CN110253250B - Method and system for automatically assembling bolts step by robot and double-arm robot - Google Patents
Method and system for automatically assembling bolts step by robot and double-arm robot Download PDFInfo
- Publication number
- CN110253250B CN110253250B CN201910556696.9A CN201910556696A CN110253250B CN 110253250 B CN110253250 B CN 110253250B CN 201910556696 A CN201910556696 A CN 201910556696A CN 110253250 B CN110253250 B CN 110253250B
- Authority
- CN
- China
- Prior art keywords
- pin
- dimensional
- information
- driving
- mechanical arm
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Abstract
The invention relates to the technical field of automatic assembly of robots, and provides a method and a system for automatically assembling a bolt step by a robot and a double-arm robot, wherein the method comprises the following steps: driving the first mechanical arm clamping pin to a first preassembly point located in a first mechanical arm base coordinate system; driving the second mechanical arm to clamp the pin seat with the inlet to a second preassembly point in a base coordinate system of the second mechanical arm; when the pin boss is positioned at the second pre-assembly point, acquiring three-dimensional information of the inlet in a base coordinate system of the second robot arm; continuously detecting multi-dimensional force information of a pin wall on the pin seat in a base coordinate system of the second mechanical arm; the pin is assembled into the pin seat step by step according to the first pre-assembly point of the first mechanical arm driven by the inlet three-dimensional information and the multi-dimensional force information, the automatic pin seat grabbing capacity of the mechanical arm and the pin seat step by step assembling into the pin in the process of continuously acquiring information are improved, and the automatic pin assembling efficiency of the double arms step by step is improved.
Description
Technical Field
The invention relates to the technical field of automatic assembly of robots, in particular to a method and a system for automatically assembling a bolt step by a robot and a double-arm robot.
Background
In the correlation technique, the robot is based on the automatic step-by-step assembly bolt of vision guide robot arm, mainly divide into and snatch, to the hole and insert three stage: in the grabbing stage, driving a mechanical arm to grab a pin to be positioned above a pin hole according to the first digital image and the characteristic template image; in the hole aligning stage, a second digital image is gradually acquired, and the mechanical arm is gradually driven to eliminate deviation according to the second digital image until the pin can be vertically inserted into the pin hole; and in the insertion stage, the mechanical arm is driven to vertically insert the pin into the pin hole, and the pin seat and the pin are assembled to be the inserted pin.
However, in the grabbing stage, the mechanical arm lacks the capability of automatically grabbing the pin boss, and the pin boss needs to be fixed on the workbench in a manual intervention manner, so that the labor cost is increased; in the hole aligning stage, on one hand, the mechanical arm lacks the capability of moving the pin to the pin seat in the process of continuously acquiring information, a second digital image is acquired in an asynchronous mode and the mechanical arm is driven to eliminate deviation, and the mechanical arm moves the pin to the pin hole after the deviation is eliminated, so that the time for moving the pin to the pin seat is prolonged, and the hole aligning efficiency of the mechanical arm is reduced; during the insertion phase, the robot arm lacks the ability to correct the pin, and when the pin is displaced in the pin seat, the pin seat can give resistance to the pin, and the damage rate of the pin can be improved.
Disclosure of Invention
The invention aims to solve the technical problem that in the prior art, a mechanical arm lacks the capability of automatically grabbing a pin seat and moving a pin to the pin seat in the process of continuously acquiring information, and provides a method and a system for automatically assembling a pin step by a robot and a double-arm robot.
The technical scheme for solving the technical problems is as follows:
according to a first aspect of the present invention there is provided a method of robotic automated step-wise assembly of a bolt comprising:
driving a first manipulator arranged on a robot body to clamp a pin to a first preassembly point located in a first manipulator base coordinate system;
driving a second robot arm mounted on the robot to grip a pin boss with an entrance to a second pre-assembly point located in a second robot arm base coordinate system;
when the pin seat is positioned at the second pre-assembly point, acquiring three-dimensional inlet information of the inlet in a base coordinate system of the second robot arm;
continuously detecting multi-dimensional force information of a pin wall on the pin seat in the second mechanical arm base coordinate system;
and driving the first mechanical arm to assemble the pin into the pin seat step by step from the first pre-assembly point according to the inlet three-dimensional information and the multi-dimensional force information.
According to a second aspect of the invention, a robot automatic step-by-step bolt assembling system is provided, which comprises a mechanical arm driving module, an information acquisition module and an information detection module;
the mechanical arm driving module is used for driving a first mechanical arm clamping pin arranged on a robot body to a first pre-assembly point located in a first mechanical arm base coordinate system; driving a second robot arm mounted on the robot body to grip a pin seat with an entrance to a second pre-assembly point located in a second robot arm base coordinate system;
the information acquisition module is used for acquiring inlet three-dimensional information of the inlet in the second robot arm base coordinate system when the pin seat is positioned at the second pre-assembly point;
the information detection module is used for continuously detecting multi-dimensional force information of the pin wall on the pin seat in the second mechanical arm base coordinate system;
the mechanical arm driving module is further used for driving the first mechanical arm to assemble the pin into the pin seat step by step from the first pre-assembly point according to the inlet three-dimensional information and the multi-dimensional force information.
According to a third aspect of the present invention there is provided a dual-arm robot for performing the robotic automated step-by-step assembly latching method of the first aspect.
The robot automatic step-by-step bolt assembling method, the system and the double-arm robot provided by the invention have the beneficial effects that: drive first robotic arm automatic clamp respectively and get pin seat to second preassembly point to first preassembly point and drive second robotic arm automatic clamp, realize that both arms press from both sides and get pin seat and pin, the pin seat need not artificial intervention and can fix on the workstation, has not only helped saving the cost of labor, has promoted the automatic ability and the efficiency of both arms assembly bolt again.
After the pin seat reaches the second pre-assembly point, the robot can acquire the three-dimensional inlet information, so that the robot can be prevented from acquiring the three-dimensional inlet information before the pin seat reaches the second pre-assembly point, and redundant information and the storage space occupied by the robot are reduced.
In the process of continuously detecting the multidimensional force information, the first mechanical arm can be driven to move the pin towards the pin seat step by step according to the inlet three-dimensional information and the multidimensional force information, then the first mechanical arm is driven to insert the pin into the pin seat according to the multidimensional force information, so that the pin and the pin seat are assembled into the pin step by the first mechanical arm, the preparation time of the multidimensional force information is favorably shortened, the information preparation is timely prepared for driving the pin and the pin seat to be assembled into the pin by step by the first mechanical arm, the time for moving the pin towards the pin seat is favorably shortened, the hole aligning efficiency and the assembling efficiency are improved, and therefore, the automatic step-by-step pin assembling efficiency of double arms is improved.
Drawings
FIGS. 1a-1i are schematic flow diagrams illustrating a method for automatically assembling a pin step by a robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a frame of a robotic automatic step-by-step assembly latching system according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a two-arm robot according to a third embodiment of the present invention;
fig. 4 is a schematic circuit diagram corresponding to the two-arm robot in fig. 3.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example one
The embodiment of the invention provides a method for automatically assembling a bolt step by a robot, which comprises the following steps: driving a first manipulator arranged on a robot body to clamp a pin to a first preassembly point located in a first manipulator base coordinate system; driving a second mechanical arm arranged on the robot body to clamp the pin seat with the inlet to a second preassembly point in a base coordinate system of the second mechanical arm; when the pin boss is positioned at the second pre-assembly point, acquiring three-dimensional information of the inlet in a base coordinate system of the second robot arm; continuously detecting multi-dimensional force information of a pin wall on the pin seat in a base coordinate system of the second mechanical arm; and driving a first mechanical arm to assemble the pin into the pin seat step by step from a first pre-assembly point according to the inlet three-dimensional information and the multi-dimensional force information.
In some embodiments, driving the first robot gripper pin to the first pre-assembly point and the second robot gripper to the second pre-assembly point in a serial fashion, as shown in fig. 1a-1e, helps to ensure the reliability of driving the arms.
In some embodiments, as shown in fig. 1f-1i, driving the first robot arm to grip the pin to the first pre-assembly point and the second robot arm to grip the pin holder to the second pre-assembly point in a parallel manner helps to ensure the driving efficiency of both arms, the efficiency of moving the pin to the first pre-assembly point and the efficiency of moving the pin holder to the second pre-assembly point.
In some embodiments, as shown in FIGS. 1a-1c and 1f-1g, acquiring portal three-dimensional information and continuously detecting multi-dimensional force information in a serial manner may reduce redundant information and its occupancy of the robot's storage space.
In some embodiments, as shown in fig. 1d-1e and 1h-1i, acquiring three-dimensional information of the inlet and continuously detecting multi-dimensional force information in a parallel manner can shorten the preparation time of the multi-dimensional force information and timely prepare information for driving the first mechanical arm to assemble the pin into the pin seat step by step.
In some embodiments, as shown in fig. 1a-1i, during the continuous detection of the multidimensional force information, the first robot arm may be driven step by step according to the three-dimensional information of the entry and the multidimensional force information to move the pin towards the pin seat, and then the first robot arm is driven according to the multidimensional force information to insert the pin into the pin seat until the pin reaches the bottom of the pin on the pin seat, so that the automatic assembly of the pin and the pin seat into the pin by the two arms is completed, and the detection of the multidimensional force information is stopped, thereby improving the hole aligning efficiency and the assembling efficiency, and improving the automatic step-by-step assembly efficiency of the two arms.
In some embodiments, the force sensor may comprise a six-dimensional force sensor, the multi-dimensional force information comprises six-dimensional force information, and the six-dimensional force value may be expressed as:
[+2N +5N +18N +1.2Nm +2.3Nm +0.6Nm]
wherein, +2N represents that the six-dimensional force sensor detects a pressure in the second robot arm base coordinate system in the forward direction along the x-axis, +5N represents that the six-dimensional force sensor detects a pressure in the second robot arm base coordinate system in the forward direction along the y-axis, +18N represents that the six-dimensional force sensor detects a pressure in the second robot arm base coordinate system in the forward direction along the z-axis, +1.2Nm represents that the six-dimensional force sensor detects a torque in the second robot arm base coordinate system in the forward direction along the x-axis, +2.3Nm represents that the six-dimensional force sensor detects a torque in the forward direction along the y-axis in the second robot arm base coordinate system, +0.6Nm represents that the six-dimensional force sensor detects a torque in the forward direction along the z-axis in the second robot arm base coordinate system, and wherein "+" represents the forward direction.
In some embodiments, the driving the first robot gripping pin to the first pre-assembly point as shown in fig. 1b-1i, specifically comprises: receiving a pin three-dimensional image shot by a 3D camera in a 3D camera coordinate system; identifying first three-dimensional information of a first grabbing point on the pin in a 3D camera coordinate system according to the three-dimensional image of the pin; converting the first three-dimensional information into second three-dimensional information in a first robot arm base coordinate system; driving the first mechanical arm to grab the pin according to the second three-dimensional information; acquiring first preset three-dimensional information used for representing a first preassembly point; and driving a second mechanical arm to clamp the pin seat from the first grabbing point to the first pre-assembly point according to the second three-dimensional information and the first preset three-dimensional information.
In some embodiments, the driving the second robot gripping pin holder to the second pre-assembly point, as shown in fig. 1b-1i, specifically comprises: receiving a pin boss three-dimensional image shot by a 3D camera in a 3D camera coordinate system; identifying third three-dimensional information of a second grabbing point on the pin wall in a 3D camera coordinate system according to the three-dimensional image of the pin seat; converting the third three-dimensional information into fourth three-dimensional information in a base coordinate system of the second mechanical arm; driving a second mechanical arm to grab the pin wall according to the fourth three-dimensional information; acquiring second preset three-dimensional information used for representing a second preassembly point; and driving a second mechanical arm to clamp the pin seat from the second grabbing point to a second pre-assembly point according to the fourth three-dimensional information and the second preset three-dimensional information.
In some embodiments, the robot is mounted on a support, and the central control machine is respectively in communication connection with the first mechanical arm, the second mechanical arm, the force sensor mounted on the tail end of the second mechanical arm, and the 3D camera; the central control machine is used for driving the first mechanical arm, the second mechanical arm, the force sensor and the 3D camera, the force sensor is used for continuously detecting multi-dimensional force information, and is further used for asynchronously driving and receiving a pin three-dimensional image, a pin seat three-dimensional image and an inlet three-dimensional image shot by the 3D camera.
The central control machine can respectively construct a bracket coordinate system based on prestored three-dimensional coordinate information corresponding to the bracket, a first mechanical arm base coordinate system based on prestored three-dimensional coordinate information corresponding to the first mechanical arm, a second mechanical arm base coordinate system based on prestored three-dimensional coordinate information corresponding to the second mechanical arm and a 3D camera coordinate system based on three-dimensional coordinate information of the 3D camera on the robot; let the frame coordinate system f be { o }f-xfyfzfLet the first robot base coordinate system br be { o }br-xbrybrzbrLet the base coordinate system bl of the second robot be { o }bl-xblyblzblLet the 3D camera coordinate system c be { o }c-xcyczc}。
In some embodiments, a first transformation equation is applied to convert the first three-dimensional information to the second three-dimensional information, the first transformation equation expressed as:
wherein p represents a first grasping point,
represents coordinate values along the x-axis in the first robot base coordinate system br in the second three-dimensional information,
represents coordinate values along the y-axis in the first robot base coordinate system br in the second three-dimensional information,
represents coordinate values along the z-axis in the first robot base coordinate system br in the second three-dimensional information,fHbrrepresenting a homogeneous transformation equation of the first robot base coordinate system br with respect to the support coordinate system f,fHcrepresenting a homogeneous transformation equation of the 3D camera coordinate system c with respect to the gantry coordinate system f,
represents coordinate values on the x-axis in the 3D camera coordinate system c in the first three-dimensional information,
represents coordinate values on the y-axis in the 3D camera coordinate system c in the first three-dimensional information,
represents coordinate values along the z-axis in the 3D camera coordinate system c in the first three-dimensional information.
In some embodiments, the third three-dimensional information is converted to fourth three-dimensional information using a second transformation equation, the second transformation equation expressed as:
wherein h represents the second grasping point,
indicating the coordinate value along the x-axis in the second robot base coordinate system bl in the fourth three-dimensional information,
indicating the coordinate value along the y-axis in the second robot base coordinate system bl in the fourth three-dimensional information,
indicating the coordinate value along the z-axis in the second robot base coordinate system bl in the fourth three-dimensional information,fHblrepresenting a homogeneous transformation equation of the second robot base coordinate system bl with respect to the support coordinate system f,
represents coordinate values on the x-axis in the 3D camera coordinate system c in the third three-dimensional information,
represents coordinate values along the y-axis in the 3D camera coordinate system c in the third three-dimensional information,
and represents coordinate values along the z-axis in the 3D camera coordinate system c in the third three-dimensional information.
In some embodiments, acquiring three-dimensional information of the portal in the second robot arm base coordinate system specifically includes: receiving an entrance three-dimensional image; identifying fifth three-dimensional information of any point in the entrance in a 3D camera coordinate system according to the entrance three-dimensional image; and applying a second transformation equation to convert the fifth three-dimensional information into entry three-dimensional information in the second robot arm base coordinate system.
The fifth three-dimensional information may be represented as:
where ha denotes the center of the circle in the inlet,
represents coordinate values on the x-axis in the 3D camera coordinate system c in the portal three-dimensional information,
represents coordinate values along the y-axis in the 3D camera coordinate system c in the portal three-dimensional information,
and represents coordinate values along the z-axis in the 3D camera coordinate system c in the portal three-dimensional information.
The three-dimensional information of the entrance is represented as:
wherein the content of the first and second substances,
indicating the coordinate value along the x-axis in the second robot base coordinate system bl in the fifth three-dimensional information,indicating the coordinate value along the y-axis in the second robot base coordinate system bl in the fifth three-dimensional information,
and represents the coordinate value along the z-axis in the second robot base coordinate system bl in the fifth three-dimensional information.
In some embodiments, the step-by-step assembly of the pin into the pin holder by driving the first robot arm from the first pre-assembly point according to the three-dimensional information and the multi-dimensional force information of the inlet shown in fig. 1b to 1i specifically comprises: when the multi-dimensional force information does not accord with the preset lower limit condition, driving a first mechanical arm to gradually clamp the pin from a first pre-assembly point to be close to the inlet according to the inlet three-dimensional information, and giving a pin contact force positioned in the inlet to a pin wall on a pin seat; and when the multi-dimensional force information meets the preset lower limit condition, driving a first mechanical arm to insert the pin into the pin seat from the inlet according to the multi-dimensional force information.
As an optional embodiment, driving the first robot arm to gradually clamp the pin from the first pre-assembly point to the entrance according to the entrance three-dimensional information specifically includes: respectively acquiring a preset step length and first preset three-dimensional information; planning a motion path according to the entrance three-dimensional information and the first preset three-dimensional information; and driving the first mechanical arm step by step according to a preset step length to clamp the pin to be close to the inlet step by step along the motion path.
As an optional implementation, the step number is calculated according to the entrance three-dimensional information, the preset step length and the first preset three-dimensional information; and driving the first mechanical arm step by step according to the step number to clamp the pin to be close to the inlet.
In some embodiments, the preset lower limit condition, the preset step length, and the first preset three-dimensional information may include empirical values pre-stored in the central control machine, or may be obtained through training of a robot training model.
In some embodiments, the preset lower limit condition is represented as [ 000000 ], the preset step size is 0.1 mm; alternatively, the preset lower limit condition is represented as [ 0.10.10.1000 ], and the preset step size is 0.15 mm.
As an optional implementation manner, driving the first robot arm to insert the pin into the pin seat from the entrance according to the multidimensional force information specifically includes: respectively reading two-dimensional component information in two directions parallel to a plane where the inlet is located and one-dimensional component information in one direction perpendicular to the plane where the inlet is located from the multi-dimensional force information; driving the first mechanical arm to calibrate the posture of the pin along two directions parallel to the plane where the inlet is located according to the two-dimensional component information and a preset deflection calibration condition; and driving the first mechanical arm to insert the pin into the pin seat from the inlet along the direction vertical to the plane of the inlet according to the one-dimensional component information and the preset upper limit condition.
In some embodiments, the two-dimensional component information includes pressure and torque along the x-axis and pressure and torque along the y-axis in the second robot base coordinate system, and the one-dimensional component information includes pressure and torque along the z-axis in the second robot base coordinate system.
In some embodiments, the preset upper limit condition may include an empirical value pre-stored in a central control machine, or may be obtained through training of a robot training model, and the preset upper limit condition may include a pressure along the z-axis being between 2N and 5N, for example: 2N, 3N and 5N.
In some embodiments, the two directions parallel to the plane of the inlet are the direction along the x-axis and the direction along the y-axis in the second robot base coordinate system, respectively, and the direction along the positive x-axis and the positive direction along the y-axis may represent two directions perpendicular to each other on the inlet; one direction perpendicular to the plane of the inlet is along the z-axis in the second robot base coordinate system, and the direction along the z-axis may be a direction extending from the inlet to the pin bottom on the pin holder.
As an alternative embodiment, the preset skew calibration condition includes an offset calibration sub-condition and a tilt calibration sub-condition, and the driving of the first robot arm according to the two-dimensional component information and the preset skew calibration condition calibrates the attitude of the pin along two directions parallel to the plane where the entrance is located specifically includes: determining a first force component and a moment component in each direction parallel to the plane of the inlet from the two-dimensional component information respectively; driving the first robot arm alignment pin to offset distances in directions parallel to the plane of the entrance according to the respective first force components and the offset alignment sub-conditions; the first robot arm calibration pin is driven to calibrate the tilt angle in each direction parallel to the plane of the entrance according to each moment component and tilt calibration sub-condition.
In some embodiments, each direction parallel to the plane of the inlet represents a direction along the x-axis or a direction along the y-axis in the second robot base coordinate system, and the first force component may include a pressure resolved along the x-axis or a pressure resolved along the y-axis to represent a contact force imparted by the pin wall to the pin in the second robot base coordinate system, such as: -2N represents the pressure of the contact force along the x-axis decomposition; the moment component may include a torque corresponding to a pressure resolved along the x-axis or a torque corresponding to a pressure resolved along the y-axis, such as: 1.2Nm represents the torque value corresponding to the pressure resolved along the x-axis, where "-" represents the negative direction.
During the process that the pin is inserted from the entrance to the target position on the pin seat, the first mechanical arm can be driven to calibrate the position of the pin through each first force component, the offset calibration sub-condition, each moment component and the inclination calibration sub-condition so as to reduce the offset of the pin in the pin seat, thereby reducing the resistance of the pin seat on the pin and reducing the damage rate of the pin.
As an alternative embodiment, the offset calibration sub-condition includes a force offset threshold and a distance calibration constant, and the driving of the offset distance of the first robot arm calibration pin along each direction parallel to the plane of the entrance according to the respective first force component and the offset calibration sub-condition specifically includes: and judging whether the force value in each first force component is larger than a force offset threshold value, if so, driving the first mechanical arm to calibrate each offset distance according to the force direction and the distance calibration constant in each first force component, and if not, stopping driving the first mechanical arm to calibrate each offset distance.
In some embodiments, the force offset threshold may include an empirical value pre-stored in the central controller or trained by the robot training model, and may be set between 1N and 1.5N, for example: 1N, 1.2N and 1.5N.
In some embodiments, whether the force value is larger than the magnitude relation between the force offset threshold values or not can be judged in a circulating mode until the force value does not exceed the force offset threshold value, and the circulation is carried out until the force value is out of the circulation, so that the efficiency of gradually calibrating the pose of the pin in the entrance of the first mechanical arm is improved, and the continuity of inserting the pin into the pin base is ensured.
As an alternative embodiment, the tilt calibration sub-condition includes a moment tilt threshold and an angle calibration constant, and the driving of the tilt angle of the first robot arm calibration pin along each direction parallel to the plane of the inlet according to each moment component and the tilt calibration sub-condition specifically includes: and judging whether the moment value in each moment component exceeds a moment inclination threshold value, if so, driving the first mechanical arm to calibrate each inclination angle according to the moment direction and the distance calibration constant in each moment component, and if not, stopping driving the first mechanical arm to calibrate each inclination angle.
In some embodiments, the moment tilt threshold may include empirical values pre-stored in the central controller or trained by the robot training model, and may be set between 1Nm and 1.5Nm, for example: 1Nm or 1.3Nm or 1.5 Nm.
In some embodiments, the magnitude relation between the moment value and the moment inclination threshold value can be judged in a circulating mode until the moment value does not exceed the moment inclination threshold value, and the circulation is jumped out, so that the efficiency of gradually calibrating the pose of the pin in the entrance of the first mechanical arm is improved, and the continuity of inserting the pin into the pin seat is guaranteed.
As an optional implementation manner, driving the first robot arm to insert the pin into the pin seat from the inlet along a direction perpendicular to a plane where the inlet is located according to the one-dimensional component information and the preset upper limit condition specifically includes: determining a second force component from the one-dimensional component information; and judging whether the force value in the second force component is larger than a preset upper limit condition, if so, stopping driving the first mechanical arm to insert the pin into the pin seat from the inlet, and if not, continuously driving the first mechanical arm to insert the pin into the pin seat from the inlet.
In some embodiments, the second force component comprises a pressure along the z-axis, such as: pressure along the z-axis positive direction was 3.3N; when the positive pressure 3.3N along the z axis is greater than the preset upper limit condition 3N, the pin reaches the pin bottom on the pin seat in the shape of a cylinder; when the pressure 3.3N along the Z-axis forward direction is greater than the preset upper limit condition 3N, the situation that the pin does not reach the pin bottom is shown, the insertion stage is completed, the first mechanical arm is continuously driven to insert the pin to the pin bottom along the Z-axis forward direction, the driving mode is simple, and the efficiency of continuously driving the first mechanical arm is improved.
Example two
As shown in fig. 2, an embodiment of the present invention provides a robot automatic step-by-step pin assembly system, which includes a robot arm driving module, an information obtaining module, and an information detecting module.
The mechanical arm driving module is used for driving the first mechanical arm to clamp the pin to a first pre-assembly point; and driving the second mechanical arm to clamp the pin seat to the second pre-assembly point.
And the information acquisition module is used for acquiring three-dimensional information of the inlet when the pin seat is positioned at the second pre-assembly point.
And the information detection module is used for continuously detecting the multi-dimensional force information of the pin wall in the second mechanical arm base coordinate system.
And the mechanical arm driving module is also used for driving the first mechanical arm to assemble the pin into the pin seat step by step from the first pre-assembly point according to the inlet three-dimensional information and the multi-dimensional force information.
EXAMPLE III
The embodiment of the invention provides a double-arm robot which is used for executing the automatic step-by-step bolt assembling method of the robot in any one of the embodiment.
In some embodiments, as shown in fig. 3 and 4, the robot includes a robot body 1, a servo driving device 2, a first robot arm 3, a second robot arm 4, a 3D camera 5, and a force sensor 6; the servo driving device 2 is installed in an inner cavity of the robot body 1, the first mechanical arm 3 is installed on a shoulder on the left side of the robot body 1, the second mechanical arm 4 is installed on a shoulder on the right side of the robot body 1, the 3D camera 5 is installed on the head of the robot body 1, and the force sensor 6 is installed at the tail end of the second mechanical arm 4.
The servo drive 2 is in communication with the first robot arm 3, the second robot arm 4, the 3D camera 5 and the force sensor 6, respectively, and the force sensor 6 may comprise a six-dimensional force sensor.
And the servo driving device 2 is used for driving the first mechanical arm 3 to clamp and assemble the pin 7 step by step, driving the second mechanical arm 4 to clamp the pin seat 8 and driving the 3D camera 5 to shoot images, and the continuous driving force sensor 6 is used for detecting multi-dimensional force information.
In some embodiments, the servo driving device 2 may include a single driver for driving the first robot arm 3 gripping and assembling pins 7 step by step, driving the second robot arm 4 gripping pin holders 8, driving the 3D camera 5 to photograph an image, and the continuous driving force sensor 6 to detect multi-dimensional force information.
In some embodiments, the servo driving device 2 may be a single driver and may include dual drivers, which are a first driver and a second driver, respectively; the first driver is used for driving the first mechanical arm 3 to clamp and assemble the pin 7 and driving the second mechanical arm 4 to clamp the pin seat 8 step by step; and a second driver for driving the 3D camera 5 to capture an image and the continuous driving force sensor 6 to detect multi-dimensional force information.
In some embodiments, the servo drive may include a multi-driver including a first driver, a second driver, a third driver, and a fourth driver; a first driver for driving the first robot arm 3 to pick up and assemble the pin 7; the second driver is used for driving the second mechanical arm 4 to clamp the pin seat 8; a fourth driver for driving the 3D camera 5 to photograph an image; and a fourth driver for detecting multi-dimensional force information by the continuous driving force sensor 6.
The reader should understand that in the description of this specification, reference to the description of the terms "aspect," "alternative embodiments," or "some embodiments," etc., means that a particular feature, step, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and the terms "first" and "second," etc., are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second", etc., may explicitly or implicitly include at least one of the feature.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A method for automatically assembling a bolt step by a robot is characterized by comprising the following steps:
driving a first manipulator arranged on a robot body to clamp a pin to a first preassembly point located in a first manipulator base coordinate system;
driving a second robot arm mounted on the robot body to grip a pin seat with an entrance to a second pre-assembly point located in a second robot arm base coordinate system;
when the pin seat is positioned at the second pre-assembly point, acquiring three-dimensional inlet information of the inlet in a base coordinate system of the second robot arm;
continuously detecting multi-dimensional force information of a pin wall on the pin seat in the second mechanical arm base coordinate system;
and driving the first mechanical arm to assemble the pin into the pin seat step by step from the first pre-assembly point according to the inlet three-dimensional information and the multi-dimensional force information.
2. The robotic automated step-by-step assembly latching method of claim 1, wherein driving the first robotic arm from the first pre-assembly point to step-assemble the pin into the pin receptacle based on the entry three-dimensional information and the multi-dimensional force information, comprises:
when the multi-dimensional force information does not meet a preset lower limit condition, driving the first mechanical arm to gradually clamp the pin close to the inlet from the first pre-assembly point according to the inlet three-dimensional information, so that the multi-dimensional force information meets the preset lower limit condition;
and when the multi-dimensional force information meets the preset lower limit condition, driving the first mechanical arm to insert the pin into the pin seat from the inlet according to the multi-dimensional force information.
3. The method according to claim 2, wherein driving the first robot arm to clamp the pin step by step near the entrance from the first pre-assembly point based on the entrance three-dimensional information comprises:
respectively acquiring a preset step length and first preset three-dimensional information used for representing the first preassembly point;
planning a motion path according to the entrance three-dimensional information and the first preset three-dimensional information;
driving the first mechanical arm step by step according to the preset step length to clamp the pin to be close to the inlet step by step along the motion path; alternatively, the first and second electrodes may be,
calculating the step number according to the entrance three-dimensional information, the preset step length and the first preset three-dimensional information;
and gradually driving the first mechanical arm according to the step number to gradually clamp the pin to be close to the inlet.
4. The method of claim 2, wherein driving the first robot arm to insert the pin from the entry into the pin holder based on the multi-dimensional force information comprises:
respectively reading two-dimensional component information in two directions parallel to the plane where the inlet is located and one-dimensional component information in one direction perpendicular to the plane where the inlet is located from the multi-dimensional force information;
driving the first mechanical arm to calibrate the posture of the pin along two directions parallel to the plane where the inlet is located according to the two-dimensional component information and a preset deflection calibration condition;
and driving the first mechanical arm to insert the pin into the pin seat from the inlet along a direction vertical to a plane where the inlet is located according to the one-dimensional component information and a preset upper limit condition.
5. The method according to claim 4, wherein the pre-set skew calibration conditions include an offset calibration sub-condition and a tilt calibration sub-condition, and wherein driving the first robot arm to calibrate the pin's pose along two directions parallel to the plane of the entrance based on the two-dimensional component information and the pre-set skew calibration condition comprises:
respectively determining a first force component and a moment component in each direction parallel to the plane where the inlet is located from the two-dimensional component information;
driving the first robot arm to calibrate an offset distance of the pin in each direction parallel to a plane in which the inlet is located, according to each of the first force components and the offset calibration sub-condition;
and driving the first mechanical arm to calibrate the inclination angle of the pin along each direction parallel to the plane of the inlet according to each moment component and the inclination calibration sub-condition.
6. The robotic automatic step assembly latching method of claim 5, wherein said offset calibration sub-conditions include a force offset threshold and a distance calibration constant, and said tilt calibration sub-conditions include a moment tilt threshold and an angle calibration constant;
driving the first mechanical arm to calibrate offset distances of the pin along directions parallel to the plane of the inlet according to the first force components and the offset calibration sub-conditions, specifically including:
judging whether the force value in each first force component is larger than the force offset threshold value or not, if so, driving the first mechanical arm to calibrate each offset distance according to the force direction in each first force component and the distance calibration constant, and if not, stopping driving the first mechanical arm to calibrate each offset distance;
driving the first mechanical arm to calibrate the inclination angle of the pin along each direction parallel to the plane where the inlet is located according to each moment component and the inclination calibration sub-condition, and specifically comprising:
and judging whether the moment value in each moment component exceeds the moment inclination threshold value, if so, driving the first mechanical arm to calibrate each inclination angle according to the moment direction and the distance calibration constant in each moment component, and if not, stopping driving the first mechanical arm to calibrate each inclination angle.
7. The method for robotic automated step-by-step assembly of a latch according to any of claims 4-6, wherein driving the first robot arm to insert the pin from the entrance into the pin seat in a direction perpendicular to a plane in which the entrance is located according to the one-dimensional component information and a preset upper limit condition comprises:
determining a second force component from the one-dimensional component information;
and judging whether the force value in the second force component is larger than the preset upper limit condition, if so, stopping driving the first mechanical arm to insert the pin into the pin seat from the inlet, and if not, continuously driving the first mechanical arm to insert the pin into the pin seat from the inlet.
8. The method for robotic automated step-by-step assembly of a latch according to any of claims 1-6, wherein driving a first robot gripper pin mounted on a robot body to a first pre-assembly point located in a first robot base coordinate system comprises:
receiving a pin three-dimensional image shot by a 3D camera in a 3D camera coordinate system;
identifying first three-dimensional information of a first grabbing point on the pin in the 3D camera coordinate system according to the pin three-dimensional image;
converting the first three-dimensional information into second three-dimensional information in the first robot arm base coordinate system;
driving the first mechanical arm to grab the pin according to the second three-dimensional information;
acquiring first preset three-dimensional information used for representing the first preassembly point;
driving the second mechanical arm to clamp the pin seat from the first grabbing point to the first pre-assembly point according to the second three-dimensional information and the first preset three-dimensional information;
the method for clamping the pin seat with the inlet by the second mechanical arm mounted on the robot is driven to a second pre-assembly point located in a base coordinate system of the second mechanical arm, and the method specifically comprises the following steps:
receiving a pin boss three-dimensional image shot by the 3D camera in the 3D camera coordinate system;
identifying third three-dimensional information of a second grabbing point on the pin wall in the 3D camera coordinate system according to the pin seat three-dimensional image;
converting the third three-dimensional information into fourth three-dimensional information in the second robot arm base coordinate system;
driving the second mechanical arm to grab the pin wall according to the fourth three-dimensional information;
acquiring second preset three-dimensional information used for representing the second preassembly point;
and driving the second mechanical arm to clamp the pin seat from the second grabbing point to the second pre-assembly point according to the fourth three-dimensional information and the second preset three-dimensional information.
9. A robot automatic step-by-step assembly bolt system is characterized by comprising a mechanical arm driving module, an information acquisition module and an information detection module;
the mechanical arm driving module is used for driving a first mechanical arm clamping pin arranged on a robot body to a first pre-assembly point located in a first mechanical arm base coordinate system; driving a second robot arm mounted on the robot to grip a pin boss with an entrance to a second pre-assembly point located in a base coordinate system of the second robot arm;
the information acquisition module is used for acquiring inlet three-dimensional information of the inlet in the second robot arm base coordinate system when the pin seat is positioned at the second pre-assembly point;
the information detection module is used for continuously detecting multi-dimensional force information of the pin wall on the pin seat in the second mechanical arm base coordinate system;
the mechanical arm driving module is further used for driving the first mechanical arm to assemble the pin into the pin seat step by step from the first pre-assembly point according to the inlet three-dimensional information and the multi-dimensional force information.
10. A dual-arm robot for performing the robotic automated step-by-step assembly latch method of any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910556696.9A CN110253250B (en) | 2019-06-25 | 2019-06-25 | Method and system for automatically assembling bolts step by robot and double-arm robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910556696.9A CN110253250B (en) | 2019-06-25 | 2019-06-25 | Method and system for automatically assembling bolts step by robot and double-arm robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110253250A CN110253250A (en) | 2019-09-20 |
| CN110253250B true CN110253250B (en) | 2020-11-03 |
Family
ID=67921464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910556696.9A Active CN110253250B (en) | 2019-06-25 | 2019-06-25 | Method and system for automatically assembling bolts step by robot and double-arm robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110253250B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111531530A (en) * | 2020-03-13 | 2020-08-14 | 北京卫星制造厂有限公司 | Low-stress installation and adjustment system and method based on six-dimensional force sensing |
| JP7413165B2 (en) * | 2020-06-29 | 2024-01-15 | 川崎重工業株式会社 | Electronic component mounting device and electronic component mounting method |
| CN111958203A (en) * | 2020-08-07 | 2020-11-20 | 五邑大学 | Assembly quality based on manipulator |
| CN113093356B (en) * | 2021-03-18 | 2022-08-12 | 北京空间机电研究所 | Large-scale block optical component assembling method based on mechanical arm |
| CN113547506B (en) * | 2021-06-28 | 2023-06-30 | 北京精密机电控制设备研究所 | Six-dimensional force sensor-based precise assembly method for double-arm robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2012143969A1 (en) * | 2011-04-19 | 2014-07-28 | 平田機工株式会社 | Piston supply device and piston supply method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895042A (en) * | 2014-02-28 | 2014-07-02 | 华南理工大学 | Industrial robot workpiece positioning grabbing method and system based on visual guidance |
| EP3415267A4 (en) * | 2016-02-12 | 2019-10-16 | Mitsubishi Electric Corporation | Insertion guide and insertion-guiding device |
| CN106041487A (en) * | 2016-07-26 | 2016-10-26 | 重庆福瑞斯自动化设备有限公司 | Bushing assembling robot |
| US10363661B2 (en) * | 2016-07-27 | 2019-07-30 | Seiko Epson Corporation | Control device, robot, and robot system |
| CN106272416B (en) * | 2016-08-29 | 2020-12-29 | 上海交通大学 | Robot slender shaft precision assembly system and method based on force sense and vision |
| CN106272424B (en) * | 2016-09-07 | 2017-10-27 | 华中科技大学 | A kind of industrial robot grasping means based on monocular camera and three-dimensional force sensor |
| CN106695793B (en) * | 2017-01-18 | 2020-04-10 | 宁波韦尔德斯凯勒智能科技有限公司 | Active compliance control device and method for XYZR four-axis drilling robot |
-
2019
- 2019-06-25 CN CN201910556696.9A patent/CN110253250B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2012143969A1 (en) * | 2011-04-19 | 2014-07-28 | 平田機工株式会社 | Piston supply device and piston supply method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110253250A (en) | 2019-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110253250B (en) | Method and system for automatically assembling bolts step by robot and double-arm robot | |
| US9868215B2 (en) | Object pick-up system and method for picking up stacked objects | |
| US10532461B2 (en) | Robot and robot system | |
| US8295975B2 (en) | Object picking device | |
| CN106217373B (en) | Robot, robot control device, robot control method, and robot system | |
| CN104520134B (en) | Charging system and method for charging to motor vehicles | |
| EP2783809A2 (en) | Robot system and a method for producing a to-be-processed material | |
| EP2684653A1 (en) | Robot system and method for manufacturing fitting | |
| US11305432B2 (en) | Work machine and pick-up position selection method | |
| CN108818600B (en) | New forms of energy motor grabbing device that rolls off production line and robot gripping apparatus thereof | |
| CN105171374B (en) | For the system and method for being positioned relative to each other vehicle part | |
| CN111985293B (en) | Workpiece identification method | |
| US10050401B2 (en) | Terminal insertion device and terminal insertion method | |
| US20190329425A1 (en) | Robot hand including a plurality of grippers and a method of handling a wire harness using a robot hand | |
| CN114248086B (en) | Flexible three-dimensional vision-guided robot alignment system and method | |
| TW202003175A (en) | Method for inserting objects into a common object receptacle | |
| CN111618845B (en) | Robot system | |
| JP2018073495A (en) | Manufacturing support device for wire harness | |
| CN112459734A (en) | Manipulator positioning method and device, manipulator and storage medium | |
| CN115008477B (en) | Manipulator movement compensation method, manipulator movement compensation device and computer-readable storage medium | |
| CN212265846U (en) | Wire arranging mechanism and assembling robot | |
| CN215709916U (en) | Material posture adjustment equipment and adjustment system | |
| CN113492401B (en) | Correction method | |
| JP2019016294A (en) | Information processor, information processing method, information processing program, and system | |
| CN113977637A (en) | Robot vision identification grabbing system and method applicable to non-precision work bin |
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 | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: The invention relates to a robot automatic step-by-step bolt assembly method, system and double arm robot Effective date of registration: 20220329 Granted publication date: 20201103 Pledgee: Guanggu Branch of Wuhan Rural Commercial Bank Co.,Ltd. Pledgor: WUHAN COBOT TECHNOLOGY Co.,Ltd. Registration number: Y2022420000084 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230323 Granted publication date: 20201103 Pledgee: Guanggu Branch of Wuhan Rural Commercial Bank Co.,Ltd. Pledgor: WUHAN COBOT TECHNOLOGY Co.,Ltd. Registration number: Y2022420000084 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |