CN107571246B - Part assembling system and method based on double-arm robot - Google Patents
Part assembling system and method based on double-arm robot Download PDFInfo
- Publication number
- CN107571246B CN107571246B CN201710954110.5A CN201710954110A CN107571246B CN 107571246 B CN107571246 B CN 107571246B CN 201710954110 A CN201710954110 A CN 201710954110A CN 107571246 B CN107571246 B CN 107571246B
- Authority
- CN
- China
- Prior art keywords
- arm
- assembled
- assembly
- double
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a part assembly system and a method based on a double-arm robot, wherein the system comprises: a base; the feeding mechanism is arranged on the base and used for placing parts to be assembled; the double-arm robot is arranged on the base and used for assembling parts, the visual recognition system is arranged on the double-arm robot and used for conducting three-dimensional reconstruction on the parts to be assembled so as to collect assembling position information and send the assembling position information to the double-arm robot. According to the invention, through the cooperative motion of the two mechanical arms, the driving arm and the driven arm are exchanged in real time, the overturning of the assembly semi-finished product in space is realized, the overturning tool is cancelled, the working range can be adjusted through the rotation of each joint of the mechanical arms, the rapid type changing or material supplementing is realized, and the assembly efficiency is improved.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a part assembling system and method based on a double-arm robot.
Background
The electronic industry products are various in types, assembly structures are complex, most of the assembly of portable equipment such as mobile phones, notebooks and tablet computers which are most in demand in the current 3C assembly industry is completed manually, a large number of special-shaped thin-wall parts need to be processed, excessive constraint assembly is performed among the parts, improper external force and operation can cause precision loss, and the one-time qualification rate of the manually assembled products is low.
Conventional single-arm robots are only suitable for the handling of rigid workpieces and are subject to environmental conditions, and single-arm handling is not sufficient for many assembly jobs. Complicated electronic product adopts traditional robot to assemble, not only need the assembly of a large amount of frock location could accomplish special-shaped part, every preparation frock can only satisfy the equipment of a type of product, and when having the assembly of frock location, the equipment is accomplished in a plane to most, but the assembly of electronic product needs the equipment of each face, is the equipment in a three-dimensional space, consequently still needs a turning device in traditional frock design, this inefficiency that just leads to traditional arm equipment.
Disclosure of Invention
The invention aims to provide a special-shaped thin-wall part assembling system and method based on a double-arm robot, which solve the problems in the prior art.
In order to achieve the above object, the present invention provides a part assembling system based on a double-arm robot, comprising:
a base;
the feeding mechanism is arranged on the base and used for placing parts to be assembled;
a dual-arm robot provided on the base for assembling parts, and,
the visual identification system is arranged on the double-arm robot and used for carrying out three-dimensional reconstruction on parts to be assembled so as to acquire assembling position information and send the assembling position information to the double-arm robot.
The above-mentioned part assembling system based on double-arm robot, wherein, the feed mechanism includes:
the profiling groove is matched with the part to be assembled in shape, is arranged on the feeding mechanism and is used for placing the part to be assembled;
and the quick positioning device is arranged on the feeding mechanism and is used for quickly positioning the feeding mechanism and the part to be assembled.
In the above part assembling system based on the double-arm robot, the base is provided with the first positioning hole; each part to be assembled is provided with at least one second positioning hole; the quick positioning device comprises:
the first positioning pin is matched with the first positioning hole, is arranged on the feeding mechanism and is used for quickly positioning the feeding mechanism;
and the second positioning pin matched with the second positioning hole is arranged on the feeding mechanism and used for quickly positioning the part to be assembled.
The above-mentioned part assembling system based on the two-arm robot, wherein the two-arm robot comprises:
a robot main body disposed on the base;
the mechanical arms are arranged on two sides of the robot main body respectively and used for clamping parts to be assembled;
and the controller is arranged on the robot main body, is respectively connected with the mechanical arm and the visual recognition system, and is used for controlling the movement of the mechanical arm.
The above-mentioned part assembling system based on the double-arm robot, wherein the mechanical arm is formed by connecting a plurality of rotary joints, and it further comprises:
the rotary joint motors are in one-to-one correspondence with the rotary joints, are connected with the controller and are used for adjusting the positions of the rotary joints;
the flexible assembling clamp is arranged at the tail end of the mechanical arm and is made of elastic materials and used for adsorbing the special-shaped thin-wall part so that the part can slightly move and swing;
and the multidimensional force sensor is arranged at the tail end of the mechanical arm, is connected with the controller and is used for measuring the contact pressure of the flexible assembling clamp at the tail end of the mechanical arm and the part.
The double-arm robot-based parts assembling system as described above, wherein the controller comprises:
a position control loop for converting a contact pressure signal received from the multi-dimensional force sensor into a mechanical arm end position signal;
and the torque control ring is used for adjusting the torque of the rotary joint motor according to the mechanical arm tail end position signal sent by the position control ring.
The double-arm robot-based part assembling system as described above, wherein the vision recognition system comprises:
a visual recognition system mount;
the binocular vision camera is arranged on the vision recognition system bracket, is connected with the controller and is used for acquiring image information of the part to be assembled;
and the laser ranging sensor is arranged on the visual recognition system bracket, is connected with the controller and is used for acquiring the position information of the part to be assembled.
The invention also provides a part assembling method based on the double-arm robot, which comprises the following steps:
step 1: part identification: acquiring image information of the assembly semi-finished product by using a binocular vision camera and transmitting the image information to a controller, wherein the controller controls the mechanical arm to move above the assembly semi-finished product;
step 2: grabbing parts: the two mechanical arms of the double-arm robot are divided into a driving arm and a driven arm, and the controller can control the mechanical arms to exchange the driving arm and the driven arm in real time; the controller controls the driven arm to clamp the assembly semi-finished product through the flexible assembly fixture and suspend in the air to wait for assembly;
and step 3: and (3) accurate positioning: the controller controls the driving arm and the driven arm to turn over the assembled semi-finished product up and down so as to enable the bottom surface of the assembled semi-finished product to face upwards; performing redundant three-dimensional object reconstruction of constraint points on the semi-finished assembly product through image information acquired by a binocular vision camera and position information acquired by a laser distance sensor, and accurately positioning the position of each redundant constraint point;
and 4, step 4: assembling: the controller controls the driving arm to clamp the part to be assembled and take out the part; according to the accurate position information of the redundant constraint points, performing combined assembly on the parts to be assembled and the assembled semi-finished products; in the combined assembly process, the controller adjusts the contact pressure and the position of the mechanical arm according to signals of the multi-dimensional force sensor, mixed control of force and position is carried out, and the flexible assembly fixture is combined to enable the part to be assembled to slightly move and swing within a certain range, so that the one-time assembly of each redundant constraint point is realized.
The part assembling method based on the double-arm robot comprises the following steps of:
step A1: the controller controls the driven arm to clamp the assembly semi-finished product from the back side and controls the driving arm to clamp the assembly semi-finished product from the front side;
step A2: after the semi-finished assembly product is completely clamped, the controller controls the driving arm and the driven arm to turn over the front side and the back side of the semi-finished assembly product;
step A3: and after the assembly semi-finished product is turned over, the controller controls the driving arm and the driven arm to exchange and controls the driving arm to release the assembly semi-finished product.
The part assembling method based on the double-arm robot comprises the following steps of:
step B1: the controller carries out gradient edge calculation on image information acquired by the binocular vision camera;
step B2: the controller carries out three-dimensional reconstruction on edge points of the image information according to the position information acquired by the laser ranging sensor;
step B3: the controller fits three-dimensional coordinates to the points that are not reconstructed from the surrounding edge points.
Compared with the prior art, the invention has the following beneficial effects:
the invention relates to a part assembly system and a method based on a double-arm robot, which realize three-dimensional reconstruction of parts to be assembled and acquisition of assembly position information through a binocular vision camera and a laser ranging sensor, realize force and position hybrid control of a flexible assembly fixture at the tail end of a mechanical arm through a multidimensional force sensor arranged at the tail ends of two mechanical arms, and realize alignment in a three-dimensional space by combining the flexible assembly fixture to slightly move and swing in a certain range after flexibly grabbing parts and assembly semi-finished products, compensating the feeding error of the parts and the error from the whole mechanical arm to the fixture through the measures, and finishing flexible redundant matching assembly of the parts; and then the active arm and the driven arm are exchanged in real time through the cooperative motion of the two mechanical arms, so that the overturning of the assembly semi-finished product in the space is realized, an overturning tool is cancelled, the working range can be adjusted through the rotation of each joint of the mechanical arms, the rapid type changing or material supplementing is realized, and the assembly efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of a part assembling system based on a double-arm robot according to the present invention.
Detailed Description
The invention will be further described by the following specific examples in conjunction with the drawings, which are provided for illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the present invention provides a part assembling system based on a dual-arm robot, comprising:
a base 100;
a feeding mechanism 200 provided on the base 100 for placing parts to be assembled;
a two-arm robot provided on the base 100, which is used to assemble parts, and,
the visual identification system is arranged on the double-arm robot and used for carrying out three-dimensional reconstruction on parts to be assembled so as to acquire assembling position information and send the assembling position information to the double-arm robot.
The feeding mechanism 200 includes:
the profiling groove matched with the shape of the part to be assembled is arranged on the feeding mechanism 200 and is used for placing the part to be assembled;
and the quick positioning device is arranged on the feeding mechanism 200 and is used for quickly positioning the feeding mechanism 200 and the part to be assembled.
A first positioning hole is formed in the base 100; each part to be assembled is provided with at least one second positioning hole;
the quick positioning device comprises:
the first positioning pin matched with the first positioning hole is arranged on the feeding mechanism 200 and used for quickly positioning the feeding mechanism 200;
and a second positioning pin matched with the second positioning hole is arranged on the feeding mechanism 200 and used for quickly positioning the part to be assembled. The second positioning pin is used for being inserted into a second positioning hole on the part to be assembled to position the part to be assembled, and the part to be assembled and the feeding mechanism 200 are not fixed, so that the mechanical arm 320 can be clamped conveniently.
In one embodiment, for small parts to be assembled, each part to be assembled is provided with one second positioning hole, and a plurality of small parts can be placed on the feeding mechanism 200.
According to an embodiment, at least one second positioning hole is formed in each large part to be assembled, and at least one large part or a plurality of large parts can be placed on the feeding mechanism 200.
The dual-arm robot includes:
a robot main body 310 provided on the base 100;
a robot arm 320 provided at each of both sides of the robot main body 310, for gripping a part to be assembled;
and a controller provided on the robot body 310 and respectively connected to the robot arm 320 and the vision recognition system for controlling the movement of the robot arm 320.
The mechanical arm 320 is formed by connecting a plurality of rotary joints 321, and further includes:
a plurality of rotary joint motors in one-to-one correspondence with the rotary joints 321, connected to the controller, for adjusting the positions of the rotary joints 321;
a flexible assembly jig 322 provided at the end of the robot arm 320 for gripping a part to be assembled;
and a multi-dimensional force sensor arranged at the tail end of the mechanical arm 320, which is connected with the controller and is used for measuring the contact pressure of the flexible assembling clamp 322 at the tail end of the mechanical arm 320 and the part.
The controller includes:
a position control loop for converting a contact pressure signal received from the multi-dimensional force sensor into a robot arm 320 tip position signal;
and a torque control loop for adjusting the torque of the rotary joint motor according to the position signal of the end of the mechanical arm 320 sent by the position control loop.
The flexible assembling clamp 322 is made of an elastic material and is used for adsorbing special-shaped thin-wall parts so that the parts can slightly move and swing.
The vision recognition system includes:
a visual recognition system mount;
the binocular vision camera 410 is arranged on the visual recognition system bracket, is connected with the controller and is used for collecting the image information of the part to be assembled;
and the laser ranging sensor 420 is arranged on the visual recognition system bracket, is connected with the controller and is used for collecting the position information of the part to be assembled.
A plurality of feeding mechanisms 200 and a visual recognition system are respectively arranged on two sides of the robot main body 310. Each vision recognition system corresponds to a plurality of feeding mechanisms 200 in front of the vision recognition system and is used for collecting image information and position information of parts to be assembled on the feeding mechanisms. The double-arm robot only gets material from one side feed mechanism 200 department during every assembly, and feed supplement or the work of remodeling can be carried out in the feed mechanism 200 department of opposite side, and after the part in the current working range was used up, the double-arm robot can be through coordinating articular motion, with working range conversion to offside feed mechanism 200, continue to get material assembly work.
The invention also provides a part assembling method based on the double-arm robot, which comprises the following steps:
step 1: part identification: the binocular vision camera 410 collects image information of the assembly semi-finished product (an intermediate product after a plurality of parts are assembled or a part to be assembled) and transmits the image information to the controller, and the controller controls the mechanical arm 320 to move above the assembly semi-finished product;
step 2: grabbing parts: the two mechanical arms 320 of the double-arm robot are divided into a driving arm and a driven arm, and the controller can control the mechanical arms 320 to exchange the driving arm and the driven arm in real time; the controller controls the driven arm to clamp the assembly semi-finished product through the flexible assembly clamp 322 and suspend in the air to wait for assembly;
and step 3: and (3) accurate positioning: the controller controls the driving arm and the driven arm to turn over the assembled semi-finished product up and down so as to enable the bottom surface of the assembled semi-finished product to face upwards; performing redundant three-dimensional object reconstruction of constraint points on the assembly semi-finished product through image information acquired by the binocular vision camera 410 and position information acquired by the laser distance sensor, and accurately positioning the position of each redundant constraint point;
and 4, step 4: assembling: the controller controls the driving arm to clamp the part to be assembled and take out the part; according to the accurate position information of the redundant constraint points, performing combined assembly on the parts to be assembled and the assembled semi-finished products; in the combined assembly process, the controller adjusts the contact pressure and position of the mechanical arm 320 according to signals of the multi-dimensional force sensor, performs mixed control of force and position, and combines the flexible assembly clamp 322 to enable the part to be assembled to slightly move and swing within a certain range, so that one-time assembly of each redundant constraint point is realized.
The method for assembling the semi-finished product by turning up and down specifically comprises the following steps:
step A1: the controller controls the driven arm to clamp the assembly semi-finished product from the back side and controls the driving arm to clamp the assembly semi-finished product from the front side;
step A2: after the semi-finished assembly product is completely clamped, the controller controls the driving arm and the driven arm to turn over the front side and the back side of the semi-finished assembly product;
step A3: and after the assembly semi-finished product is turned over, the controller controls the driving arm and the driven arm to exchange and controls the driving arm to release the assembly semi-finished product.
The method for reconstructing the three-dimensional object specifically comprises the following steps:
step B1: the controller performs gradient edge calculation on the image information acquired by the binocular vision camera 410;
step B2: the controller carries out three-dimensional reconstruction on the edge points of the image information according to the position information acquired by the laser ranging sensor 420;
step B3: the controller fits three-dimensional coordinates to the points that are not reconstructed from the surrounding edge points.
In conclusion, the part assembling system and method based on the double-arm robot realize three-dimensional reconstruction of parts to be assembled through the binocular vision camera and the laser ranging sensor, realize the acquisition of assembling position information, realize the force and position mixed control of the flexible assembling clamp at the tail end of the mechanical arm through the multidimensional force sensor arranged at the tail end of the two mechanical arms, combine the flexible assembling clamp to slightly move and swing in a certain range after the flexible grabbing of the parts and the assembling semi-finished products, compensate the feeding error of the parts and the error from the whole mechanical arm to the clamp through the measures, realize the alignment in a three-dimensional space, and finish the flexible redundant matching assembly of the parts; and then the active arm and the driven arm are exchanged in real time through the cooperative motion of the two mechanical arms, so that the overturning of the assembly semi-finished product in the space is realized, an overturning tool is cancelled, the working range can be adjusted through the rotation of each joint of the mechanical arms, the rapid type changing or material supplementing is realized, and the assembly efficiency is improved.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. A part assembling method based on a double-arm robot is characterized by comprising the following steps:
step 1: part identification: acquiring image information of the assembly semi-finished product by using a binocular vision camera and transmitting the image information to a controller, wherein the controller controls the mechanical arm to move above the assembly semi-finished product;
step 2: grabbing parts: the two mechanical arms of the double-arm robot are divided into a driving arm and a driven arm, and the controller can control the mechanical arms to exchange the driving arm and the driven arm in real time; the controller controls the driven arm to clamp the assembly semi-finished product through the flexible assembly fixture and suspend in the air to wait for assembly;
and step 3: and (3) accurate positioning: the controller controls the driving arm and the driven arm to turn over the assembled semi-finished product up and down so as to enable the bottom surface of the assembled semi-finished product to face upwards; performing redundant three-dimensional object reconstruction of constraint points on the semi-finished assembly product through image information acquired by a binocular vision camera and position information acquired by a laser distance sensor, and accurately positioning the position of each redundant constraint point;
and 4, step 4: assembling: the controller controls the driving arm to clamp the part to be assembled and take out the part; according to the accurate position information of the redundant constraint points, performing combined assembly on the parts to be assembled and the assembled semi-finished products; in the combined assembly process, the controller adjusts the contact pressure and the position of the mechanical arm according to signals of the multi-dimensional force sensor, mixed control of force and position is carried out, and the flexible assembly fixture is combined to enable the part to be assembled to slightly move and swing within a certain range, so that the one-time assembly of each redundant constraint point is realized.
2. The double-arm robot-based part assembling method according to claim 1, wherein the method of assembling the semi-finished product by turning upside down is embodied as follows:
step A1: the controller controls the driven arm to clamp the assembly semi-finished product from the back side and controls the driving arm to clamp the assembly semi-finished product from the front side;
step A2: after the semi-finished assembly product is completely clamped, the controller controls the driving arm and the driven arm to turn over the front side and the back side of the semi-finished assembly product;
step A3: and after the assembly semi-finished product is turned over, the controller controls the driving arm and the driven arm to exchange and controls the driving arm to release the assembly semi-finished product.
3. The method for assembling parts based on a dual-arm robot as claimed in claim 1, wherein the method for reconstructing the three-dimensional object is embodied as follows:
step B1: the controller carries out gradient edge calculation on image information acquired by the binocular vision camera;
step B2: the controller carries out three-dimensional reconstruction on edge points of the image information according to the position information acquired by the laser ranging sensor;
step B3: the controller fits three-dimensional coordinates to the points that are not reconstructed from the surrounding edge points.
4. The dual-arm robot-based parts assembling method according to claim 1, which is implemented by a dual-arm robot-based parts assembling system comprising:
a base;
the feeding mechanism is arranged on the base and used for placing parts to be assembled;
a dual-arm robot provided on the base for assembling parts, and,
the visual identification system is arranged on the double-arm robot and used for carrying out three-dimensional reconstruction on parts to be assembled so as to acquire assembling position information and send the assembling position information to the double-arm robot.
5. The double-arm robot-based parts assembling method according to claim 4, wherein the feeding mechanism comprises:
the profiling groove is matched with the part to be assembled in shape, is arranged on the feeding mechanism and is used for placing the part to be assembled;
and the quick positioning device is arranged on the feeding mechanism and is used for quickly positioning the feeding mechanism and the part to be assembled.
6. The double-arm robot-based parts assembling method according to claim 5, wherein the base is provided with a first positioning hole; each part to be assembled is provided with at least one second positioning hole; the quick positioning device comprises:
the first positioning pin is matched with the first positioning hole, is arranged on the feeding mechanism and is used for quickly positioning the feeding mechanism;
and the second positioning pin matched with the second positioning hole is arranged on the feeding mechanism and used for quickly positioning the part to be assembled.
7. The double-arm robot-based parts assembling method according to claim 4, wherein the double-arm robot comprises:
a robot main body disposed on the base;
the mechanical arms are arranged on two sides of the robot main body respectively and used for clamping parts to be assembled;
and the controller is arranged on the robot main body, is respectively connected with the mechanical arm and the visual recognition system, and is used for controlling the movement of the mechanical arm.
8. The double-arm robot-based parts assembling method according to claim 7, wherein said robot arm is constituted by a plurality of rotary joints, further comprising:
the rotary joint motors are in one-to-one correspondence with the rotary joints, are connected with the controller and are used for adjusting the positions of the rotary joints;
the flexible assembling clamp is arranged at the tail end of the mechanical arm and is made of elastic materials and used for adsorbing the special-shaped thin-wall part so that the part can slightly move and swing;
and the multidimensional force sensor is arranged at the tail end of the mechanical arm, is connected with the controller and is used for measuring the contact pressure of the flexible assembling clamp at the tail end of the mechanical arm and the part.
9. The double-arm robot-based parts assembling method according to claim 8, wherein the controller comprises:
a position control loop for converting a contact pressure signal received from the multi-dimensional force sensor into a mechanical arm end position signal;
and the torque control ring is used for adjusting the torque of the rotary joint motor according to the mechanical arm tail end position signal sent by the position control ring.
10. The double-arm robot-based parts assembling method according to claim 7, wherein said vision recognition system comprises:
a visual recognition system mount;
the binocular vision camera is arranged on the vision recognition system bracket, is connected with the controller and is used for acquiring image information of the part to be assembled;
and the laser ranging sensor is arranged on the visual recognition system bracket, is connected with the controller and is used for acquiring the position information of the part to be assembled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710954110.5A CN107571246B (en) | 2017-10-13 | 2017-10-13 | Part assembling system and method based on double-arm robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710954110.5A CN107571246B (en) | 2017-10-13 | 2017-10-13 | Part assembling system and method based on double-arm robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107571246A CN107571246A (en) | 2018-01-12 |
| CN107571246B true CN107571246B (en) | 2020-07-31 |
Family
ID=61037570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710954110.5A Active CN107571246B (en) | 2017-10-13 | 2017-10-13 | Part assembling system and method based on double-arm robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107571246B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590699B (en) * | 2018-11-13 | 2020-09-18 | 北京遥测技术研究所 | Part surface design method for improving automatic assembly visual identification |
| CN109623815B (en) * | 2018-12-19 | 2021-07-30 | 江苏科技大学 | Wave compensation double-robot system and method for unmanned salvage ship |
| CN109822554B (en) * | 2019-03-20 | 2020-09-18 | 华中科技大学 | Underwater dual-arm cooperative grabbing, holding and collision avoidance integrated method and system |
| CN110027015A (en) * | 2019-03-31 | 2019-07-19 | 唐山百川智能机器股份有限公司 | Motor-car rod piece assemble method based on artificial intelligence |
| CN110039547B (en) * | 2019-05-27 | 2021-08-10 | 清华大学深圳研究生院 | Man-machine interaction terminal and method for remote operation of flexible mechanical arm |
| CN110293559B (en) * | 2019-05-30 | 2023-03-28 | 上海理工大学 | Installation method for automatically identifying, positioning and aligning |
| CN110561415A (en) * | 2019-07-30 | 2019-12-13 | 苏州紫金港智能制造装备有限公司 | Double-robot cooperative assembly system and method based on machine vision compensation |
| CN111721779B (en) * | 2020-05-27 | 2023-02-28 | 联宝(合肥)电子科技有限公司 | Product reworking method and device and storage medium |
| CN113681562B (en) * | 2021-08-31 | 2022-08-09 | 上海交大智邦科技有限公司 | Assembly system and method based on double-manipulator cooperation |
| CN113733151B (en) * | 2021-09-10 | 2023-07-21 | 中山大学 | Space station cabin internal service robot with bionic flexible arm |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006035346A (en) * | 2004-07-23 | 2006-02-09 | Toyota Motor Corp | Parts installing method |
| JP5549934B2 (en) * | 2010-10-04 | 2014-07-16 | 株式会社安川電機 | Dual-arm robot, packing system, and packing method |
| 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 |
| CN104515502A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Robot hand-eye stereo vision measurement method |
| JP2015085479A (en) * | 2013-11-01 | 2015-05-07 | セイコーエプソン株式会社 | Robot, control device, robot system and robot control method |
| JP6476632B2 (en) * | 2014-07-31 | 2019-03-06 | セイコーエプソン株式会社 | Double arm robot |
| CN104570938B (en) * | 2015-01-06 | 2019-02-12 | 常州先进制造技术研究所 | A kind of control method inserting the two arm robot system in production |
| CN105425828A (en) * | 2015-11-11 | 2016-03-23 | 山东建筑大学 | Robot anti-impact double-arm coordination control system based on sensor fusion technology |
| CN106737754A (en) * | 2017-01-26 | 2017-05-31 | 江苏哈工海渡工业机器人有限公司 | Master craftsman of the Spring and Autumn period locks mounter people |
| CN106695797B (en) * | 2017-02-22 | 2019-03-05 | 哈尔滨工业大学深圳研究生院 | Shared control method and system based on tow-armed robot cooperating |
-
2017
- 2017-10-13 CN CN201710954110.5A patent/CN107571246B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107571246A (en) | 2018-01-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107571246B (en) | Part assembling system and method based on double-arm robot | |
| CN105499953B (en) | Industrial robot based automobile engine piston and cylinder body assembly system and method | |
| CN107433573B (en) | Intelligent binocular automatic grabbing mechanical arm | |
| CN108621120A (en) | A kind of conveying machinery arm of Multifunctional rotary displacement that capableing of branch's feeding | |
| CN103128731B (en) | Micro-assembly robot system | |
| CN110936369B (en) | Large-scale workpiece pose accurate measurement and grabbing method based on binocular vision and mechanical arm | |
| CN108527431B (en) | Internal and external concentric manipulator | |
| CN110509067B (en) | Large-scale complicated component normal position processing multi-robot system equips | |
| CN104444360A (en) | Five-axis hub transfer robot and clamping manipulator | |
| CN106170374B (en) | Industrial robot | |
| CN204658437U (en) | With the Delta parallel manipulator of visual performance | |
| CN112247525A (en) | Intelligent assembling system based on visual positioning | |
| CN110962127B (en) | Auxiliary calibration device for tail end pose of mechanical arm and calibration method thereof | |
| US10207413B2 (en) | End effector, robot, and robot control apparatus | |
| CN110053040B (en) | Calibration method of robot tool face | |
| CN206123251U (en) | Cylindric work piece allies oneself with anchor clamps more | |
| CN208663027U (en) | Vehicle seat assembling device | |
| CN215709916U (en) | Material posture adjustment equipment and adjustment system | |
| CN113771042B (en) | Vision-based method and system for clamping tool by mobile robot | |
| CN216731811U (en) | Object grabbing system based on snake-shaped mechanical arm | |
| CN209321968U (en) | A kind of carbon brush arm feeding mechanism | |
| CN208483485U (en) | A kind of automatic jig of pump case and motor assembly | |
| CN215866434U (en) | Omnidirectional automatic detection device for square-like workpieces | |
| CN111872921B (en) | Robot double-gripper calibration system and teaching method | |
| CN114619432B (en) | PR-3RRR double-platform equipment for intelligent assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |