CN109814514A - Assembly automation pipeline system with view touching fusion function - Google Patents
Assembly automation pipeline system with view touching fusion function Download PDFInfo
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- CN109814514A CN109814514A CN201910228301.2A CN201910228301A CN109814514A CN 109814514 A CN109814514 A CN 109814514A CN 201910228301 A CN201910228301 A CN 201910228301A CN 109814514 A CN109814514 A CN 109814514A
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Abstract
The invention discloses a kind of assembly automation pipeline systems with view touching fusion function, comprising: control unit, control unit can be used in task dynamic layout and control；Transmission unit, transmission unit are connected with control unit, and transmission unit is equipped with assembly station along its conveying direction, and transmission unit is able to drive workpiece by assembly station；Assemble execution unit, execution unit is assembled to be connected with control unit and be located at transmission unit side, the posture information at assembly position of acquisition of information workpiece can be felt when workpiece is located at assembly station according to visual information and/or contact force by assembling execution unit, and is generated corresponding path and technological action according to posture information and executed fittage to workpiece according to path and technological action.This has the submissive assembly that can be realized in the case of vision guide or certain ablepsias depending on the assembly automation pipeline system for touching fusion function, and meets the process requirements of general assembly and high-accuracy assembly simultaneously, adaptable.
Description
Technical field
The invention belongs to precise automatic technical fields, and in particular to a kind of assembly automation with view touching fusion function
Pipeline system.
Background technique
The principle of assembly automation pipeline system is usually that a duplicate fittage of complexity is decomposed into several sons
Process, previous subprocess are that voluntarily condition, each process can carry out the creation of next subprocess simultaneously with other processes.Letter
For it, be exactly " Function Decomposition, spatially sequence successively carry out, the time is still overlapped parallel ".
With workpiece assembly precision require it is higher and higher, simple beat-type assembly line operation has been unable to meet height
It is worth the assembly demand of rapid wear workpiece, it is therefore desirable to develop a kind of completely new assembling line system.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.
For this purpose, the present invention proposes a kind of assembly automation pipeline system with view touching fusion function, there is view to touch for this
The assembly automation pipeline system of fusion function has the characteristics that modularization, can meet a variety of matching requirements.
The assembly automation pipeline system with view touching fusion function according to an embodiment of the present invention, comprising: control is single
Member, described control unit can be used in task dynamic layout and control；Transmission unit, the transmission unit and described control unit
It is connected, the transmission unit is equipped with assembly station along its conveying direction, and the transmission unit is able to drive workpiece by the dress
With station；Assembling execution unit, the assembly execution unit is connected with described control unit and positioned at the transmission unit side,
The assembly execution unit can feel information according to visual information and/or contact force when the workpiece is located at the assembly station
The posture information at the assembly position of the workpiece is obtained, and dynamic according to the corresponding path of posture information generation and technique
Make and fittage is executed to the workpiece according to the path and the technological action.
The assembly automation pipeline system with view touching fusion function according to an embodiment of the present invention, by single in transmission
First side is equipped with assembly execution unit, feels information according to visual information and/or contact force when workpiece is by assembly execution unit
The posture information at the assembly position of workpiece is obtained, and path and technological action are generated to carry out to workpiece according to posture information
Fittage, tactful principle is simple and easy, it can be achieved that assembly in the case of vision guide or certain ablepsias, and meets simultaneously
The process requirements of general assembly and high-accuracy assembly, it is adaptable.
According to an embodiment of the present invention, the assembly station includes at least one macro assembly station and at least one micro- dress
With station；The assembly execution unit includes: macro assembly execution unit, the macro assembly execution unit and described control unit phase
Even, the macro assembly execution unit obtains the macro assembly position of the workpiece when the workpiece is located at the macro assembly station
Macro posture information, and corresponding macro assembly path and the movement of macro assembly technology, and root are generated according to the macro posture information
Macro fittage is executed to the workpiece according to the macro assembly path and the macro assembly technology movement；Micro assemby executes list
Member, the micro assemby execution unit are connected with described control unit, and the micro assemby execution unit is located at described in the workpiece
Micro- posture information that the micro assemby position of the workpiece is obtained when micro assemby station generates corresponding according to micro- posture information
Micro assemby path and micro assemby technological action, and according to the micro assemby path and the micro assemby technological action pair
The workpiece executes micro assemby task.
According to an embodiment of the present invention, the assembly execution unit includes: workpiece rigging position module, the workpiece dress
The assembly position and the posture information are obtained with position module；Actuator integrates processing module, the integrated place of the actuator
Reason module is connected with the workpiece rigging position module, and the actuator integrates processing module and can import and handle the pose
Information, the actuator integrate in processing module and are integrated with Shared control algorithm；End effector, the end effector and institute
It states the integrated processing module of actuator to be connected, the actuator integrates after processing module has handled the posture information and generates the end
Hold the corresponding path and the technological action of actuator.
According to an embodiment of the present invention, the assembly execution unit further include: the orthogonal positioning mechanism of XYZ, the XYZ is just
It hands over positioning mechanism to be connected with the end effector and the end effector is driven to execute the fittage.
According to an embodiment of the present invention, the workpiece rigging position module is vision positioning module.
According to an embodiment of the present invention, the assembly execution unit further include: multi-dimensional force sensing module, the multi-dimensional force
Sensing module obtains the end effector and the contact force of the workpiece feels information, is protected by the Shared control algorithm
The controllable compliant contact for demonstrate,proving the end effector and the workpiece acts, and completes the fittage.
According to an embodiment of the present invention, the actuator, which integrates, integrates strong-position perception algorithm in processing module, pass through
The power under the multi-dimensional force sensing module perception ablepsia feels information, completes no visual by the power-position perception algorithm
The fittage of guidance.
According to an embodiment of the present invention, the assembly automation pipeline system depending on touching fusion function that has also is wrapped
Include: piece uploading positions execution unit, and the piece uploading positioning execution unit is connect with described control unit, and the piece uploading positioning executes list
Member is located at the transmission unit side, and the piece uploading positioning execution unit can be before carrying out the fittage by the workpiece
It is placed in the transmission unit.
According to an embodiment of the present invention, the assembly automation pipeline system depending on touching fusion function that has also is wrapped
Include: lower part positions execution unit, and the lower part positioning execution unit is connect with described control unit, and the lower part positioning executes list
Member is located at the transmission unit side, and the lower part positioning execution unit can make the workpiece after completing the fittage
It is detached from the transmission unit.
According to an embodiment of the present invention, the assembly automation pipeline system depending on touching fusion function that has also is wrapped
Include: communications linking element, the communications linking element in close range by wired, wireless, bluetooth or
Zigbee transmission mode is realized.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the schematic diagram of the assembly automation pipeline system with view touching fusion function according to an embodiment of the present invention；
Fig. 2 is that the macro assembly of the assembly automation pipeline system with view touching fusion function according to an embodiment of the present invention executes
The structural schematic diagram of unit；
Fig. 3 is that the micro assemby of the assembly automation pipeline system with view touching fusion function according to an embodiment of the present invention executes
The structural schematic diagram of unit.
Appended drawing reference:
Assembly automation pipeline system 100 with view touching fusion function；
Workpiece 0；Transmission unit 1；Piece uploading positions execution unit 2；
Macro assembly execution unit 3；The macro locating module 31 of vision；Multidimensional hongli sensing module 32；First end actuator 33；First
Actuator integrates processing module 34；The orthogonal macro positioning mechanism 35 of XYZ；
Micro assemby execution unit 4；Second actuator integrates processing module 41；The orthogonal nano-positioning stage 42 of XYZ；The micro- power perception of multidimensional
Module 43；Second end actuator 44；The micro- locating module 45 of vision；
5- lower part positions execution unit；Control unit 6；Communications linking element 7.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.In addition, limit
There is the feature of " first ", " second " to can explicitly or implicitly include one or more of the features surely.Of the invention
In description, unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connected " shall be understood in a broad sense, for example, it may be being fixedly linked, be also possible to detachably be connected, or be integrally connected；It can
To be to be mechanically coupled, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Below with reference to the accompanying drawings the assembly automation stream with view touching fusion function according to an embodiment of the present invention is specifically described
Line system 10.
As shown in Figure 1 to Figure 3, the assembly automation flowing water linear system with view touching fusion function according to an embodiment of the present invention
System 100 includes control unit 6, transmission unit 1 and assembly execution unit.
Specifically, control unit 6 can be used in task dynamic layout and control, transmission unit 1 and 6 phase of control unit
Even, transmission unit 1 is equipped with assembly station along its conveying direction, and transmission unit 1 is able to drive workpiece 0 by assembly station, assembly
Execution unit is connected with control unit 6 and is located at 1 side of transmission unit, assembles execution unit when workpiece 0 is located at assembly station
The posture information at the assembly position of acquisition of information workpiece 0 can be felt according to visual information and/or contact force, and according to posture information
It generates corresponding path and technological action and fittage is executed to workpiece 0 according to path and technological action.
In other words, it is according to an embodiment of the present invention have view touching fusion function assembly automation pipeline system mainly by
Control unit 6, transmission unit 1 and assembly execution unit composition, control unit 6 respectively with transmission unit 1 and assemble execution unit
It is connected, task dynamic layout and control can be realized by control unit 6, is responsible for the planning output of entire process flow,
That is control unit 6, which has, quickly changes flow of task function according to process requirements, can control task execute, execute it is suitable
Sequence and task control etc., are equipped with assembly station along its conveying direction on transmission unit 1, and workpiece 0 is located on transmission unit 1,
Transmission unit 1 is able to drive workpiece 0 by assembly station, assembly execution unit can be equipped in 1 side of transmission unit, when workpiece 0
When by assembly station, assembly execution unit can feel acquisition of information according to the visual information and/or contact force of the workpiece 0 of acquisition
The posture information at the position to be assembled of workpiece 0, and corresponding path and technological action can be generated according to posture information,
After having generated path and technological action, assembly execution unit can be according to the path and technological action of generation to work
Part 0 executes fittage and completes fittage.
It should be noted that transmission unit 1 can be conveyor unit.
The assembly automation pipeline system with view touching fusion function according to an embodiment of the present invention is using control as a result,
Unit 6, transmission unit 1 and assembly execution unit combine, and can be realized the dress in the case of vision guide or certain ablepsias
Match.
According to one embodiment of present invention, assembly station includes at least one macro assembly station and at least one micro assemby
Station；Assembling execution unit includes macro assembly execution unit 3 and micro assemby execution unit 4.
Specifically, macro assembly execution unit 3 is connected with control unit 6, and macro assembly execution unit 3 is located at macro dress in workpiece 0
The macro posture information at the macro assembly position of workpiece 0 is obtained when with station, and corresponding macro assembly rail is generated according to macro posture information
Mark route and the movement of macro assembly technology, and macro assembly is executed to workpiece 0 according to macro assembly path and the movement of macro assembly technology
Task, micro assemby execution unit 4 are connected with control unit 6, and micro assemby execution unit 4 is obtained when workpiece 0 is located at micro assemby station
The micro- posture information for taking the micro assemby position of workpiece 0 generates corresponding micro assemby path and micro- dress according to micro- posture information
Micro assemby task is executed to workpiece 0 with technological action, and according to micro assemby path and micro assemby technological action.
It should be noted that multiple macro assembly stations and/or multiple micro assemby stations can be equipped on transmission unit 1, it can
According to the technological requirements, can multistation configure macro assembly execution unit 3 and micro assemby execution unit 4 on demand.
In certain specific embodiments of the invention, assembly execution unit includes workpiece rigging position module, actuator
Integrated processing module and end effector.
Specifically, workpiece rigging position module obtains assembly position and posture information, and actuator integrates processing module and work
Part rigging position module is connected, and actuator, which integrates processing module, can import and handle posture information, the integrated processing mould of actuator
Shared control algorithm is integrated in block, end effector integrates processing module with actuator and is connected, and actuator integrates processing module
The corresponding path and technological action that end effector is generated after posture information are handled.
Wherein, it is the integrated processing of the first actuator that actuator corresponding with macro assembly execution unit 3, which integrates processing module,
Module 34, end effector corresponding with macro assembly execution unit 3 is first end actuator 33, with micro assemby execution unit
It is that the second actuator integrates processing module 41 that 4 corresponding actuators, which integrate processing module, corresponding with micro assemby execution unit 4
End effector be second end actuator 44.
Optionally, assembly execution unit further includes the orthogonal positioning mechanism of XYZ, the orthogonal positioning mechanism of XYZ and end effector
It is connected and end effector is driven to execute fittage, wherein the orthogonal localization machine of XYZ corresponding with macro assembly execution unit 3
Structure is the orthogonal macro positioning mechanism 35 of XYZ, and the orthogonal positioning mechanism of XYZ corresponding with micro assemby execution unit 4 is that XYZ is orthogonal micro- fixed
Position mechanism 42.
According to one embodiment of present invention, workpiece rigging position module is vision positioning module, wherein is held with macro assembly
The corresponding vision positioning module of row unit 3 is the macro locating module 31 of vision, and vision corresponding with micro assemby execution unit 4 is fixed
Position module is the micro- locating module 45 of vision.
Further, assembly execution unit further includes multi-dimensional force sensing module, and multi-dimensional force sensing module obtains end and executes
The contact force of device and workpiece 0 feels information, guarantees that the controllable compliant contact of end effector and workpiece 0 is dynamic by Shared control algorithm
Make, complete fittage, wherein multi-dimensional force sensing module corresponding with macro assembly execution unit 3 is that multidimensional hongli perceives mould
Block 32, vision positioning module corresponding with micro assemby execution unit 4 are the micro- power sensing module 43 of multidimensional.
In certain specific embodiments of the invention, actuator, which integrates, integrates strong-position perception algorithm in processing module,
The power under ablepsia is perceived by multi-dimensional force sensing module and feels information, and the dress of no visual guidance is completed by power-position perception algorithm
With task.
Macro assembly execution unit 3 can be according to process requirements by the macro positioning unit of vision (the macro locating module 31 of vision) He Lijue
Macro sension unit (multidimensional hongli sensing module 32) is integrated.
According to one embodiment of present invention, it is macro fixed by vision when macro assembly execution unit 3 is in face of the process of workpiece 0
Position module 31 obtains the macro posture information that workpiece 0 accordingly assembles position, and macro posture information is imported the integrated processing of the first actuator
The processing of module 34, the first actuator integrate the corresponding track that processing module 34 has handled generation first end actuator 33 after information
Route and technological action, the orthogonal macro positioning mechanism 35 of XYZ drive first end actuator 33 to execute fittage.Multidimensional hongli sense
Know that module 32 obtains first end actuator 33 and the contact force of workpiece 0 feels information, by being integrated in the first actuator collection in advance
Guarantee that the controllable compliant contact of first end actuator 33 and workpiece 0 acts at the Shared control algorithm in processing module 34, it is complete
At macro fittage.
Further, if the assembly position of workpiece 0 is difficult to be perceived by the macro locating module 31 of vision, multidimensional hongli can be passed through
Sensing module 32 perceives the power under ablepsia and feels information, integrates power-in processing module 34 by being integrated in the first actuator in advance
Position perception algorithm completes the fittage of no visual guidance.
In certain specific embodiments of the invention, when micro assemby execution unit 4 is in face of the process of workpiece 0, pass through view
Feel that micro- locating module 45 obtains micro- posture information that workpiece 0 accordingly assembles position, posture information is imported into the second actuator and is integrated
The processing of processing module 41, the second actuator integrate after processing module 41 has handled information and generate the corresponding of second end actuator 44
Path and technological action, the orthogonal nano-positioning stage 42 of XYZ drive second end actuator 44 to execute fittage.Multidimensional is micro-
Power sensing module 43 obtains second end actuator 44 and the contact force of workpiece 0 feels information, by being integrated in the second execution in advance
Device integrates the Shared control algorithm in processing module 41 and guarantees that the controllable compliant contact of second end actuator 44 and workpiece 0 is dynamic
Make, completes micro assemby task.
Further, if the assembly position of workpiece 0 is difficult to be perceived by the micro- locating module 45 of vision, the micro- power of multidimensional can be passed through
Sensing module 43 perceives the power under ablepsia and feels information, integrates power-in processing module 41 by being integrated in the second actuator in advance
Position perception algorithm completes the fittage of no visual guidance.
Micro assemby execution unit 4 can be felt according to process requirements by the micro- positioning unit of vision (the micro- locating module 45 of vision), power
Micro- sension unit (the micro- power sensing module 43 of multidimensional) is integrated.
According to one embodiment of present invention, have view touching fusion function assembly automation pipeline system further include on
Part positions execution unit 2, and piece uploading positioning execution unit 2 is connected with control unit 6, and it is single positioned at transmission that piece uploading positions execution unit 2
Workpiece 0 can be placed in transmission unit 1 before carrying out fittage by first 1 side, piece uploading positioning execution unit 2, that is to say, that
Piece uploading positions 2 grabbing workpiece 0 of execution unit, and workpiece 0 is made to be placed on the rational position on transmission unit 1, guarantees to hold in macro assembly
In the working space of row unit 3, micro assemby execution unit 4 and lower part positioning execution unit 5.
According to one embodiment of present invention, under further including with the assembly automation pipeline system depending on touching fusion function
Part positions execution unit 5, and lower part positioning execution unit 5 is connected with control unit 6, and it is single positioned at transmission that lower part positions execution unit 5
First 1 side, lower part positioning execution unit 5 can make workpiece 0 be detached from transmission unit 1 after completing fittage, that is to say, that
After completing fittage, lower part positions 5 grabbing workpiece 0 of execution unit, and workpiece 0 is made to leave transmission unit 1.
The macro assembly execution unit 3 of execution unit 2, one, a micro assemby execution unit are positioned when transmission unit 1 is equipped with piece uploading
4 and when lower part positioning execution unit 5, transmission unit 1 can be in pipeline system, and workpiece 0 can pass sequentially through piece uploading by transmission unit 1
It positions execution unit 2, macro assembly execution unit 3, micro assemby execution unit 4 and lower part and positions execution unit 5.
It needs to be illustrated, above system principle can be similarly obtained application in parallel pipelining process assembling work, herein not
It repeats again.
In certain specific embodiments of the invention, there is the assembly automation pipeline system of view touching fusion function also
Including communications linking element 7, communications linking element 7 passes through wired, wireless, bluetooth or zigbee in close range
A series of transmission mode small etc. costs is realized, while multiple data interaction can also be carried out between each unit.
That is, control unit 6 respectively with transmission unit 1, piece uploading positioning execution unit 2, macro assembly execution unit 3,
It can be connected by communications linking element 7 between micro assemby execution unit 4 and lower part positioning execution unit 5.
It should be noted that assembly execution unit according to integrate it is macro positioning, it is macro perception or it is micro- position, micro- sension unit not
It is same accordingly to have macro positioning or nano-positioning stage respectively.
Macro assembly execution unit 3 and micro assemby execution unit 4 can also be arranged by several technique actuators.
The assembly automation pipeline system 100 with view touching fusion function according to an embodiment of the present invention uses modularization
Configuration can realize different kinds of process flow by accessing or removing disparate modules, and reconfigurability is strong, meanwhile, the present invention is using view touching
The positioning and perceptual strategy of fusion are equipped with macro micro- two kinds of positioning, perceptual models, using macro micro- bit combination of view touching fusion respectively
Mode, incorporating pipeline operating feature, realization workpiece grabbing, the macro positioning of workpiece, workpiece macro operation, the micro- positioning of workpiece, workpiece are micro-
The processes such as operation, the fittage for the different accuracy demand that can carry out, compared with prior art, the present invention have tactful principle letter
It is single easy, it can be achieved that submissive assembly in the case of vision guide or certain ablepsias, and meet simultaneously general assembly with it is high-precision
The process requirements of close assembly, it is adaptable the advantages that.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of assembly automation pipeline system with view touching fusion function characterized by comprising
Control unit, described control unit can be used in task dynamic layout and control；
Transmission unit, the transmission unit are connected with described control unit, and the transmission unit is equipped with assembly along its conveying direction
Station, the transmission unit are able to drive workpiece by the assembly station；
Execution unit is assembled, the assembly execution unit is connected with described control unit and is located at the transmission unit side, institute
Stating assembly execution unit can feel that information obtains according to visual information and/or contact force when the workpiece is located at the assembly station
The posture information at the assembly position of the workpiece is taken, and corresponding path and technological action are generated according to the posture information
And fittage is executed to the workpiece according to the path and the technological action.
2. the assembly automation pipeline system with view touching fusion function according to claim 1, which is characterized in that institute
Stating assembly station includes at least one macro assembly station and at least one micro assemby station；The assembly execution unit includes:
Macro assembly execution unit, the macro assembly execution unit are connected with described control unit, and the macro assembly execution unit exists
The workpiece obtains the macro posture information at the macro assembly position of the workpiece when being located at the macro assembly station, and according to described macro
Posture information generates corresponding macro assembly path and the movement of macro assembly technology, and according to the macro assembly path and institute
It states macro assembly technology movement and macro fittage is executed to the workpiece；
Micro assemby execution unit, the micro assemby execution unit are connected with described control unit, and the micro assemby execution unit exists
The workpiece obtains micro- posture information at the micro assemby position of the workpiece when being located at the micro assemby station, according to the microbit
Appearance information generates corresponding micro assemby path and micro assemby technological action, and according to the micro assemby path and described
Micro assemby technological action executes micro assemby task to the workpiece.
3. the assembly automation pipeline system with view touching fusion function according to claim 1 or 2, feature exist
In the assembly execution unit includes:
Workpiece rigging position module, the workpiece rigging position module obtain the assembly position and the posture information；
Actuator integrates processing module, and the actuator integrates processing module and is connected with the workpiece rigging position module, described
Actuator, which integrates processing module, can import and handle the posture information, be integrated in the integrated processing module of the actuator soft
Along control algolithm；
End effector, the end effector integrate processing module with the actuator and are connected, the integrated processing of the actuator
The corresponding path and the technological action of the end effector are generated after the complete posture information of resume module.
4. the assembly automation pipeline system with view touching fusion function according to claim 3, which is characterized in that institute
State assembly execution unit further include:
The orthogonal positioning mechanism of XYZ, the orthogonal positioning mechanism of the XYZ are connected with the end effector and the end are driven to execute
Device executes the fittage.
5. the assembly automation pipeline system with view touching fusion function according to claim 3, which is characterized in that institute
Stating workpiece rigging position module is vision positioning module.
6. the assembly automation pipeline system with view touching fusion function according to claim 5, which is characterized in that institute
State assembly execution unit further include:
Multi-dimensional force sensing module, the multi-dimensional force sensing module obtain the contact force of the end effector Yu the workpiece
Feel information, guarantees that the controllable compliant contact of the end effector and the workpiece acts by the Shared control algorithm, it is complete
At the fittage.
7. the assembly automation pipeline system with view touching fusion function according to claim 6, which is characterized in that institute
It states actuator and integrates integrated strong-position perception algorithm in processing module, pass through the multi-dimensional force sensing module and perceive ablepsia
Under the power feel information, the fittage of no visual guidance is completed by the power-position perception algorithm.
8. the assembly automation pipeline system with view touching fusion function according to claim 1, which is characterized in that also
Include:
Piece uploading positions execution unit, and the piece uploading positioning execution unit is connect with described control unit, and the piece uploading positioning executes
Unit is located at the transmission unit side, and the piece uploading positioning execution unit can be before carrying out the fittage by the work
Part is placed in the transmission unit.
9. the assembly automation pipeline system with view touching fusion function according to claim 1, which is characterized in that also
Include:
Lower part positions execution unit, and the lower part positioning execution unit is connect with described control unit, and the lower part positioning executes
Unit is located at the transmission unit side, and the lower part positioning execution unit can make the work after completing the fittage
Part is detached from the transmission unit.
10. the assembly automation pipeline system with view touching fusion function according to claim 1, which is characterized in that
Further include:
Communications linking element, the communications linking element in close range by wired, wireless, bluetooth or
Zigbee transmission mode is realized.
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