged on feed mechanism 200, it is used for feed mechanism 200
Fast positioning；
The second alignment pin coordinated with the second positioning hole, is arranged on feed mechanism 200, and it is used to treating Assembly part fast
Speed positioning.Second alignment pin be used for insert in the second positioning hole on to be installed replace the spare parts with realize it is to be installed replace the spare parts determine
Position, to be installed replace the spare parts is not fixed between feed mechanism 200, in order to the gripping of mechanical arm 320.
A kind of embodiment, for it is small it is to be installed replace the spare parts, it is each it is to be installed replace the spare parts on be provided with second positioning hole, can
To place multiple findings on feed mechanism 200.
A kind of embodiment, for it is big it is to be installed replace the spare parts, each to be installed replace the spare parts up to is provided with one second positioning less
Hole, a big part can be at least put on feed mechanism 200, multiple big parts can also be put.
The tow-armed robot includes：
The robot body 310 being arranged on base 100；
The mechanical arm 320 of each one of the both sides of robot body 310 is arranged on, it is used to grip part to be assembled；
The controller being arranged on robot body 310, it is connected with mechanical arm 320 and visual identifying system respectively, uses
In the motion of control machinery arm 320.
The mechanical arm 320 is connected and composed by multiple rotary joints 321, and it also includes：
With the multiple rotary joint motors correspondingly of rotary joint 321, it is connected with controller, is closed for adjusting rotation
The position of section 321；
The flexible assembly fixture 322 of the end of mechanical arm 320 is arranged on, it is used to grip part to be assembled；
The multi-dimension force sensor of the end of mechanical arm 320 is arranged on, it is connected with controller, for measuring the end of mechanical arm 320
Hold the contact of flexible assembly fixture 322 and part.
The controller includes：
Position control ring, it is used to the contact signal received from multi-dimension force sensor being converted into the end of mechanical arm 320
End position signal；
Direct torque ring, its distal tip position signal of mechanical arm 320 adjustment rotation for being used to be sent according to position control ring are closed
Save the torque of motor.
The material of the flexible assembly fixture 322 is elastomeric material, for adsorbing special-shaped thin wall part, so that part can
Minute movement and swing.
The visual identifying system includes：
Visual identifying system support；
The binocular vision camera 410 being arranged on visual identifying system support, it is connected with controller, to be installed for gathering
The image information to replace the spare parts；
A laser range sensor 420 being arranged on visual identifying system support, it is connected with controller, for adopting
Collect the positional information to be installed to replace the spare parts.
The both sides of robot body 310 are each provided with multiple feed mechanisms 200 and a visual identifying system.Each regard
Feel that identifying system corresponds to multiple feed mechanisms 200 in face of it, for gathering the image letter to be installed to replace the spare parts on feeding framework
Breath and positional information.Only from feeding at side feed mechanism 200, the feed mechanism of opposite side when tow-armed robot assembles every time
Feed supplement or work of remodeling can be carried out at 200, after the part in present operating range is used up, the tow-armed robot can pass through
Coordinate the motion in joint, working range is changed to offside feed mechanism 200, continues feeding assembly work.
Present invention also offers a kind of component assembling method based on tow-armed robot, comprise the steps of：
Step 1：Parts Recognition：By binocular vision camera 410 to the assembling semi-finished product (centre after multiple part combination assemblings
Product or part to be assembled) gather image information and pass to controller, controller control machinery arm 320 moves to assembling half
Above finished product；
Step 2：Part captures：Two mechanical arms 320 of tow-armed robot divide can for master arm and slave arm, controller
Real time control machine tool arm 320 carries out the exchange of master arm and slave arm；Controller control slave arm passes through flexible assembly fixture 322
Assembling semi-finished product and hanging are clamped, wait assembling to be combined；
Step 3：It is accurately positioned：Controller controls master arm and slave arm to spin upside down assembling semi-finished product, will assembling half
Finished product bottom surface is upward；And the position gathered by the acquired image information of binocular vision camera 410 and laser distance sensor
The three-dimensional body that confidence breath carries out redundant constaint point to assembling semi-finished product is rebuild, and is accurately positioned the position of each redundant constaint point；
Step 4：Combination assembling：Controller control master arm, which is clamped, to be installed to replace the spare parts and takes out；And according to redundant constaint point
Precise position information, carry out it is to be installed replace the spare parts and assemble semi-finished product combination assemble；Combine assembling process in, controller according to
The signal of multi-dimension force sensor, contact and the position of mechanical arm 320 are adjusted, carry out the mixing control of power and position, with reference to
Flexible assembly fixture 322 makes replace the spare parts minute movement within the specific limits and swing to be installed, realizes each redundant constaint point once
Assembling is in place.
It is described spin upside down assembling process of semi-finished be specially：
Step A1：Controller control slave arm clamps assembling semi-finished product from the back side, and controls master arm simultaneously from assembling half
Clamped in the front of finished product；
Step A2：After assembling semi-finished product are clamped completely, controller control master arm and slave arm will assemble semi-finished product just
Face and the upset at the back side；
Step A3：After assembling semi-finished product upset, controller control master arm and slave arm exchange, and control master arm to decontrol
Assemble semi-finished product.
The method that the three-dimensional body is rebuild is specially：
Step B1：Controller carries out gradient edge calculating to the acquired image information of binocular vision camera 410；
Step B2：Marginal point of the controller according to the positional information that laser range sensor 420 is gathered to image information
Carry out three-dimensional reconstruction；
Step B3：Controller is fitted three-dimensional coordinate to the point do not rebuild according to the marginal point of surrounding.
In summary, the component assembly system and method based on tow-armed robot of the invention, by binocular vision camera and
Laser range sensor realizes the three-dimensional reconstruction to be installed to replace the spare parts, realizes the collection of rigging position information, then pass through two machineries
The multi-dimension force sensor of arm end installation, realizes the power and Position Hybrid Control to mechanical arm tail end flexible assembly fixture, with reference to
Flexible assembly fixture to part and assembling semi-finished product flexible crawl after can minute movement and swing within the specific limits, by with
The supplied materials error of upper measure compensation part and whole mechanical arm are realized contraposition in three dimensions, completed to the error of fixture
The flexible redundancy of part coordinates assembling；Exchanged, realized in real time with slave arm by the cooperative motion of two mechanical arms, master arm again
The upset of semi-finished product in space is assembled, cancels upset frock, and work can be adjusted by the rotation in each joint of mechanical arm
Scope, realization is quickly remodeled or feed supplement, improves efficiency of assembling.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
- A kind of 1. component assembly system based on tow-armed robot, it is characterised in that including：Base；The feed mechanism being arranged on base, it is used to place part to be assembled；The tow-armed robot being arranged on base, it is used for Assembly part, and,The visual identifying system being arranged on tow-armed robot, it is used to treat Assembly part progress three-dimensional reconstruction, to gather dress With positional information and send to the tow-armed robot.
- 2. the component assembly system based on tow-armed robot as claimed in claim 1, it is characterised in that the feed mechanism bag Include：The profiling groove matched with part shape to be assembled, is arranged on feed mechanism, and it is used to place to be installed replace the spare parts；The fast-positioning device being arranged on feed mechanism, it is used for feed mechanism and the fast positioning to be installed that replaces the spare parts.
- 3. the component assembly system based on tow-armed robot as claimed in claim 2, it is characterised in that set on the base There is the first positioning hole；Each to be installed replace the spare parts up to is provided with second positioning hole less；The fast-positioning device bag Include：The first alignment pin coordinated with the first positioning hole, is arranged on feed mechanism, it is used for feed mechanism fast positioning；The second alignment pin coordinated with the second positioning hole, is arranged on feed mechanism, it is used to treat Assembly part fast positioning.
- 4. the component assembly system based on tow-armed robot as claimed in claim 1, it is characterised in that the tow-armed robot Including：The robot body being arranged on base；The mechanical arm of each one of robot body both sides is arranged on, it is used to grip part to be assembled；The controller being arranged on robot body, it is connected with mechanical arm and visual identifying system respectively, for control machinery The motion of arm.
- 5. the component assembly system based on tow-armed robot as claimed in claim 4, it is characterised in that the mechanical arm is by more Individual rotary joint connects and composes, and it also includes：With rotary joint multiple rotary joint motors correspondingly, it is connected with controller, for adjusting the position of rotary joint Put；The flexible assembly fixture of mechanical arm tail end is arranged on, its material is elastomeric material, for adsorbing special-shaped thin wall part, so that Part being capable of minute movement and swing；The multi-dimension force sensor of mechanical arm tail end is arranged on, it is connected with controller, for measuring mechanical arm tail end flexible assembly The contact of fixture and part.
- 6. the component assembly system based on tow-armed robot as claimed in claim 5, it is characterised in that the controller bag Include：Position control ring, it is used to the contact signal received from multi-dimension force sensor being converted into mechanical arm tail end position letter Number；Direct torque ring, it is used for the mechanical arm tail end position signalling adjustment rotary joint motor sent according to position control ring Torque.
- 7. the component assembly system based on tow-armed robot as claimed in claim 4, it is characterised in that the visual recognition line System includes：Visual identifying system support；The binocular vision camera being arranged on visual identifying system support, it is connected with controller, for gathering to be installed replace the spare parts Image information；A laser range sensor being arranged on visual identifying system support, it is connected with controller, to be installed for gathering The positional information to replace the spare parts.
- 8. a kind of component assembling method based on tow-armed robot, it is characterised in that comprise the steps of：Step 1：Parts Recognition：To assembling semi-finished product collection image information and controller is passed to by binocular vision camera, is controlled Device control machinery arm is moved to above assembling semi-finished product；Step 2：Part captures：Two mechanical arms of tow-armed robot are divided into master arm and slave arm, and controller can be controlled in real time Mechanical arm processed carries out the exchange of master arm and slave arm；Controller control slave arm by flexible assembly fixture clamp assembling half into Product are simultaneously hanging, wait assembling to be combined；Step 3：It is accurately positioned：Controller controls master arm and slave arm to spin upside down assembling semi-finished product, will assemble semi-finished product Bottom surface is upward；And the positional information pair gathered by binocular vision camera acquired image information and laser distance sensor The three-dimensional body reconstruction that semi-finished product carry out redundant constaint point is assembled, is accurately positioned the position of each redundant constaint point；Step 4：Combination assembling：Controller control master arm, which is clamped, to be installed to replace the spare parts and takes out；And according to the essence of redundant constaint point True positional information, carry out the combination assembling to be installed for replacing the spare parts and assembling semi-finished product；Combine in assembling process, controller is according to multidimensional The signal of force snesor, contact and the position of mechanical arm are adjusted, the mixing control of power and position is carried out, with reference to flexible assembly Fixture makes replace the spare parts minute movement within the specific limits and swing to be installed, realizes the once assembling of each redundant constaint point in place.
- 9. the component assembling method based on tow-armed robot as claimed in claim 8, it is characterised in that described to spin upside down dress It is specially with process of semi-finished：Step A1：Controller control slave arm clamps assembling semi-finished product from the back side, and controls master arm simultaneously from assembling semi-finished product Front clamped；Step A2：Assembling semi-finished product clamp completely after, controller control master arm and slave arm will assemble semi-finished product front with The upset at the back side；Step A3：After assembling semi-finished product upset, controller control master arm and slave arm exchange, and control master arm to decontrol assembling Semi-finished product.
- 10. the component assembling method based on tow-armed robot as claimed in claim 8, it is characterised in that the three-dimensional body The method of reconstruction is specially：Step B1：Controller carries out gradient edge calculating to binocular vision camera acquired image information；Step B2：Controller carries out three-dimensional according to the positional information that laser range sensor is gathered to the marginal point of image information Rebuild；Step B3：Controller is fitted three-dimensional coordinate to the point do not rebuild according to the marginal point of surrounding.
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| CN201710954110.5A CN107571246B (en) | 2017-10-13 | 2017-10-13 | Part assembling system and method based on double-arm robot |
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| CN201710954110.5A CN107571246B (en) | 2017-10-13 | 2017-10-13 | Part assembling system and method based on double-arm robot |
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