CN111993423A - Modular intelligent assembling system - Google Patents
Modular intelligent assembling system Download PDFInfo
- Publication number
- CN111993423A CN111993423A CN202010825210.XA CN202010825210A CN111993423A CN 111993423 A CN111993423 A CN 111993423A CN 202010825210 A CN202010825210 A CN 202010825210A CN 111993423 A CN111993423 A CN 111993423A
- Authority
- CN
- China
- Prior art keywords
- assembly
- module
- control
- motion
- welding
- 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.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a modular intelligent assembly system, and belongs to the technical field of automatic assembly and precision manufacturing. The intelligent assembly system comprises a control decision system, an assembly control system, a motion control module, a vision module, an I/O control module, a feedback module, a welding module and an execution module; the control decision system operates the assembly control system through an interface, the control decision system sends an operation instruction to the motion control module, the vision module, the I/O control module, the feedback module, the welding module or the execution module through the assembly control system to complete the assembly action, and the control decision system judges and decides the transfer of the assembly action through the state fed back to the assembly control system by the motion control module, the I/O control module and the feedback module, and finally realizes automatic assembly. The invention can realize the automatic and high-precision assembly of tiny parts and solve the control problems of low qualification rate and automatic assembly of the traditional manual assembly.
Description
Technical Field
The invention relates to a modular intelligent assembly system, and belongs to the technical field of automatic assembly and precision manufacturing.
Background
The assembly of the quartz accelerometer mainly relies on the manual assembly of the worker at present, and the assembly performance receives the influence of workman's operating skill and mood easily, and the assembly qualification rate is not high, for solving production efficiency and qualification rate problem, needs an automatic assembly system. And for automatic assembly equipment, one assembly equipment can only be used for assembling parts of a certain type and size, aiming at the automatic assembly of zero devices of different types and sizes, the automatic assembly can be realized only by changing the bottom code of control system software, the standard of the universal equipment cannot be achieved, the requirement on the professional skill of an assembly worker is high, and the test on the development period and the development cost of a project is severe.
Disclosure of Invention
In view of the above, the invention provides a modular intelligent assembly system, which can realize automatic and high-precision assembly of tiny parts and solve the problems of low qualification rate of traditional manual assembly and control of automatic assembly.
A modularized intelligent assembly system comprises a control decision system, an assembly control system, a motion control module, a visual module, an I/O control module, a feedback module, a welding module and an execution module;
the control decision system operates the assembly control system through an interface, the control decision system sends an operation instruction to the motion control module, the vision module, the I/O control module, the feedback module, the welding module or the execution module through the assembly control system to complete assembly actions, and the control decision system judges and decides the transfer of the assembly actions through the state fed back to the assembly control system by the motion control module, the I/O control module and the feedback module, and finally realizes automatic assembly.
Furthermore, the control decision system comprises an information interaction module, an image processing module and a semantic analysis module; the information interaction module carries out interface display on the information acquired by the assembly control system; the image processing module is used for acquiring and processing an object and matching a template; and the semantic analysis module reads in the compiled assembly process instruction file and performs semantic analysis.
Further, the motion control module comprises a motion controller, a driver, a motor and a mechanical arm controller; the controller receives an instruction sent by the control decision system and converts the instruction into an electric signal to be transmitted to the driver, the driver controls the motor to rotate, and the motor drives the lead screw to rotate through the coupler so as to drive the actuating mechanism to complete the action; the executing mechanism comprises a Y axis of a gold wire ball welder in the welding module and a rotating shaft along the Z axis direction, an industrial camera extending into and a prism extending into the vision module along the X direction are arranged in the vision module, an assembling executing manipulator in the executing module is provided with an adjusting shaft rotating along the Z direction and around the Y direction, and the micro-motion adjusting platform is provided with a micro-motion platform adjusting shaft rotating along the X direction, along the Y direction and around the Z direction.
Further, the vision module comprises an industrial camera, an image acquisition card, a prism and a light source; the industrial camera and the prism are overlapped in the axis direction of the Y axis, the industrial camera is driven to extend into the assembly area through an industrial camera adjusting shaft, the prism is in a regular hexahedron shape, a layer of semi-reflective and semi-transparent film is coated on the diagonal surface of the prism, the industrial camera arranged in front of the prism side simultaneously acquires images of a target part and a substrate part, the light source is arranged on the upper surface and the lower surface of the prism, and the image acquisition card is connected with the assembly control system and the industrial camera; the method comprises the steps of making characteristic template pictures of a base part and a target part in the same coordinate system through artificial priori knowledge, obtaining position deviation of the base part in a template and deviation of a target position in the template through a template matching algorithm of MIL, obtaining adjustment quantity of a micro-motion adjusting platform through deviation subtraction, adjusting the micro-motion adjusting platform in the next step, and moving an assembling execution manipulator downwards to finish assembling after a prism is withdrawn.
Further, the I/O control module comprises a vacuum generator, an IO controller and an electromagnetic directional valve; the I/O controller receives an IO instruction sent by the assembly control system, converts the instruction into high and low levels and sends the high and low levels to the vacuum generator, the electromagnetic directional valve and the mechanical arm controller, and then controls the six-station clamp holder in the execution module and the assembly execution mechanical arm to clamp and release and performs instruction interaction with the mechanical arm controller respectively; the mechanical arm controller writes a path planning program according to manual experience, an IO inquiry command is set in the path planning program, when an IO signal sent by the IO controller is received, the mechanical arm movement program is continuously executed, and interaction between the mechanical arm and the IO signal is achieved through the method.
Furthermore, the feedback module comprises a force sensor and an encoder, the force sensor is arranged below the micro-motion assembly platform, assembly force acquisition is triggered when assembly action is executed, assembly force monitoring is carried out, assembly force data are displayed on a man-machine interaction interface, and an acquisition channel is closed when the assembly execution manipulator moves to a specified position; the encoder is arranged at the tail part of the motor and is used for acquiring the current position of each motion shaft in real time.
Further, the welding module comprises a gold wire ball welding machine and a gold wire ball welding machine controller; the gold wire ball welding machine is arranged beside the assembly area and is provided with a welding machine adjusting shaft rotating along the Y direction and around the Z direction, a welding head of the gold wire ball welding machine is provided with a shaft moving along the Z direction, the assembly control system sends a welding instruction to the gold wire ball welding machine controller through a serial port, the welding machine executes a welding action, the welding machine automatically welds after the welding head moves downwards to contact with an object, and the welding machine automatically returns to an initial position after the welding is finished.
Further, the execution module comprises a mechanical arm, a six-station clamp holder and an assembly execution mechanical arm; the mechanical arm and the six-station clamp holder execute clamping and releasing actions under the control of the I/O control module, and information interaction is carried out between the assembly execution mechanical arm and the mechanical arm controller through IO signals.
Further, the loading and unloading manipulator is used for conveying the assembly parts to the assembly area, conveying the assembly parts to the assembly execution manipulator and conveying the assembly parts from the assembly area to the material tray;
the assembly execution manipulator is provided with an execution mechanism with two degrees of freedom of moving up and down and rotating, and is used for aligning the clamped or adsorbed parts and then assembling the parts;
the micro-motion adjusting platform is a motion device which can move horizontally and rotate around a vertical shaft, and is used for placing parts to be assembled and adjusting the pose;
the industrial camera simultaneously acquires images of the target part and the substrate part;
the assembly control system is used for communicating and controlling the feeding and discharging mechanical arm, the assembly execution mechanical arm, the micro-motion adjusting platform and the welding machine; the assembly control system respectively collects an image of an assembly to be assembled on the assembly execution manipulator and an image of the assembly to be assembled on the micro-motion adjustment platform, and calculates the adjustment amount of the micro-motion adjustment platform through the alignment algorithm of computer software; and the welding machine moves to a calibration position under the control of the assembly control system to perform welding.
Has the advantages that:
1. the intelligent assembly system is divided into a control decision system, an assembly control system, a motion control module, a vision module, an I/O control module, a feedback module, a welding module and an execution module, the problem of low qualification rate of the traditional manual assembly is effectively solved through the division of the functional modules, the assembly system is simple in structure, and the automatic assembly function can be completed only by a plurality of modules, so that the application range is wide.
2. The invention relates to a modularized intelligent assembly system, which effectively solves the problem of low qualification rate of the traditional manual assembly, and the assembly system performs modularized processing on each function and has reconfigurable functions. The method adopts a popular and easily understood assembly action primitive language instruction set, integrates the motion control module action, the IO control module action, the welding machine module action and the vision module action into an operation instruction containing parameters, and coordinates related assembly actions in a state machine mode. The traditional mode of modifying the bottom layer codes is changed, the requirement on the professional skills of developers is reduced, the programming of assembly skills is simplified, the development cost is reduced, and the method can be widely applied to the precision assembly industry of micro devices.
Drawings
FIG. 1 is an architecture diagram of the intelligent assembly control system of the present invention;
FIG. 2 is a schematic diagram of the configuration of the intelligent assembly system of the present invention;
FIG. 3 is a schematic view of a six-station gripper configuration of the assembly system of the present invention;
FIG. 4 is a schematic view of an assembly execution robot of the assembly system of the present invention;
FIG. 5 is a schematic view of an alignment structure of the assembling system of the present invention;
FIG. 6 is a schematic view of the alignment of the vision modules of the present invention assembly system;
FIG. 7 is a flow chart of a control scheme embodying the present invention.
Wherein: 1-six-station clamp holder, 2-upright post, 3-assembly execution manipulator, 4-prism, 5-industrial camera, 6-industrial camera adjusting shaft, 7-force sensor, 8-micro-motion adjusting platform, 9-gold wire ball welder, 10-welder adjusting shaft, 11-welding head, 12-support plate, 13-marble base, 14-mechanical arm, 15-material tray, 16-adsorption clamp holder, 17-hexahedron base body, 18-adsorption clamp holder, 19-adsorption clamp holder, 20-clamping cylinder, 21-pushing cylinder, 22-base, 23-adsorption clamp holder, 24-pneumatic clamping jaw, 25-upper light source, 26-lower light source, 27-target part, 28-semi-reflection semi-transparent film, 29-base part, 30-total reflection film and 31-two-finger clamp holder.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides a modular intelligent assembly system, which includes a control decision system 102, an assembly control system 101, a motion control module 111, a vision module 110, an I/O control module 109, a feedback module 108, a welding module 107, and an execution module 106;
the control decision system 102 comprises an information interaction module 104, an image processing module 105 and a semantic analysis module 103; the information interaction module 104 displays the interface of the information collected by the assembly control system 101; the image processing module 105 performs acquisition, processing and template matching of the object; the semantic analysis module 103 reads in the compiled assembly process instruction file and performs semantic analysis.
The motion control module 111 includes a motion controller 113, a driver + motor 112, and a robot arm controller 114; the motion controller 113 and the arm controller 114 receive the command sent by the control decision system 102 and convert the command into an electric signal to be transmitted to the driver, the driver then controls the motor to rotate, and the motor drives the lead screw to rotate through the coupler, so as to drive the actuating mechanism to complete the action; the actuator comprises a Y axis of a gold wire ball bonding machine 9 in a welding module 107 and a rotating shaft along the Z axis direction, the vision module 110 is provided with two adjusting shafts in which an industrial camera 5 in the X direction extends and a prism 4 extends, the assembly execution manipulator 3 in the execution module 106 is provided with an adjusting shaft in the Z direction and rotating around the Y direction, and the micro-motion adjusting platform 8 is provided with a micro-motion platform adjusting shaft in the X direction, in the Y direction and rotating around the Z direction.
The vision module 110 comprises an industrial camera 5, an image acquisition card, a prism 4 and a light source; the axes of the industrial camera 5 and the prism 4 coincide with the Y-axis direction, the industrial camera is driven to extend into an assembly area through an industrial camera adjusting shaft, the prism 4 is in a regular hexahedron shape, a layer of semi-reflective and semi-transparent film is coated on the diagonal surface of the prism 4, the industrial camera 5 placed in front of the prism 4 side collects images of a target part and a substrate part 29 at the same time, a light source is installed on the upper surface and the lower surface of the prism 4, and an image collecting card is connected with the assembly control system 101 and the industrial camera 5; characteristic template pictures of the base part 29 and the target part in the same coordinate system are made through artificial priori knowledge, the position deviation of the base part in the template and the deviation of the target position in the template are obtained through a template matching algorithm of MIL, the adjustment amount of the micro-adjustment platform 8 is obtained through deviation subtraction, the micro-adjustment platform 8 is adjusted in the next step, and after the prism 4 is withdrawn, the assembly execution manipulator 3 moves downwards to finish the assembly action.
The I/O control module 109 includes a vacuum generator 116, an IO controller 117, and a solenoid directional valve 118; the I/O controller 117 receives an IO instruction sent by the assembly control system 101, converts the instruction into high and low levels and sends the high and low levels to the vacuum generator, the electromagnetic directional valve and the mechanical arm controller, and further controls the six-station clamp holder in the execution module and the assembly execution mechanical arm to clamp and release and performs instruction interaction with the mechanical arm controller respectively; the mechanical arm controller writes a path planning program according to manual experience, an IO inquiry command is set in the path planning program, and when an IO signal sent by the IO controller 117 is received, the mechanical arm motion program is continuously executed, so that the interaction between the mechanical arm and the IO signal is realized.
The feedback module 108 comprises a force sensor 7 and an encoder 119, wherein the force sensor 7 is installed below the micro-motion adjusting platform 8, and is used for triggering acquisition when an assembly action is executed, monitoring assembly force is performed, assembly force data is displayed on a man-machine interaction interface, and a data acquisition channel is closed when an assembly execution manipulator moves to a specified position; the encoder 119 is installed at the tail of each motor to acquire the current position of each motion axis in real time.
The welding module 107 comprises a gold ball welder 9 and a gold ball welder controller 120; the gold wire ball welding machine 9 is arranged beside the assembly area and is provided with a welding machine adjusting shaft rotating along the Y direction and around the Z direction, a welding head of the gold wire ball welding machine 9 is provided with a shaft moving along the Z direction, the assembly control system 101 sends a welding instruction to the gold wire ball welding machine controller 120 through a serial port, the gold wire ball welding machine 9 executes a welding action, when the welding head moves downwards to contact with an object, automatic welding is carried out, and after welding is finished, the welding machine automatically returns to an initial position.
The execution module 106 comprises a mechanical arm 14, a six-station clamp 1 and an assembly execution manipulator 3; the mechanical arm 14 and the six-station clamp 1 perform clamping and releasing actions under the control of the I/O control module 109, and information interaction is performed between the assembly execution manipulator 3 and the mechanical arm controller 114 through IO signals.
As shown in fig. 2, the modularized intelligent assembling system of the invention comprises a marble base 13, a support plate 12, a mechanical arm 14, a six-station holder 1, a column 2, an assembling execution mechanical arm 3, a prism 4, a light source, an industrial camera 5, an industrial camera adjusting shaft 6, a force sensor 7, a micro-adjusting platform 8, a gold wire ball bonding machine 9 and a welding machine adjusting shaft 10 on a hardware structure;
the marble base 13, the upright post 2 and the support plate 12 play a role in fixing and resisting shock for the system, the mechanical arm 14 is installed on the marble base 13 through a fastening mechanism, the six-station clamp holder 1 is installed on the mechanical arm 14, and the six-station clamp holder 1 is controlled through an air path; a material tray 15 for containing accelerometer parts is arranged in a working area of the mechanical arm, and the six-station clamp holder 1 carries the parts from the material tray to the assembly platform or the assembly execution mechanical arm through point position movement and from the assembly platform to the material tray 15; an upright post 2 vertical to the table top is arranged on the marble table top, a Z-direction lead screw is arranged on the upright post 2, the lead screw is connected with a motor, a rotary table is arranged on a sliding table connected with the lead screw, the rotary table and the lead screw are driven by the motor, and an assembly execution manipulator 3 is arranged on the rotary table, wherein the assembly execution manipulator 3 is controlled by a gas circuit, and the function of the part is mainly to realize downward assembly; a micro-motion adjusting platform 8 which moves along the X direction and the Y direction and rotates around the Z direction is arranged below the assembly execution manipulator 3, the control is carried out through a motor, a one-dimensional force sensor 7 is arranged above a rotating shaft around the Z direction, the assembly effect is judged by detecting the assembly force, and a mechanical clamp for fixing a base part is arranged on the micro-motion adjusting platform; the visual alignment is realized by the combination of an industrial camera, a prism and a light source, an upper light source 25 and a lower light source 26 are respectively turned on to respectively obtain an image of a part clamped on the assembly execution manipulator 3 and an image of a part on the micro-adjustment platform 3, a part template is manufactured through the experience of an operator, the template is respectively matched with an image of a target part and a graph of a base part to obtain the deviation of the two parts in three directions of X, Y and Z, the alignment is adjusted through the micro-adjustment platform 3, and after the prism 4 is withdrawn, the assembly execution manipulator 3 moves downwards to finish the assembly action; a gold wire ball welding machine 9 with three degrees of freedom is arranged beside the micro-motion adjusting platform 3, and the gold wire ball welding machine 9 is controlled to move to a specified position and move downwards to weld by calibrating a welding position through the rotation around a Z axis and the movement of a welding head along the Z axis respectively along the movement of the Y direction and the rotation around the Z axis.
As shown in fig. 3, the six-station gripper includes a hexahedral base 17, a second suction gripper 18, a third suction gripper 19, and a clamp cylinder 20, and the six-station gripper 1 is mounted on the robot arm 2.
As shown in fig. 4, the assembly robot 3 includes a push cylinder 21, a base 22, a suction type gripper 23, and a pneumatic gripper 24.
The assembly control system 101 is an industrial personal computer, and communicates and controls each module of the assembly system.
The control decision system 102 is a set of software developed by VS, and can operate the assembly system through an interface, the software integrates the function of an information interaction module 104, and performs interface display on information acquired by the assembly control system 101, the control decision system 102 further includes an image processing module 105, which performs acquisition, processing and template matching of objects, and a semantic parsing 103 function, which is to read in a written assembly process instruction file 124 and perform semantic parsing 103, and after the control decision system 102 judges, the control decision system sends an instruction to a motion control module 111 or a visual module 110 or an I/O control module 109 or a feedback module 108 or a welding module 107 or an execution module 106, so as to complete an assembly action 121, and the control decision system 102 decides the transfer of the assembly action through state judgment, and finally realizes automatic assembly 122.
The preparation work of the invention before assembly is as follows:
the method comprises the following steps: the precise fine structural members A, B and C are respectively placed at corresponding positions in the tray 15, before full-automatic assembly 122 is carried out, the mechanical arm 14 is moved to a clamping or adsorbing position, a loading position and a unloading position of a part in a manual teaching mode, the positions are recorded, a mechanical arm 14 path planning program is compiled according to the position information, and an IO (input/output) query instruction is set in the program.
Step two: and (3) manually teaching the loading position, the alignment position and the assembly position of the assembly execution manipulator 3, the industrial camera adjusting shaft 6 and the micro-motion adjusting platform 8, and recording the position coordinates of each shaft under the action.
Step three: the parts are clamped and moved to the alignment position through manual teaching, the assembly control system 101 collects images obtained by the industrial camera 5 through the image acquisition card 115, matching templates are manufactured according to image effects, different parameters and templates are selected to run a template matching algorithm of MIL, and the optimal algorithm parameters of the matching templates are selected.
Step four: move the part on the fine motion adjustment platform 8 to the assigned position, the welding machine adjustment axle 10 moves to the position that can weld through the teaching, notes the coordinate position of fine motion adjustment platform 8 and welding machine adjustment axle 10.
Step five: and compiling the precise fine structure automatic assembly process instruction file 124 according to the data obtained by teaching, the control instruction compiling specification and the assembly time sequence characteristics. The assembly sequence for a kit of parts is as follows:
the first step is as follows: initialization of the device is performed, the make-up control system 101 sends commands to the I/O controller 117, the I/O controller sends signals to the arm controller 114, the arm controller 114 executes the program, the robot 14 moves to the safe position, the make-up control system 101 sends commands to the motion controller 113, the motion controller 113 converts the commands into pulses and direction signals to send to the driver and motor 112, moving the axes back to the zero position.
The second step is that: the mechanical arm 14 moves to the position of the C part on the tray 15, the assembly control system 101 sends an instruction to the I/O controller 117, the I/O controller 117 sends a level signal to the electromagnetic directional valve 118, the clamping cylinder 20 clamps the C part, the mechanical arm 14 conveys the C part from the tray to the assembly platform, the clamping cylinder 20 releases the C part, the C part is used as a base part 29, and the mechanical arm 14 is withdrawn.
The third step: the mechanical arm 14 moves to a position where a B part is placed on a tray, the assembly control system 101 sends an instruction to the I/O controller 117, the I/O controller 117 sends a level signal to the vacuum generator 116, the vacuum generator 116 generates vacuum, the three adsorption type grippers 19 adsorb the B part, the mechanical arm 14 conveys the B part from the tray to the assembly execution manipulator 3, the three adsorption type grippers 19 release the B part, the four adsorption type grippers 20 adsorb the B part, the assembly execution manipulator 3 moves to adjust the posture and moves to the alignment position, and the B part on the assembly execution manipulator 3 serves as a target part 27.
The fourth step: moving an industrial camera adjusting shaft 5 to enable the industrial camera and the prism 4 to move to an assembly area for photographing, turning on an upper light source 25 to obtain an image of a target part, then executing a template matching program to obtain an angle deviation of the target part 27 in a template coordinate system, turning off the upper light source 25, turning on a lower light source 26 to obtain an image of a base part 29, executing the template matching program again to obtain the angle deviation of the base part 29 in the template coordinate system, and subtracting the two deviations to obtain an adjusting amount of a rotating shaft of the micro-motion adjusting platform 8; turning off the lower light source 26, turning on the upper light source 25 again, acquiring an image of the target part 27, executing a template matching program, acquiring a position deviation of the target part 27 in a template coordinate system, turning off the upper light source 25, turning on the lower light source 26, acquiring an image of the base part 29, executing the template matching program, acquiring a position deviation of the base part 29 in the template coordinate system, subtracting the position deviations to obtain an adjustment amount of the fine adjustment platform 8 along the direction X, Y, adjusting the fine adjustment platform 8, and moving the industrial camera adjustment shaft 6 to withdraw the industrial camera and the prism 4, as shown in fig. 6.
The fifth step: the assembly execution mechanical hand 3 moves downwards to execute the assembly action, the force sensor 7 detects the assembly force, when the assembly force is detected, the assembly execution mechanical hand 3 stops moving, the assembly is finished, and the assembly execution mechanical hand 3 withdraws.
And a sixth step: the welding machine adjusting shaft 10 is adjusted in a rotating and moving mode and moves to a welding point position, the assembly control system 101 sends a welding command to the welding machine controller 120, the welding head 11 moves downwards, moves to an initial position in the opposite direction after contacting the welding point, welding is repeated for four points, and the welding machine moves to a safe area after execution is finished.
The seventh step: the mechanical arm 14 moves to the part A position to take materials, the clamping cylinder 20 clamps the part C, the mechanical arm 14 carries the part C to the assembly execution mechanical arm 3, the clamping cylinder 20 releases, the assembly execution mechanical arm 3 clamps, the assembly execution mechanical arm 3 is adjusted to the alignment position, the part A serves as a target part 27, and the assembled assembly of the part B and the part C serves as a base part 29.
Eighth step: executing the fourth and fifth steps;
the ninth step: and completing the automatic assembly of the precise micro-structural part.
The assembly process instructions are written according to the writing rules of the equipment, and the examples and the descriptions are as follows:
IO action primitive instruction
Example (c):
IO()：
3->SOUP 1 1
wherein, "3" represents a device number, SOUP represents an identifier recognizable by the IO controller, and 11 represents a different IO number;
② inquiring the action command
Example (c):
Inquiry(POS):
1->POS？6
Value＝10
where "1" denotes the device number, "POS? "represents a query location," 6 "represents an axis number," 10 "represents a location value;
thirdly, the light source is turned on to act
Example (c):
OpenLight():
ChannelIndex＝1
Intensity＝255
Port＝2
wherein "1" represents the number of light source channels, "255" represents the luminance value, and "2" represents the serial number;
template matching and action adjusting instructions:
ImageProcess1:
Position1＝x
Position2＝y
Algorithm＝a
Comm＝3->SMVR 1x
Comm＝3->SMVR 2y
Comm＝3->SMVR 3a
wherein "x, y, a" represents the result obtained after template matching, and "Comm ═ is the start adjustment identifier;
fifth delay action command
The delay time of action 2 is in milliseconds (ms).
Example (c):
DelayTime(ms):
500
where "500" represents a delay of 500 milliseconds;
sixthly, gold wire ball welding action instruction
GoldBallBonding:
Z+100
Wherein "+ 100" indicates positive 100 movement along the Z axis, automatic welding after in position.
Step six: as shown in fig. 7, the upper computer software of the developed control decision system 102 performs semantic analysis 103 on the assembly process instruction file 124, determines whether the format and the content are correct, and converts the format and the content into corresponding actions through the assembly control system 101, thereby implementing a series of operations such as automated assembly 122.
Step seven: and monitoring the system in real time through information fed back by system hardware, feeding back the execution condition to a human-computer interaction interface, and interacting the assembly information with human in real time.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A modularized intelligent assembly system is characterized by comprising a control decision system, an assembly control system, a motion control module, a visual module, an I/O control module, a feedback module, a welding module and an execution module;
the control decision system operates the assembly control system through an interface, the control decision system sends an operation instruction to the motion control module, the vision module, the I/O control module, the feedback module, the welding module or the execution module through the assembly control system to complete assembly actions, and the control decision system judges and decides the transfer of the assembly actions through the state fed back to the assembly control system by the motion control module, the I/O control module and the feedback module, and finally realizes automatic assembly.
2. The modular intelligent assembly system of claim 1, wherein the control decision system comprises an information interaction module, an image processing module, and a semantic parsing module; the information interaction module carries out interface display on the information acquired by the assembly control system; the image processing module is used for acquiring and processing an object and matching a template; and the semantic analysis module reads in the compiled assembly process instruction file and performs semantic analysis.
3. The modular intelligent assembly system of claim 2, wherein the motion control module comprises a motion controller, a drive, a motor, and a robotic arm controller; the controller receives an instruction sent by the control decision system and converts the instruction into an electric signal to be transmitted to the driver, the driver controls the motor to rotate, and the motor drives the lead screw to rotate through the coupler so as to drive the actuating mechanism to complete the action; the executing mechanism comprises a Y axis of a gold wire ball welder in the welding module and a rotating shaft along the Z axis direction, an industrial camera extending into and a prism extending into the vision module along the X direction are arranged in the vision module, an assembling executing manipulator in the executing module is provided with an adjusting shaft rotating along the Z direction and around the Y direction, and the micro-motion adjusting platform is provided with a micro-motion platform adjusting shaft rotating along the X direction, along the Y direction and around the Z direction.
4. The modular smart signage system of claim 3, wherein the vision module comprises an industrial camera, an image acquisition card, a prism, and a light source; the industrial camera and the prism are overlapped in the axis direction of the Y axis, the industrial camera is driven to extend into the assembly area through an industrial camera adjusting shaft, the prism is in a regular hexahedron shape, a layer of semi-reflective and semi-transparent film is coated on the diagonal surface of the prism, the industrial camera arranged in front of the prism side simultaneously acquires images of a target part and a substrate part, the light source is arranged on the upper surface and the lower surface of the prism, and the image acquisition card is connected with the assembly control system and the industrial camera; the method comprises the steps of making characteristic template pictures of a base part and a target part in the same coordinate system through artificial priori knowledge, obtaining position deviation of the base part in a template and deviation of a target position in the template through a template matching algorithm of MIL, obtaining adjustment quantity of a micro-motion adjusting platform through deviation subtraction, adjusting the micro-motion adjusting platform in the next step, and moving an assembling execution manipulator downwards to finish assembling after a prism is withdrawn.
5. The modular smart assembly system of claim 4, wherein the I/O control module comprises a vacuum generator, an IO controller, and a solenoid directional valve; the I/O controller receives an IO instruction sent by the assembly control system, converts the instruction into high and low levels and sends the high and low levels to the vacuum generator, the electromagnetic directional valve and the mechanical arm controller, and then controls the six-station clamp holder in the execution module and the assembly mechanical arm to clamp and release respectively and performs instruction interaction with the mechanical arm controller; the mechanical arm controller writes a path planning program according to manual experience, an IO inquiry command is set in the path planning program, when an IO signal sent by the IO controller is received, the mechanical arm movement program is continuously executed, and interaction between the mechanical arm and the IO signal is achieved through the method.
6. The modular intelligent assembly system according to claim 5, wherein the feedback module comprises a force sensor and an encoder, the force sensor is installed below the micro-motion assembly platform, the acquisition card is triggered when the assembly action is performed, the assembly force is monitored, the assembly force data is displayed on the human-computer interaction interface, and the acquisition card channel is closed when the assembly execution manipulator moves to a specified position; the encoder is arranged at the tail part of each motor and collects the current position of each motion shaft in real time.
7. The modular smart mounting system of claim 6, wherein the bonding module comprises a gold wire ball bonding machine and a gold wire ball bonding machine controller; the gold wire ball welding machine is arranged beside the assembly area and is provided with a welding machine adjusting shaft rotating along the Y direction and around the Z direction, a welding head of the gold wire ball welding machine is provided with a shaft moving along the Z direction, the assembly control system sends a welding instruction to the gold wire ball welding machine controller through a serial port, the welding machine executes a welding action, the welding machine automatically welds after the welding head moves downwards to contact with an object, and the welding machine automatically returns to an initial position after the welding is finished.
8. The modular intelligent assembly system of claim 7, wherein the execution modules comprise a robotic arm, a six-station gripper, and an assembly robot; the mechanical arm and the six-station clamp holder execute clamping and releasing actions under the control of the I/O control module, and information interaction is carried out between the assembling mechanical arm and the mechanical arm controller through IO signals.
9. The modular intelligent assembly system of claim 8, wherein the loading and unloading robot is configured to transport assembly parts to the assembly area, onto the assembly robot, and from the assembly area to the magazine;
the assembling manipulator is provided with an actuating mechanism with two degrees of freedom of moving up and down and rotating, and is used for aligning and assembling the clamped or adsorbed parts;
the micro-motion adjusting platform is a motion device which can move horizontally and rotate around a vertical shaft, and is used for placing parts to be assembled and adjusting the pose;
the industrial camera simultaneously acquires images of the target part and the substrate part;
the assembly control system is used for communicating and controlling the feeding and discharging mechanical arm, the assembly mechanical arm, the micro-motion adjusting platform and the welding machine; the assembly control system respectively collects images of the to-be-assembled parts on the assembly manipulator and images of the to-be-assembled parts on the micro-motion adjusting platform, and calculates the adjustment quantity of the micro-motion adjusting platform through the alignment algorithm of computer software; and the welding machine moves to a calibration position under the control of the assembly control system to perform welding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010825210.XA CN111993423A (en) | 2020-08-17 | 2020-08-17 | Modular intelligent assembling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010825210.XA CN111993423A (en) | 2020-08-17 | 2020-08-17 | Modular intelligent assembling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111993423A true CN111993423A (en) | 2020-11-27 |
Family
ID=73472494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010825210.XA Pending CN111993423A (en) | 2020-08-17 | 2020-08-17 | Modular intelligent assembling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111993423A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859727A (en) * | 2021-01-11 | 2021-05-28 | 苏州华兴源创科技股份有限公司 | Appearance inspection PC motion control operation system and motion method |
| CN112917516A (en) * | 2021-02-01 | 2021-06-08 | 北京航空航天大学 | Knowledge learning and reasoning execution system for autonomous assembly robot |
| CN114260933A (en) * | 2021-12-28 | 2022-04-01 | 重庆市灵龙自动化设备有限公司 | High-precision assembly real-time calibration and alignment method and device |
| CN114485631A (en) * | 2021-12-22 | 2022-05-13 | 北京航天控制仪器研究所 | Automatic assembling system for inertial device |
| CN115441674A (en) * | 2022-08-05 | 2022-12-06 | 日照东方电机有限公司 | High-low voltage permanent magnet motor installation and rotor disassembly assembly process method and system |
| CN117655695A (en) * | 2024-01-30 | 2024-03-08 | 国网瑞嘉(天津)智能机器人有限公司 | Insulating sleeve mounting device and robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1238746A2 (en) * | 2001-03-09 | 2002-09-11 | Thyssen Krupp Stahl AG | Method and device for robotically controlled laser cutting and welding |
| CN103787269A (en) * | 2014-01-10 | 2014-05-14 | 北京理工大学 | Automatic micro-assembling device with reconfigurable modularization characteristic |
| CN103837080A (en) * | 2014-03-07 | 2014-06-04 | 北京理工大学 | Micro-assembly-oriented submicron precision coaxial confocal alignment detection method and device |
| CN104802166A (en) * | 2013-10-10 | 2015-07-29 | 精工爱普生株式会社 | Robot control system, robot, program and robot control method |
| CN109895082A (en) * | 2017-12-07 | 2019-06-18 | 中国科学院沈阳自动化研究所 | A kind of control system applied to space flight assembly equipment |
-
2020
- 2020-08-17 CN CN202010825210.XA patent/CN111993423A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1238746A2 (en) * | 2001-03-09 | 2002-09-11 | Thyssen Krupp Stahl AG | Method and device for robotically controlled laser cutting and welding |
| CN104802166A (en) * | 2013-10-10 | 2015-07-29 | 精工爱普生株式会社 | Robot control system, robot, program and robot control method |
| CN103787269A (en) * | 2014-01-10 | 2014-05-14 | 北京理工大学 | Automatic micro-assembling device with reconfigurable modularization characteristic |
| CN103837080A (en) * | 2014-03-07 | 2014-06-04 | 北京理工大学 | Micro-assembly-oriented submicron precision coaxial confocal alignment detection method and device |
| CN109895082A (en) * | 2017-12-07 | 2019-06-18 | 中国科学院沈阳自动化研究所 | A kind of control system applied to space flight assembly equipment |
Non-Patent Citations (1)
| Title |
|---|
| 李燕: "高精度微装配系统设计", 《中国博士学位论文全文数据库工程科技Ⅱ辑》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859727A (en) * | 2021-01-11 | 2021-05-28 | 苏州华兴源创科技股份有限公司 | Appearance inspection PC motion control operation system and motion method |
| CN112917516A (en) * | 2021-02-01 | 2021-06-08 | 北京航空航天大学 | Knowledge learning and reasoning execution system for autonomous assembly robot |
| CN114485631A (en) * | 2021-12-22 | 2022-05-13 | 北京航天控制仪器研究所 | Automatic assembling system for inertial device |
| CN114485631B (en) * | 2021-12-22 | 2023-12-12 | 北京航天控制仪器研究所 | Automatic assembly system of inertial device |
| CN114260933A (en) * | 2021-12-28 | 2022-04-01 | 重庆市灵龙自动化设备有限公司 | High-precision assembly real-time calibration and alignment method and device |
| CN115441674A (en) * | 2022-08-05 | 2022-12-06 | 日照东方电机有限公司 | High-low voltage permanent magnet motor installation and rotor disassembly assembly process method and system |
| CN117655695A (en) * | 2024-01-30 | 2024-03-08 | 国网瑞嘉(天津)智能机器人有限公司 | Insulating sleeve mounting device and robot |
| CN117655695B (en) * | 2024-01-30 | 2024-05-28 | 国网瑞嘉(天津)智能机器人有限公司 | Insulating sleeve mounting device and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111993423A (en) | Modular intelligent assembling system | |
| EP3272473B1 (en) | Teaching device and method for generating control information | |
| US7211978B2 (en) | Multiple robot arm tracking and mirror jog | |
| US4187051A (en) | Rotary video article centering, orienting and transfer device for computerized electronic operating systems | |
| US6266869B1 (en) | Method for assembling components | |
| EP1711317A1 (en) | Machine vision controlled robot tool system | |
| US11247335B2 (en) | Semi-autonomous robot path planning | |
| JP2863731B2 (en) | Electronic component mounting apparatus and method | |
| JP2022015933A (en) | Cooperation system | |
| CN1133526C (en) | Microassembling robot system based on microvision | |
| KR100234320B1 (en) | Method of controlling tracking path of working point of industrial robot | |
| CN2510248Y (en) | Micro-assembling robot suitable for operating submillimeter-level micro-object | |
| CN117735247A (en) | Turnover material arranging machine | |
| Carlisle et al. | The PUMA/VS-100 robot vision system | |
| CN104959971B (en) | A kind of assembly system towards micron order flexible pipe Yu microsphere assembly | |
| JP6499272B2 (en) | Teaching apparatus and control information generation method | |
| CN107443404A (en) | End effector, robot and robot controller | |
| CN115847038A (en) | Full-automatic lens assembling and dispensing all-in-one machine and production line thereof | |
| CN212364840U (en) | Communication system of industrial robot equipment and industrial robot equipment applying same | |
| JPH06218682A (en) | Robot for assembly | |
| WO2001071437A2 (en) | Manufacturing apparatus and method | |
| JP2827097B2 (en) | Teach position teaching method of robot welding gun | |
| JPH03128126A (en) | Press brake robot | |
| CN207289417U (en) | Optics module assembles equipment | |
| Seyfried et al. | Microrobot-based microassembly station and its control using a graphical user interface |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201127 |
|
| RJ01 | Rejection of invention patent application after publication |