CN110977373A - Robot is with terminal actuating mechanism of eye power coordinated control - Google Patents
Robot is with terminal actuating mechanism of eye power coordinated control Download PDFInfo
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- CN110977373A CN110977373A CN201911163344.3A CN201911163344A CN110977373A CN 110977373 A CN110977373 A CN 110977373A CN 201911163344 A CN201911163344 A CN 201911163344A CN 110977373 A CN110977373 A CN 110977373A
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- robot
- clamping jaw
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- force sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of robot automatic control, and relates to a tail end executing mechanism for robot hand-eye force coordination control. The tail end executing mechanism comprises a six-axis industrial cooperative robot (1), a six-dimensional force sensor (2), a connecting piece (3), an industrial camera (4) and an electric clamping jaw (5); six-dimensional force sensor (2) link to each other with six industry cooperation robot (1) end, connecting piece (3) with six-dimensional force sensor (2) are connected, industry camera (4) with connecting piece (3) link to each other, electronic clamping jaw (5) with connecting piece (3) link to each other, just industry camera (4) keep the syntropy with electronic clamping jaw (5). The invention can effectively ensure the coaxiality of the shaft hole during assembly, realize the deviation measurement and correction in the assembly process, avoid the jamming and improve the assembly accuracy and the assembly quality of the shaft hole under the condition that the vision and position mixed control technology is applied to uncertain environment.
Description
Technical Field
The invention belongs to the field of robot automatic control, and relates to a tail end executing mechanism for robot hand-eye force coordination control, which is used for completing automatic assembly of parts.
Background
In the production process of industrial products, the assembly of each part is an essential link, but the shaft hole assembly is an important ring in the assembly operation, and the shaft hole assembly is widely applied in the industry by using a robot to complete the shaft hole assembly.
In recent years, in the field of intelligent robot shaft hole assembly, force position hybrid control and vision and position hybrid control technologies are developed. The force and position hybrid control technology is characterized in that after a workpiece is contacted by position control, a force feedback controller is adopted to adjust the motion direction of a robot end effector to complete an assembly task, but the force and position hybrid control technology must be applied to a determined environment, such as a robot of an existing automobile assembly production line, and assembly operation is carried out in a specific environment.
And for the situation that the vision and position hybrid control technology is applied to environment uncertainty, the assembly position needs to be determined by adopting the vision technology, the robot reaches the target position and then operates, and meanwhile, due to the vision error and the motion control error, a blocking phenomenon can occur in the assembly process, and the assembly cannot be completed.
Therefore, by combining the advantages of the two technologies, the robot end actuating mechanism is constructed by adopting the technology of hand-eye force coordination control to complete the assembly task under the unknown environment.
Disclosure of Invention
The invention aims to solve the technical problem of providing a tail end executing mechanism for controlling a robot based on the hand-eye force coordination of a six-axis robot, which can complete the full-automatic shaft hole transferring operation and improve the working efficiency and the position precision during shaft hole assembly.
In order to solve the problems, the robot uses the hand-eye force to coordinate and control the end actuating mechanism, which comprises a six-axis industrial cooperative robot 1, a six-dimensional force sensor 2, a connecting piece 3, an industrial camera 4 and an electric clamping jaw 5;
six-dimensional force sensor 2 links to each other with six industry cooperation robot 1 end, connecting piece 3 with six-dimensional force sensor 2 is connected, industry camera 4 with connecting piece 3 links to each other, electronic clamping jaw 5 with connecting piece 3 links to each other, just industry camera 4 keeps the syntropy with electronic clamping jaw 5.
The six-dimensional force sensor 2 is of a sleeve structure and comprises a bottom plate, a sensor main body and an internal chip, wherein the bottom plate is sleeved with the sensor main body through threads, the bottom plate is connected with an output port of the six-axis industrial cooperative robot, the chip is of a circuit board structure containing a strain gauge and is arranged on the inner wall of the sensor main body, and the strain gauge acquires three-dimensional force and three-dimensional moment information.
The connecting piece 3 is of an L-shaped structure, one end of the connecting piece is sleeved with the six-dimensional force sensor 2, and the other end of the connecting piece is bent to form an industrial camera 4 in the vertical portion.
The electric clamping jaw 5 comprises a clamp, a clamping jaw body, a ball screw, a motor, a clamping jaw controller and a shell for accommodating the components, wherein the motor is connected with the ball screw, the ball screw is connected with an upper moving plate of the clamping jaw body, the clamp is arranged on the moving plate of the clamping jaw body, and the clamping action is realized under the driving control of the ball screw.
The vertical end of the connecting piece is provided with a plurality of mounting holes for adjusting the position of the industrial camera in the vertical direction.
The connecting piece horizontal direction is extending structure for adjust the distance between industry camera and the electronic clamping jaw 5.
The industrial camera and the clamping jaw controller in the electric clamping jaw 5 are connected with an upper computer, data processing is carried out by the upper computer, coordination control is achieved through the six-axis industrial cooperative robot 1, and the phenomenon of assembly blocking is effectively avoided.
Before actual use, the six-dimensional force sensor 2 is calibrated by returning to zero;
the industrial camera 4 performs internal parameter and external parameter data calculation by taking a plurality of pictures, so as to realize industrial camera calibration.
In actual operation, the six-axis industrial cooperative robot 1 drives the electric clamping jaw 5, the industrial camera 4 and the six-dimensional force sensor 2 to move to the pre-assembly position, after the industrial camera 4 takes a picture, the circle center of a hole workpiece is determined through upper computer image processing, then the error between the pre-assembly position and the actual assembly position is determined, the position error is transmitted to a control system of the six-axis industrial cooperative robot 1, then the pose of the six-axis industrial cooperative robot 1 is adjusted, hand-eye force coordination control is achieved, and coaxiality during assembly is guaranteed.
When the shaft holes are in matched contact, the six-dimensional force sensor 2 transmits the stress information in all directions to a control system of the six-axis industrial cooperative robot 1, the position deviation of the shaft in the shaft hole assembling process is determined through calculation, further the six-axis industrial cooperative robot 1 is controlled to further adjust the pose, and the force and moment information of the six-dimensional force sensor 2 is ensured to complete the shaft hole assembling within an allowable range during the shaft hole assembling.
The invention has the advantages and effects that: the invention can complete the full-automatic shaft hole assembly operation, is applied to the production line of the automatic assembly, adopts the mode of combining the vision sensor and the six-dimensional force sensor to feed back and adjust the pose, can effectively ensure the coaxiality of the shaft hole during the assembly under the condition that the vision and position mixed control technology is applied to uncertain environment, realizes the deviation measurement and correction in the assembly process, can greatly improve the assembly accuracy and the assembly quality of the shaft hole, shortens the assembly time and reduces the labor intensity of operators.
Drawings
Fig. 1 is a schematic view of the general structure of the present invention.
Fig. 2 is a schematic view of the robot end mechanism of the present invention.
Fig. 3 is a schematic structural view of the electric clamping jaw.
The robot comprises a 1-six-axis industrial cooperative robot, a 2-six-dimensional force sensor, a 3-connecting piece, a 4-industrial camera, a 5-electric clamping jaw, a 6-clamping jaw controller, a 7-motor, an 8-clamp, a 9-connecting plate and a 10-ball screw.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, which are not intended to be exhaustive or to be limiting.
Referring to fig. 1 and fig. 2, the robot for controlling the end effector by using the hand-eye force coordination of the present invention includes: the six-axis industrial cooperative robot comprises a six-axis industrial cooperative robot 1, a six-dimensional force sensor 2, a connecting piece 3, an industrial camera 4 and an electric clamping jaw 5.
In the technical scheme, the six-dimensional force sensor 2 is connected with the tail end of the six-axis industrial cooperative robot 1, the connecting piece 3 is connected with the six-dimensional force sensor 2, the industrial camera 4 is connected with the connecting piece 3, and the electric clamping jaw 5 is connected with the connecting piece 3.
Six-dimensional force transducer 2 includes bottom plate and sensor main part and inside chip for the sleeve structure, wherein, the bottom plate cup joints through the screw thread with the sensor main part, and the bottom plate is connected with six industry cooperation robot output ports, the circuit board structure of chip for containing the foil gage sets up at sensor main part inner wall, wherein, foil gage annular distribution and sensor main part inner wall acquire X, Y, Z three-dimensional power of three direction and acquire three-dimensional moment information through power and position relation each other, when assembly error appears, can acquire inhomogeneous atress information to judge in real time, confirm and feed back the assembly position, further realize the accurate assembly of part according to feedback information.
The connecting piece 3 is of an L-shaped structure, one end of the connecting piece is sleeved with the six-dimensional force sensor 2, and the other end of the connecting piece is bent to form an industrial camera 4 in the vertical portion. In addition, the vertical end of the connecting piece is provided with a plurality of mounting holes for adjusting the position of the industrial camera in the vertical direction, so that the assembling requirements of different tools and parts can be met conveniently.
But connecting piece horizontal direction is extending structure for adjust the distance between industry camera and the electronic clamping jaw 5, be convenient for satisfy the assembly demand of different frocks and part position.
Referring to fig. 3, the electric chuck 5 includes a chuck, a chuck body, a ball screw, a motor, a chuck controller, and a housing for accommodating the above components. The motor is connected with the ball screw and used for driving the ball screw to move. The ball screw is connected with the upper moving plate of the clamping jaw body and can drive the moving plate to reciprocate. The clamp is arranged on the moving plate of the clamping jaw body and realizes grabbing action under the driving control of the ball screw.
The industrial camera and the clamping jaw controller inside the electric clamping jaw 5 are connected with an upper computer, data processing is carried out by the upper computer, and coordination control is achieved through the six-axis industrial cooperative robot 1.
In addition, before actual use, the six-dimensional force sensor 2 is calibrated by returning to zero; the industrial camera 4 performs internal parameter and external parameter data calculation by taking a plurality of pictures to realize industrial camera calibration so as to ensure the position accuracy of the subsequent assembly process.
When the robot is assembled by using the hand-eye force coordination control end effector, the six-axis industrial cooperative robot 1 drives the electric clamping jaw 5, the industrial camera 4 and the six-dimensional force sensor 2 to move to the pre-assembly position, after the industrial camera 4 takes a picture, the center of a hole workpiece is determined through the image processing of an upper computer, the error between the pre-assembly position and the actual assembly position is further determined, the position error is transmitted to a control system of the six-axis industrial cooperative robot 1, then the pose of the six-axis industrial cooperative robot 1 is adjusted, and therefore the hand-eye force coordination control is realized when the vision and position hybrid control technology is applied to the environment uncertainty, and the coaxiality during assembly is ensured.
In addition, when the shaft holes are in matched contact, the six-dimensional force sensor 2 transmits stress information in all directions to a control system of the six-axis industrial cooperative robot 1, the control system calculates and determines the position deviation of the shaft in the shaft hole assembling process, and then the six-axis industrial cooperative robot 1 is controlled in a feedback mode to perform further pose adjustment, so that the shaft hole assembling is completed within an allowable range by force and moment information of the six-dimensional force sensor 2 during the shaft hole assembling, and the blocking phenomenon in the assembling process is effectively avoided.
In conclusion, the robot is adopted to complete the shaft hole assembly task, the robot is applied to the field of industrial automation, the assembly pose of a workpiece is aligned and adjusted by adopting the vision sensor, meanwhile, the six-dimensional force sensor is added for measuring and adjusting the force, the coaxiality of the vision sensor in the process of identifying the reference characteristic is ensured, the deviation measurement and correction in the assembly process are realized, and the influence of the angle and the distance of an industrial camera on the measurement precision of the hole position when only the vision sensor is used for assembly is solved. By combining the six-dimensional force sensor and the visual sensor, the consistency of the measured data of the assembly position and the data during calibration is ensured, so that the precision of the assembly position is improved, the phenomenon of jamming in the assembly process is avoided, and the assembly success rate is improved.
Claims (10)
1. The utility model provides a robot is with terminal actuating mechanism of hand eye power coordinated control which characterized in that: the robot comprises a six-axis industrial cooperative robot (1), a six-dimensional force sensor (2), a connecting piece (3), an industrial camera (4) and an electric clamping jaw (5);
six-dimensional force sensor (2) link to each other with six industry cooperation robot (1) end, connecting piece (3) with six-dimensional force sensor (2) are connected, industry camera (4) with connecting piece (3) link to each other, electronic clamping jaw (5) with connecting piece (3) link to each other, just industry camera (4) keep the syntropy with electronic clamping jaw (5).
2. The robot of claim 1, wherein the end effector is controlled by eye force coordination, and wherein: the six-dimensional force sensor (2) is of a sleeve structure and comprises a bottom plate, a sensor main body and an internal chip, wherein the bottom plate is sleeved with the sensor main body through threads, the bottom plate is connected with an output port of the six-axis industrial cooperative robot, the chip is of a circuit board structure containing a strain gauge and is arranged on the inner wall of the sensor main body, and the strain gauge acquires three-dimensional force and three-dimensional moment information.
3. The robot of claim 1, wherein the end effector is controlled by eye force coordination, and wherein: the connecting piece (3) is of an L-shaped structure, one end of the connecting piece is sleeved with the six-dimensional force sensor (2), and the other end of the connecting piece is bent to form an industrial camera (4) in the vertical portion.
4. The robot of claim 1, wherein the end effector is controlled by eye force coordination, and wherein: the electric clamping jaw (5) comprises a clamp, a clamping jaw body, a ball screw, a motor, a clamping jaw controller and a shell for accommodating the components, wherein the motor is connected with the ball screw, the ball screw is connected with an upper moving plate of the clamping jaw body, the clamp is arranged on the moving plate of the clamping jaw body, and the ball screw drives and controls the clamping jaw to realize the grabbing action.
5. The robot of claim 1, wherein the end effector is controlled by eye force coordination, and wherein: the vertical end of the connecting piece is provided with a plurality of mounting holes for adjusting the position of the industrial camera in the vertical direction.
6. The robot of claim 1, wherein the end effector is controlled by eye force coordination, and wherein: the horizontal direction of the connecting piece is of a telescopic structure and is used for adjusting the distance between the industrial camera and the electric clamping jaw (5).
7. The robot of claim 1, wherein the end effector is controlled by eye force coordination, and wherein: the industrial camera and the clamping jaw controller inside the electric clamping jaw (5) are connected with an upper computer, data processing is carried out by the upper computer, and coordination control is achieved through the six-axis industrial cooperative robot (1).
8. The robot of claim 1, wherein the end effector is controlled by eye force coordination, and wherein: before actual use, the six-dimensional force sensor (2) is calibrated by zeroing;
the industrial camera (4) is used for calculating internal parameter data and external parameter data by shooting a plurality of pictures, so that the industrial camera is calibrated.
9. The robot of claim 1, wherein the end effector is controlled by eye force coordination, and wherein: during actual operation, the six-axis industrial cooperative robot (1) drives the electric clamping jaw (5), the industrial camera (4) and the six-dimensional force sensor (2) move to the pre-assembly position, the far end of the industrial camera (4) shoots pictures firstly, the position is preliminarily determined, the circle center of a hole workpiece is determined through image processing of an upper computer, the industrial camera (4) is moved to shoot at a close distance, the error between the pre-assembly position and the actual assembly position is determined, the position error is transmitted to a control system of the six-axis industrial cooperative robot (1), then the pose of the six-axis industrial cooperative robot (1) is adjusted, the hand-eye force coordination control is realized, and the coaxiality during assembly is ensured.
10. The robotic hand-eye force coordinated control end effector as claimed in claim 8, wherein: when the shaft holes are in matched contact, the six-dimensional force sensor (2) transmits stress information in all directions to a control system of the six-axis industrial cooperative robot (1), the position deviation of the shaft in the shaft hole assembling process is determined through calculation, further the six-axis industrial cooperative robot (1) is controlled to further adjust the pose, and the shaft hole assembly is completed within an allowable range by force and moment information of the six-dimensional force sensor (2) during the shaft hole assembly.
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| CN201911163344.3A CN110977373A (en) | 2019-11-22 | 2019-11-22 | Robot is with terminal actuating mechanism of eye power coordinated control |
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| CN201911163344.3A CN110977373A (en) | 2019-11-22 | 2019-11-22 | Robot is with terminal actuating mechanism of eye power coordinated control |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111532789A (en) * | 2020-05-18 | 2020-08-14 | 长安大学 | Rectangular glass piece dynamic carrying device based on vision and force feedback and operation method thereof |
| CN112548516A (en) * | 2020-12-04 | 2021-03-26 | 浙江师范大学 | Vision-based spline automatic assembly system and method |
| CN113770679A (en) * | 2021-09-29 | 2021-12-10 | 广东皓耘科技有限公司 | Filter element replacing device and maintenance robot |
| CN114932516A (en) * | 2022-04-28 | 2022-08-23 | 珠海格力电器股份有限公司 | Positioning and assembling system for motor shaft of air conditioner external unit and control method of positioning and assembling system |
| CN115092671A (en) * | 2022-06-08 | 2022-09-23 | 深圳市南科佳安机器人科技有限公司 | Feeding and discharging composite robot and corresponding feeding and discharging control method |
| CN115647796A (en) * | 2022-10-26 | 2023-01-31 | 中国工程物理研究院激光聚变研究中心 | Robot system applied to micro-part parallel assembly |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111532789A (en) * | 2020-05-18 | 2020-08-14 | 长安大学 | Rectangular glass piece dynamic carrying device based on vision and force feedback and operation method thereof |
| CN111532789B (en) * | 2020-05-18 | 2022-02-11 | 长安大学 | Rectangular glass piece dynamic carrying device based on vision and force feedback and operation method thereof |
| CN112548516A (en) * | 2020-12-04 | 2021-03-26 | 浙江师范大学 | Vision-based spline automatic assembly system and method |
| CN112548516B (en) * | 2020-12-04 | 2021-10-29 | 浙江师范大学 | Vision-based spline automatic assembly system and method |
| CN113770679A (en) * | 2021-09-29 | 2021-12-10 | 广东皓耘科技有限公司 | Filter element replacing device and maintenance robot |
| CN114932516A (en) * | 2022-04-28 | 2022-08-23 | 珠海格力电器股份有限公司 | Positioning and assembling system for motor shaft of air conditioner external unit and control method of positioning and assembling system |
| CN115092671A (en) * | 2022-06-08 | 2022-09-23 | 深圳市南科佳安机器人科技有限公司 | Feeding and discharging composite robot and corresponding feeding and discharging control method |
| CN115092671B (en) * | 2022-06-08 | 2023-09-26 | 深圳市南科佳安机器人科技有限公司 | Feeding and discharging control method |
| CN115647796A (en) * | 2022-10-26 | 2023-01-31 | 中国工程物理研究院激光聚变研究中心 | Robot system applied to micro-part parallel assembly |
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