CN112060096A - Assembling method, assembling system and readable storage medium - Google Patents

Assembling method, assembling system and readable storage medium Download PDF

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Publication number
CN112060096A
CN112060096A CN202011066483.7A CN202011066483A CN112060096A CN 112060096 A CN112060096 A CN 112060096A CN 202011066483 A CN202011066483 A CN 202011066483A CN 112060096 A CN112060096 A CN 112060096A
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China
Prior art keywords
assembled
assembly
base
clamp
assembling
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CN202011066483.7A
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Chinese (zh)
Inventor
吴晓飞
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KUKA Robotics Guangdong Co Ltd
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KUKA Robotics Guangdong Co Ltd
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Priority to CN202011066483.7A priority Critical patent/CN112060096A/en
Publication of CN112060096A publication Critical patent/CN112060096A/en
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    • 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
    • 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
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention provides an assembling method, an assembling system and a readable storage medium. The assembling method comprises the following steps: scanning the graphic code of the assembly base and determining a target type of the assembly to be assembled which is matched with the graphic code of the assembly base, or scanning the graphic code of the assembly to be assembled and determining a target type of the assembly base which is matched with the graphic code of the assembly to be assembled; and controlling the gripping device to assemble the piece to be assembled to the assembling base. By the embodiment of the invention, the purposes of automatic type matching and automatic type changing are realized, the problem that the type of the to-be-assembled part or the type of the assembling base is easy to select and mistake due to manual switching is avoided, the compatibility of the conventional assembling system is improved, the assembling efficiency of the to-be-assembled part is improved, and the failure rate of the assembled product is reduced.

Description

Assembling method, assembling system and readable storage medium
Technical Field
The invention relates to the technical field of assembly, in particular to an assembly method, an assembly system and a readable storage medium.
Background
At present, a robot and a clamp thereof are frequently used for assembling the compressor, and the automatic assembly of the compressor is realized by means of positioning of a vision system. However, the method depends on manual model changing, and as the models of the compressors are more, the models are not easy to distinguish manually and are easy to select wrong models, the problem of machine collision occurs in the assembling process.
Disclosure of Invention
The invention mainly aims to provide an assembling method, an assembling system and a readable storage medium, and aims to solve the technical problem that in the related art, due to manual type changing errors, a machine is collided in the assembling process.
In order to achieve the above object, the present invention provides an assembling method, comprising: scanning the graphic code of the assembly base and determining a target type of the assembly to be assembled which is matched with the graphic code of the assembly base, or scanning the graphic code of the assembly to be assembled and determining a target type of the assembly base which is matched with the graphic code of the assembly to be assembled; and controlling the gripping device to assemble the piece to be assembled to the assembling base.
Further, the assembling method further comprises: acquiring the height of a material layer of a feeding device bearing an assembly part to be assembled; based on the fact that the height of the material layer is larger than the height of a clamp of the grabbing device, sending alarm information; and based on the fact that the height of the material layer is smaller than or equal to the height of the clamp of the grabbing device, controlling the grabbing device to assemble the part to be assembled to the assembling base.
Further, the step of controlling the gripping device to assemble the part to be assembled to the assembly base specifically includes: acquiring a material layer image of a feeding device bearing an assembly part to be assembled; determining whether the feeding device is in a full material stack state or not according to the material layer image; controlling a gripping device to start gripping from a target assembly part to be assembled positioned at a preset position based on the fact that the feeding device is in a full material stack state, so as to assemble the assembly part to be assembled to an assembly base; and determining a target to-be-assembled part according to the material shortage direction of the feeding device based on the fact that the feeding device is not in the full-stack state of the materials, and controlling the grabbing device to grab the target to-be-assembled part so as to assemble the to-be-assembled part to the assembly base.
Further, the step of determining a target assembly part to be assembled according to the material shortage direction of the feeding device specifically comprises the following steps: acquiring the material shortage direction of the feeding device, wherein the material shortage direction comprises a transverse material shortage direction and a longitudinal material shortage direction; determining a to-be-assembled part in a first column from the transverse material shortage direction, determining a first to-be-assembled part in the first column from the longitudinal material shortage direction, or determining a to-be-assembled part in a first row from the longitudinal material shortage direction, and determining a first to-be-assembled part in the first row from the transverse material shortage direction; and taking the first assembly to be assembled as a target assembly to be assembled.
Further, the step of controlling the gripping device to assemble the part to be assembled to the assembly base specifically includes: controlling a gripping device to grip an assembly part to be assembled, and acquiring a force moment value of a clamp of the gripping device in the gripping process; controlling a gripping device to assemble the to-be-assembled part to an assembly base based on the fact that the force moment value is smaller than or equal to a first preset moment value; based on the fact that the force moment value is larger than a first preset moment value and is smaller than or equal to a second preset moment value, adjusting the posture information of the clamp of the grabbing device according to the force moment value until the force moment value is smaller than or equal to the first preset moment value, wherein the first preset moment value is smaller than the second preset moment value; and sending alarm information based on the fact that the force moment value is larger than the second preset moment value.
Further, the step of controlling the gripping device to assemble the part to be assembled to the assembly base specifically includes: according to the target model of the to-be-assembled part, the grabbing size of a clamp of the grabbing device is adjusted; and controlling the grabbing device to grab the to-be-assembled part according to the grabbing size so as to assemble the to-be-assembled part to the assembling base.
The invention also proposes an assembly system comprising: the scanning device is configured to scan the graphic code of the assembly base or scan the graphic code of the assembly to be assembled; the grabbing device is configured to grab the to-be-assembled part and assemble the to-be-assembled part to the assembling base; and the control device is connected with the scanning device and the grabbing device, is configured to determine a target type of the to-be-assembled part matched with the graphic code of the to-be-assembled base, or determine a target type of the to-be-assembled base matched with the graphic code of the to-be-assembled part, and is also configured to control the grabbing device to assemble the to-be-assembled part to the assembling base.
Further, the grasping apparatus includes: and the clamp is configured to clamp the to-be-assembled part according to the clamping size determined by the control device according to the target model of the to-be-assembled part.
Further, the fitting system further comprises: the moment detection device is arranged on the clamp and connected with the control device, and is configured to detect the stress moment value of the clamp in the process that the clamp grabs the assembly part to be assembled and send the stress moment value of the clamp to the control device so that the control device can adjust the grabbing device to grab the assembly part to be assembled.
Further, the fitting system further comprises: a feeder device configured to carry the assembly to be assembled.
Further, the fitting system further comprises: and the height detection device is connected with the control device, is configured to detect the height of the material layer of the feeding device and sends the height of the material layer to the control device, so that the control device controls the gripping device to assemble the part to be assembled to the assembly base under the condition that the height of the material layer is smaller than or equal to the height of the clamp.
Further, the fitting system further comprises: and the alarm device is connected with the control device and is configured to send out alarm information under the condition that the height of the material layer is greater than that of the clamp, and/or send out alarm information under the condition that the stress torque value is greater than the preset torque value.
Further, the fitting system further comprises: the first image acquisition device is connected with the control device, and the first image acquisition device is configured to acquire material layer images of the feeding device, and sends the material layer images to the control device, so that the control device controls the grabbing device to grab the assembly parts to be assembled from the preset position under the condition that the feeding device is in the full stack state of materials, or controls the grabbing device to grab the assembly parts to be assembled according to the material shortage direction of the feeding device under the condition that the feeding device is not in the full stack state of materials.
Further, the fitting system further comprises: the second image acquisition device is connected with the control device and is configured to acquire the image of the to-be-assembled part and send the image of the to-be-assembled part to the control device, so that the control device can control the grabbing device to grab the to-be-assembled part.
Further, the fitting system further comprises: and the conveying device is connected with the control device and is configured to bear and convey the assembly base.
Further, the fitting system further comprises: and the fixing device is connected with the control device and is configured to fix the assembling base in the assembling process of the part to be assembled and move away after the part to be assembled is assembled to the assembling base so that the assembling base can be conveyed on the conveying device.
The invention also proposes a readable storage medium on which a program or instructions are stored which, when executed by a processor, implement the assembly method described above.
In the technical scheme of the invention, the part to be assembled corresponding to the assembling base is determined by scanning the graphic code of the assembling base, or the assembling base corresponding to the part to be assembled is determined by scanning the graphic code of the part to be assembled. Further, the gripping device is controlled to grip the assembly parts to be assembled, so that the assembly parts to be assembled are assembled to the assembly base, the assembly base can be matched for the current assembly base or matched for the current assembly parts, and the assembly base is correspondingly replaced when the assembly base is replaced or replaced, so that a complete product is formed. By the embodiment of the invention, the purposes of automatic type matching and automatic type changing are realized, the problem that the type of the to-be-assembled part or the type of the assembling base is easy to select and mistake due to manual switching is avoided, the compatibility of the conventional assembling system is improved, the assembling efficiency of the to-be-assembled part is improved, and the failure rate of the assembled product is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 shows one of the flow diagrams of an assembly method of an embodiment of the invention;
FIG. 2 shows a second schematic flow chart of an assembly method according to an embodiment of the invention;
FIG. 3 shows a third schematic flow chart of an assembly method of an embodiment of the invention;
FIG. 4 is a flow chart illustrating one of the methods of determining a gripping position of a first compressor when a stack is not full according to an embodiment of the present invention;
FIG. 5 is a second schematic flow chart of a method for determining a gripping position of a first compressor when a stack is not full according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a compressor unstack condition in accordance with an embodiment of the present invention;
FIG. 7 shows a fourth schematic flow chart of an assembly method of an embodiment of the invention;
FIG. 8 is a flow chart of a method for autonomously adjusting the attitude of a jig according to an embodiment of the present invention;
FIG. 9 is a schematic view showing a normal gripping attitude of a member to be assembled according to an embodiment of the present invention;
FIG. 10 is a schematic diagram showing an abnormal gripping posture of a to-be-assembled part according to an embodiment of the invention;
FIG. 11 shows a fifth flowchart of an assembly method of an embodiment of the present invention;
fig. 12 is a flowchart illustrating a method of automatically assembling an air conditioner external unit compressor according to an embodiment of the present invention;
FIG. 13 shows one of the schematic views of an assembly system of an embodiment of the present invention;
figure 14 shows a second schematic view of the assembly system of an embodiment of the present invention.
The reference numbers illustrate:
reference numerals Name (R) Reference numerals Name (R)
1302 Scanning device 1304 Gripping device
1306 Control device 1308 Clamp apparatus
1310 Torque detection device 1312 Feeding device
1314 Height detection device 1316 First image acquisition device
1318 Second image acquisition device 1320 Alarm device
1322 Conveying device 1324 Fixing device
1326 Assembly base 1328 To-be-assembled part
1402 Robot 1404 Programmable controller
1406 Code scanning system 1408 Vision sensor
1410 Distance measuring sensor 1412 Upper computer
1414 SCADA system
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes 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" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
An embodiment of the first aspect of the present invention proposes an assembly method, which is explained in detail by means of fig. 1 to 12.
Fig. 1 shows a flow diagram of an assembly method of an embodiment of the invention. Wherein, the assembly method comprises the following steps:
step 102, scanning the graphic code of the assembly base, and determining a target type of the assembly to be assembled which is matched with the graphic code of the assembly base, or scanning the graphic code of the assembly to be assembled, and determining an assembly base which is matched with the target type of the assembly to be assembled;
and 104, controlling the gripping device to assemble the to-be-assembled part to the assembling base.
According to the assembling method provided by the embodiment of the invention, the to-be-assembled part corresponding to the assembling base is determined by scanning the graphic code of the assembling base, or the assembling base corresponding to the to-be-assembled part is determined by scanning the graphic code of the to-be-assembled part. Further, the gripping device is controlled to grip the to-be-assembled part, so that the to-be-assembled part is assembled to the assembling base, the to-be-assembled part can be matched with the current assembling base or the current assembling base can be matched with the current assembling base, and the assembling base is correspondingly replaced when the assembling base is replaced or the assembling base is correspondingly replaced when the assembling part is replaced, so that a complete product is formed. By the embodiment of the invention, the purposes of automatic type matching and automatic type changing are realized, the problem that the type of the to-be-assembled part or the type of the assembling base is easy to select and mistake due to manual switching is avoided, the compatibility of the conventional assembling system is improved, the assembling efficiency of the to-be-assembled part is improved, and the failure rate of the assembled product is reduced.
In some embodiments, the graphic code of the assembly base or the part to be assembled comprises a bar code, a two-dimensional code, and the like.
It should be noted that the corresponding relationship between the graphic code of the assembly base and the model of the assembly object or the corresponding relationship between the graphic code of the assembly object and the model of the assembly base is stored in advance. For example, a corresponding relation table between the graphic code of the assembly base and the model of the component to be assembled is stored, and the model of the component to be assembled, which is matched with the graphic code of the assembly base, can be obtained in a table look-up manner.
The preset information of the assembling base is obtained through the scanned graphic code of the assembling base, and then the to-be-assembled part of the target model corresponding to the preset information of the assembling base is obtained according to the corresponding relation between the preset information of the assembling base and the model of the to-be-assembled part stored in advance. Or obtaining preset information of the to-be-assembled part through the scanned graphic code of the to-be-assembled part, and further obtaining an assembly base of a target model corresponding to the preset information of the to-be-assembled part according to a corresponding relation between the preset information of the to-be-assembled part and the model of the assembly base, which is stored in advance. It is understood that the preset information of the assembly base may include a model of the assembly base, a size of the assembly base, etc., and the preset information of the to-be-assembled part may include a model of the to-be-assembled part, a size of the to-be-assembled part, etc.
No matter the target model matched with the graphic code or the preset information is determined, the parts to be assembled are matched with the assembling base, and the purposes of automatic assembly and automatic model change are achieved. In an embodiment, the model of the component to be assembled matching the assembly base or the model of the assembly base matching the component to be assembled may be checked in a corresponding work order (i.e., an order) in a Manufacturing Execution management system (MES).
In a specific embodiment, the to-be-assembled part is a compressor, a motor and the like, the gripping device is a robot, and before the gripping device is controlled to assemble the to-be-assembled part to the assembly base, the gripping device needs to be controlled to move to a position corresponding to the position of a feeding device bearing the to-be-assembled part, so that the gripping device can conveniently grip the to-be-assembled part.
Fig. 2 shows a flow diagram of an assembly method of an embodiment of the invention. Wherein, the assembly method comprises the following steps:
step 202, scanning the graphic code of the assembly base, and determining a target type of the assembly to be assembled which is matched with the graphic code of the assembly base, or scanning the graphic code of the assembly to be assembled, and determining an assembly base which is matched with the target type of the assembly to be assembled;
step 204, acquiring the height of a material layer of a feeding device bearing the to-be-assembled part;
step 206, judging whether the height of the material layer is greater than the height of the clamp of the gripping device, if so, entering step 208, otherwise, entering step 210;
step 208, sending alarm information;
and step 210, controlling the gripping device to assemble the to-be-assembled part to the assembling base.
In this embodiment, the height of the material layer of the feeder device carrying the component to be assembled, i.e. the height of the material layer, is detected by the height detection device. When the height of the supplied material layer is larger than the height of the clamp of the gripping device, if the gripping device is controlled to grip the assembly part to be assembled from top to bottom, the risk of collision can occur. For example, the material layer is three layers, that is, the feeding device carries three layers of parts to be assembled, when the height of the fixture of the gripping device is two layers, if the gripping device starts to grip the parts to be assembled on the second layer from top to bottom, the problem of collision with the parts to be assembled on the first layer from top to bottom may occur. Therefore, in order to avoid the problems, when the material layer height is larger than the height of the clamp of the gripping device, alarm information is sent out to prompt a worker to increase the height of the clamp of the gripping device, so that the height of the clamp of the gripping device is larger than or equal to the height of the material layer, or when the material layer height is larger than the height of the clamp of the gripping device, the height of the clamp of the gripping device is controlled to be increased by the height adjusting device, and the function of automatically adjusting the height is achieved.
When the height of the incoming material layer is smaller than or equal to the height of the clamp of the gripping device, the problem of collision cannot occur, so that the gripping device can be directly controlled to assemble the part to be assembled to the assembling base.
Fig. 3 shows a flow diagram of an assembly method of an embodiment of the invention. Wherein, the assembly method comprises the following steps:
step 302, scanning the graphic code of the assembly base, and determining a target type of the assembly to be assembled which is matched with the graphic code of the assembly base, or scanning the graphic code of the assembly to be assembled, and determining an assembly base which is matched with the target type of the assembly to be assembled;
step 304, acquiring a material layer image of a feeding device bearing an assembly part to be assembled;
step 306, judging whether the feeding device is in a full material stack state or not according to the material layer image, judging that the feeding device is in the full material stack state, and entering step 308, otherwise entering step 310;
step 308, controlling the grabbing device to grab the target assembly to be assembled at the preset position so as to assemble the assembly to be assembled to the assembling base;
and 310, determining a target assembly part to be assembled according to the material shortage direction of the feeding device, and controlling the grabbing device to grab from the target assembly part to be assembled so as to assemble the assembly part to be assembled to the assembling base.
Wherein, the target assembly to be assembled at the preset position comprises any one of the following items: the assemblies to be assembled are positioned at the first column and the first row at the same time, the assemblies to be assembled are positioned at the first column and the last row at the same time, the assemblies to be assembled are positioned at the last column and the first row at the same time, and the assemblies to be assembled are positioned at the last column and the last row at the same time.
In this embodiment, the image acquisition device is used for acquiring the material layer image of the feeding device bearing the to-be-assembled part, and whether the feeding device is in a full-stack state is judged according to the material layer image. When the feeding device is in a full material stack state, the target to-be-assembled part located at the preset position is used as the to-be-assembled part to be first grabbed by the grabbing device, and then the grabbing device is controlled to grab from the target to-be-assembled part. It should be noted that the target to-be-assembled parts in the full-stack state of the materials are to-be-assembled parts located at four corners of the feeding device, for example, the feeding device includes n rows and m columns, and then the target to-be-assembled parts may be any one of coordinates (1, 1), (1, m), (n, 1) and (n, m). And continuously grabbing the next to-be-assembled part after the first to-be-assembled part is grabbed, wherein if the to-be-assembled part with the coordinate of (1, 1) is the first to-be-assembled part, the next to-be-assembled part can be the to-be-assembled part with the coordinate of (1, 2) or (2, 1), and the next to-be-assembled part can be set according to actual assembly requirements.
When the feeding device is judged not to be in the full material stack state, a to-be-assembled part which is firstly grabbed by the grabbing device is determined according to the material shortage direction of the feeding device, namely the target to-be-assembled part, and the grabbing device is controlled to grab the to-be-assembled part from the target to-be-assembled part so as to assemble the to-be-assembled part to the assembly base. Through the mode, the problem that the assembly system cannot completely and autonomously cope with the situation of not being full of stacks in the related technology and can continue to be assembled only after the parameters are manually adjusted by workers is solved, the automation degree of assembly is improved, and the assembly efficiency is improved.
Further, the step of determining a target assembly part to be assembled according to the material shortage direction of the feeding device specifically comprises the following steps: acquiring the material shortage direction of the feeding device, wherein the material shortage direction comprises a transverse material shortage direction and a longitudinal material shortage direction; determining a to-be-assembled part in a first column from the transverse material shortage direction, determining a first to-be-assembled part in the first column from the longitudinal material shortage direction, or determining a to-be-assembled part in a first row from the longitudinal material shortage direction, and determining a first to-be-assembled part in the first row from the transverse material shortage direction; and taking the first assembly to be assembled as a target assembly to be assembled.
In this embodiment, the image is identified to obtain a lateral starved direction and a longitudinal starved direction of the feeding device, wherein the lateral starved direction includes a left starved direction (i.e., starved left side of the feeding device) and a right starved direction (i.e., starved right side of the feeding device), and the longitudinal starved direction includes an upper starved direction (i.e., starved upper side of the feeding device) and a lower starved direction (i.e., starved lower side of the feeding device). Determining a first row of to-be-assembled parts from the transverse material shortage direction, searching a first to-be-assembled part on the first row of to-be-assembled parts according to the longitudinal material shortage direction, for example, when the feeding device is left-side material shortage and upper-side material shortage, searching from left to right to search for the to-be-assembled part on the first row, searching the to-be-assembled part on the first row from top to bottom to search for the first to-be-assembled part on the first row, wherein the first to-be-assembled part is the to-be-assembled part firstly grabbed by the grabbing device. Or, a first row of to-be-assembled parts is determined from the longitudinal material shortage direction, then the first to-be-assembled part on the first row of to-be-assembled parts is searched according to the transverse material shortage direction, for example, when the feeding device is in the lower side material shortage state and in the right side material shortage state, searching is performed from bottom to top to search the to-be-assembled part in the first row, then the to-be-assembled part in the first row is searched from right to left to search the first to-be-assembled part in the first row, and the first to-be-assembled part is the to-be-assembled part first grabbed.
It should be noted that after the first part to be assembled is grasped, the adjacent part to be assembled is continuously grasped, or the next part to be assembled is continuously determined according to the transverse stock shortage direction and the longitudinal stock shortage direction, which may be specifically set according to actual assembly requirements.
Through the mode, the grabbing target can be automatically determined under the condition of not being full of stacks, the parameter is not required to be manually adjusted by a worker, and the assembling efficiency is improved.
As a specific example, the stack position of the compressor is collected by the image collecting device, whether the stack of the compressor is full is judged, and when the stack of the compressor is judged to be not full, the position of the first captured compressor is further determined. Fig. 4 shows a flow diagram of a method for determining a gripping position of a first compressor when a stack is not full according to an embodiment of the invention. The determining method comprises the following steps:
step 402, taking a picture of the whole stack position of the compressor feeding device;
step 404, judging whether the left side is short of material according to the image, if so, entering step 406, and if not, entering step 408;
step 406, inquiring the position of the first row of compressors from left to right;
step 408, inquiring the position of the first row of compressors from right to left;
step 410, recording the number of the inquired left and right columns;
step 412, judging whether the material is short on the edge according to the image, if so, entering step 414, and if not, entering step 416;
step 414, inquiring the position of the first row of compressors from top to bottom;
step 416, inquiring the position of the first row of compressors from bottom to top;
step 418, recording the queried upper and lower line numbers;
in step 420, row and column coordinates of the first compressor pickup position are output.
In this embodiment, as shown in fig. 6, the compressor feeding device is in the unstacked state, the stack position of the compressor feeding device comprises 7 rows and 8 columns, and if it is determined that the right side is short, the compressor in the first column, i.e. the 8 th column in fig. 6, is inquired from the right side to the left side. And then, if the situation that the material is lack at the upper side is determined, the 8 th column is inquired from top to bottom, the compressors at the 8 th column and the 4 th row are determined to be the first grabbing compressor, and the first grabbing target can be automatically and accurately determined under the condition that the stack is not full.
Fig. 5 shows a flow chart of a method for determining a gripping position of a first compressor when a stack is not full according to an embodiment of the invention. The determining method comprises the following steps:
502, taking a picture of the whole stack position of the compressor feeding device;
step 504, judging whether the material is short on the edge or not according to the image, if so, entering step 506, and if not, entering step 508;
step 506, inquiring the position of the first row of compressors from top to bottom;
step 508, inquiring the position of the first row of compressors from bottom to top;
step 510, recording the number of the upper and lower lines which are inquired;
step 512, judging whether the left side is short of material according to the image, if so, entering step 514, and if not, entering step 516;
step 514, inquiring the position of the first row of compressors from left to right;
step 516, inquiring the position of the first row of compressors from right to left;
step 518, recording the number of the inquired left and right columns;
and step 520, outputting row and column coordinates of the first compressor grabbing position.
In this embodiment, as shown in fig. 6, the compressor feeding device is in an unstacked state, the stack position of the compressor feeding device comprises 7 rows and 8 columns, and when the upper side is determined to be short, the compressor in the first row, i.e. the 3 rd row in fig. 6, is inquired from the top. And then determining that the right side is short of materials, inquiring the 3 rd row from the right side to the left side, determining that the compressors in the 3 rd row and the 6 th row are the first captured compressors, and automatically and accurately determining a first captured target under the condition of not being full of stacks.
Fig. 7 shows a flow diagram of an assembly method of an embodiment of the invention. Wherein, the assembly method comprises the following steps:
step 702, scanning the graphic code of the assembly base and determining a target type of the assembly to be assembled which is matched with the graphic code of the assembly base, or scanning the graphic code of the assembly to be assembled and determining an assembly base which is matched with the graphic code of the assembly to be assembled and has a target type;
step 704, controlling the gripping device to grip the to-be-assembled part, and acquiring a force moment value of a clamp of the gripping device in the gripping process;
step 706, determining whether the force moment value is less than or equal to a first preset moment value, entering step 708 if the force moment value is less than or equal to the first preset moment value, or entering step 710 if not;
step 708, controlling the gripping device to assemble the to-be-assembled part to the assembly base;
step 710, determining whether the force moment value is less than or equal to a second predetermined moment value, and entering step 712 if the force moment value is less than or equal to the second predetermined moment value, otherwise entering step 714, wherein the first predetermined moment value is less than the second predetermined moment value;
step 712, adjusting the posture information of the clamp of the gripping device according to the force moment value, and returning to step 706;
and step 714, sending alarm information.
In this embodiment, the gripping of the component to be assembled is monitored in real time by means of a torque sensor. Specifically, the force moment value of a clamp of the grabbing device is obtained in the grabbing process, whether the force moment value is smaller than or equal to a first preset moment value or not is judged, when the force moment value is smaller than or equal to the first preset moment value, the force moment value of the clamp is in a normal state, namely the clamping posture of the clamp is normal, and the part to be assembled is grabbed and assembled to the assembling base continuously. When the force moment value is larger than the first preset moment value, the force moment value of the clamp is in an abnormal state, namely the clamping posture of the clamp is abnormal, and at the moment, whether the force moment value exceeds a limited range or not needs to be judged, namely whether the clamping posture of the clamp can be corrected or not is judged. Specifically, whether the force moment value is smaller than or equal to a second preset moment value (the second preset moment value is larger than the first preset moment value) or not is judged, when the force moment value is judged to be between the first preset moment value and the second preset moment value, the clamping posture of the clamp can be corrected, the posture information of the clamp of the clamping device is adjusted according to the force moment value, and whether the adjusted force moment value is smaller than or equal to the first preset moment value or not is continuously judged. When the stress torque value is larger than the second preset torque value, the posture information of the clamp of the grabbing device is indicated to be incapable of being automatically adjusted, alarm information is sent out, a worker is prompted to adjust the clamp or take out the part to be assembled, the collision of the machine is prevented, and the clamp is prevented from being damaged.
As a specific example, fig. 8 shows a flowchart of a fixture posture autonomous adjustment method according to an embodiment of the present invention. Wherein, the method comprises the following steps:
step 802, obtaining a force feedback value of a clamp of the gripping device;
step 804, judging whether the force feedback value of the clamp is normal, if so, entering step 806, otherwise, entering step 808;
step 806, assembling the to-be-assembled part;
step 808, judging whether the torque variation value is in a limited range, if so, entering step 810, otherwise, entering step 814;
step 810, acquiring force feedback values of six degrees of freedom of the clamp;
step 812, adjusting the postures of the clamps in sequence according to the force feedback values of the six degrees of freedom, and returning to the step 804;
in step 814, exception handling is performed.
In this embodiment, utilize torque sensor to detect grabbing device's anchor clamps gesture to guarantee that anchor clamps are handled the assembly spare and normally press from both sides and get, prevent to hit the machine, damage anchor clamps. As shown in fig. 9, the gripping posture of the clamp 1308 for the to-be-assembled part 1328 is normal, namely, the gripping posture is normal, that is, the center line a of the to-be-assembled part 1328 in fig. 9 is vertically downward and coincides with the gravity center line, at this time, the clamp of the gripping device does not collide with other to-be-assembled parts, and the clamp cannot be damaged due to collision. As shown in fig. 10, the gripping posture of the fixture 1308 for the component 1328 is abnormal, namely, the gripping posture is abnormal, that is, the center line a of the component 1328 to be assembled in fig. 10 is not coincident with the gravity line B of the component 1328 to be assembled, and the center line a is not vertically downward.
When the grabbing attitude of the clamp is detected to be abnormal, whether the torque change value is in a limited range or not is continuously judged, if so, the attitude of the clamp is adjusted according to the force feedback values of six degrees of freedom (x, y, z, Rx, Ry, Rz) of the clamp until the force feedback values reach a normal range, and the normal assembly process of the compressor is started. And if the torque variation value is not within the limited range, performing exception handling, specifically sending alarm information to prompt a worker to adjust the clamp or take out the part to be assembled.
FIG. 11 shows a flow diagram of an assembly method of an embodiment of the present invention. Wherein, the assembly method comprises the following steps:
step 1102, scanning the graphic code of the assembly base, and determining a target type of the assembly to be assembled which is matched with the graphic code of the assembly base, or scanning the graphic code of the assembly to be assembled, and determining an assembly base which is matched with the target type of the assembly to be assembled;
step 1104, adjusting the gripping size of a clamp of the gripping device according to the target model of the assembly part to be assembled;
and step 1106, controlling the gripping device to grip the to-be-assembled part according to the gripping size so as to assemble the to-be-assembled part to the assembling base.
In this embodiment, the servo clamp is capable of automatically adjusting the width to accommodate the diameter variations of different parts to be assembled. Specifically, after the model of the to-be-assembled part matched with the assembling base is determined, the diameter size of the to-be-assembled part can be determined according to the model, and the diameter size is used as the grabbing size of the clamp, namely the width of the clamp, so that grabbing of the to-be-assembled part is achieved. The embodiment of the invention can compatibly grab various pieces to be assembled of different models, and improves the assembly flexibility.
As a specific example, the invention provides an automatic assembly method for an air conditioner external unit compressor, in the method, an assembly part to be assembled is the compressor, a grabbing device is a robot, a height detection device and an image acquisition device are mounted on the robot, the height of a material receiving layer of a material supply device can be detected, the image of the material receiving layer of the material supply device can be acquired, and the robot is provided with a clamp for grabbing the compressor. As shown in fig. 12, the method includes the steps of:
step 1202, scanning a code of the assembly base through a code scanning device;
step 1204, judging whether the compressor model corresponding to the assembly base is recorded in the work order in the MES, if so, entering step 1206, otherwise, entering step 1228;
step 1206, controlling the robot to move to a photographing position, and detecting the height of the material receiving layer by using a height detection device;
step 1208, judging whether the height of the incoming material layer is greater than the height of a clamp of the robot, if so, entering step 1228, otherwise, entering step 1210;
step 1210, taking a picture of the incoming material layer by using an image acquisition device to obtain an image of the incoming material layer;
step 1212, determining whether the incoming material is fully stacked according to the incoming material layer image, if so, entering step 1214, otherwise, entering step 1216;
step 1214, controlling the robot to determine an initial grabbing position according to the fixed coordinates;
step 1216, automatically judging the initial grabbing position of the unfilled pile according to the material shortage direction;
step 1218, taking a picture of the compressor to be captured by using the image acquisition device;
step 1220, judging whether the compressor placement angle is normal, if so, entering step 1222, otherwise, entering step 1228;
step 1222, the robot grabs the compressor;
step 1224, determining whether the force feedback value of the fixture is normal, if so, entering step 1226, otherwise, entering step 1228;
step 1226, controlling the robot to assemble the compressor on the positioned assembly base, and giving an assembly completion signal to release the assembly base;
step 1228, exception handling is performed.
It should be noted that the order of execution of the determination of the incoming material layer height and the determination of whether the stack is full is not limited. After the compressor model corresponding to the assembly base is obtained, the width of the clamp is automatically adjusted to adapt to the diameter change of different compressors.
The embodiment of the invention aims to provide an assembling method of an air conditioner compressor, which can automatically detect the floor height and the underfilling stack, automatically match the model, automatically change the model and automatically prevent mistakes (i.e. preventing collision). The compatibility of the automatic assembly of the existing robot is improved, the safe use of a user is guaranteed, meanwhile, the automatic identification coping capacity after the material is not piled up fully or the number of layers is changed is provided, and the effects of improving the automatic assembly efficiency of the compressor and reducing the failure rate are achieved.
In embodiments of the second aspect of the invention, a mounting system is provided, and fig. 13 shows a schematic view of a mounting system according to embodiments of the invention. Wherein, this fitting system includes:
a scanning device 1302, the scanning device 1302 configured to scan a graphical code of the assembly base 1326 or a graphical code of the assembly to be assembled 1328;
a grasping device 1304, the grasping device 1304 being configured to grasp the to-be-assembled component 1328, and assemble the to-be-assembled component 1328 to the assembly base 1326;
and a control device 1306, connected to the scanning device 1302 and the grasping device 1304, wherein the control device 1306 is configured to determine a target model of the component 1328 to be assembled that matches the graphic code of the component 1326, or determine a target model of the component 1326 to be assembled that matches the graphic code of the component 1328, and the control device 1306 is further configured to control the grasping device 1304 to assemble the component 1328 to be assembled to the component 1326.
In the assembling system of the embodiment of the present invention, the to-be-assembled part 1328 corresponding to the assembling base 1326 is determined by scanning the graphic code of the assembling base 1326, or the assembling base 1326 corresponding to the to-be-assembled part 1328 is determined by scanning the graphic code of the to-be-assembled part 1328. Further, the gripping device 1304 is controlled to grip the to-be-assembled member 1328, thereby assembling the to-be-assembled member 1328 to the assembling base 1326, and can match the to-be-assembled member 1328 for the current assembling base 1326 or match the assembling base 1326 for the current to-be-assembled member 1328, and correspondingly replace the to-be-assembled member 1328 when replacing the assembling base 1326 or correspondingly replace the assembling base 1326 when replacing the to-be-assembled member 1328, so as to form a complete product. By the embodiment of the invention, the purposes of automatic type matching and automatic type changing are realized, the problem that the type of the to-be-assembled part or the type of the assembling base is easy to select and mistake due to manual switching is avoided, the compatibility of the conventional assembling system is improved, the assembling efficiency of the to-be-assembled part is improved, and the failure rate of the assembled product is reduced.
In some embodiments, the scanning device 1302 includes a scanning gun, an infrared scanner, a terminal with a scanning function, and the like, and the graphic code of the mounting base 1326 or the component to be mounted 1328 includes a bar code, a two-dimensional code, and the like.
It should be noted that the corresponding relationship between the graphic code of the assembly base 1326 and the model of the component to be assembled or the corresponding relationship between the graphic code of the component to be assembled 1328 and the model of the assembly base are stored in advance. For example, a corresponding relation table between the graphic code of the assembly base 1326 and the model of the component to be assembled is stored, and the model of the component to be assembled 1328 matched with the graphic code of the assembly base 1326 can be obtained in a table look-up manner.
Or the preset information of the assembly base 1326 is obtained through the scanned graphic code of the assembly base 1326, and then the to-be-assembled part 1328 of the target model corresponding to the preset information of the assembly base 1326 is obtained according to the corresponding relationship between the preset information of the assembly base 1326 and the model of the to-be-assembled part, which is stored in advance. Or, the preset information of the component to be assembled 1328 is obtained through the scanned graphic code of the component to be assembled 1328, and then the assembling base 1326 of the target model corresponding to the preset information of the component to be assembled 1328 is obtained according to the corresponding relationship between the preset information of the component to be assembled 1328 and the model of the assembling base, which is stored in advance. It is understood that the preset information of the mounting base 1326 may include a model number of the mounting base 1326, a size of the mounting base 1326, etc., and the preset information of the to-be-mounted component 1328 may include a model number of the to-be-mounted component 1328, a size of the to-be-mounted component 1328, etc.
Whether the target model matched with the graphic code or the preset information is determined, the to-be-assembled part 1328 and the assembling base 1326 are matched with each other, and the purposes of automatic matching and automatic model changing are achieved. In particular embodiments, the model number of parts 1328 to be assembled that match assembly seat 1326 or the model number of assembly seat 1326 to be assembled that match assembly seat 1328 may be checked in a corresponding work order (i.e., order) within the MES.
In a specific embodiment, the component 1328 to be assembled is a compressor, a motor, or the like, and the gripping device 1304 is a robot. The connection mode between the control device 1306 and the scanning device 1302 and the connection mode between the control device 1306 and the grasping device 1304 include wired connection or wireless connection. Before the gripping device 1304 is controlled to assemble the component 1328 to the assembly base 1326, the gripping device 1304 needs to be controlled to move to a position corresponding to the position of the feeding device 1312 carrying the component 1328 to be assembled, so that the gripping device 1304 can grip the component 1328 to be assembled conveniently.
Further, as shown in fig. 13, the grasping means 1304 includes: a gripper 1308, the gripper 1308 being configured to grip the to-be-fitted piece 1328 according to a grip size determined by the control device 1306 according to the target model of the to-be-fitted piece 1328.
In this embodiment, the clamp 1308 is capable of automatically adjusting the width to accommodate variations in the diameter of different parts 1328 to be assembled. Specifically, after the target model of the component to be assembled 1328 matched with the assembling base 1326 is determined, the diameter size of the component to be assembled 1328 can be determined according to the target model, and the diameter size is used as the grabbing size of the clamp 1308, that is, the width of the clamp 1308, so that grabbing of the component to be assembled 1328 is achieved. By the embodiment of the invention, the parts to be assembled of various different models can be compatibly grabbed, and the assembly flexibility is improved.
Further, as shown in fig. 13, the assembling system further includes: the moment detection device 1310 is arranged on the clamp 1308 and connected with the control device 1306, and the moment detection device 1310 is configured to detect a force moment value of the clamp 1308 in a process of grabbing the to-be-assembled part 1328 by the clamp 1308, and send the force moment value of the clamp 1308 to the control device 1306, so that the control device 1306 adjusts grabbing of the to-be-assembled part 1328 by the grabbing device 1304.
In this embodiment, the gripping of the component to be assembled 1328 is monitored in real time by the torque detection device 1310. Specifically, the force moment value of the clamp 1308 is obtained in the grabbing process, whether the force moment value is smaller than or equal to a first preset moment value or not is judged, and when the force moment value is smaller than or equal to the first preset moment value, it is indicated that the force moment value of the clamp 1308 is in a normal state, that is, the clamping posture of the clamp 1308 is normal, and the part 1328 to be assembled is continuously grabbed and assembled to the assembly base 1326. When the force moment value is greater than the first preset moment value, it indicates that the force moment value of the clamp 1308 is in an abnormal state, that is, the clamping posture of the clamp 1308 is abnormal, and it needs to be determined whether the force moment value exceeds a limited range, that is, whether the clamping posture of the clamp 1308 can be corrected. Specifically, it is determined whether the force moment value is less than or equal to a second predetermined moment value (the second predetermined moment value is greater than the first predetermined moment value), and when it is determined that the force moment value is between the first predetermined moment value and the second predetermined moment value, it is determined that the gripping posture of the gripper 1308 can be corrected, the posture information of the gripper 1308 is adjusted according to the force moment value, and it is continuously determined whether the adjusted force moment value is less than or equal to the first predetermined moment value. When the stress torque value is larger than the second preset torque value, the posture information of the clamp 1308 cannot be automatically adjusted, alarm information is sent out, and a worker is prompted to adjust the clamp or take out a to-be-assembled part, so that the clamp is prevented from being collided and damaged.
The connection between the control device 1306 and the torque detection device 1310 may be wired or wireless.
Further, as shown in fig. 13, the assembling system further includes: a supply device 1312, the supply device 1312 being configured to carry a component to be assembled 1328.
It should be noted that the gripping device 1304 is movable, and before the gripping device 1304 is controlled to assemble the component 1328 to be assembled to the assembly base 1326, the gripping device 1304 is controlled to move to a position corresponding to the position of the feeding device 1312. The plurality of to-be-assembled parts 1328 are carried by the feeding device 1312, so that the to-be-assembled parts can be assembled smoothly.
Further, as shown in fig. 13, the assembling system further includes: and the height detection device 1314 is connected with the control device 1306, and the height detection device 1314 is configured to detect the height of the material layer of the feeding device 1312 and send the height of the material layer to the control device 1306, so that the control device 1306 controls the grabbing device 1304 to assemble the component 1328 to be assembled to the assembling base 1326 under the condition that the height of the material layer is smaller than or equal to the height of the clamp 1308.
Wherein, the height detecting device 1314 can be arranged on the grabbing device 1304. The connection between the control device 1306 and the height detection device 1314 may include a wired connection or a wireless connection.
In this embodiment, the height of the material layer, i.e. the height of the material layer, of the feeding device 1312 carrying the component to be assembled 1328 is detected by the height detection device 1314. When the height of the incoming material layer is larger than the height of the clamp 1308 of the gripping device 1304, if the control clamp 1308 starts to grip the to-be-assembled part 1328 from top to bottom at the moment, the risk of collision occurs. For example, when the height of the fixture 1308 is two, if the fixture 1308 starts to grab the to-be-assembled part on the second layer from top to bottom, there is a problem that the to-be-assembled part collides with the to-be-assembled part on the first layer from top to bottom. Therefore, in order to avoid the above problem, when the height of the discharged material layer is determined to be greater than the height of the clamp 1308, the alarm device 1320 is controlled to send alarm information to prompt the operator to increase the height of the clamp 1308, so that the height of the clamp 1308 is greater than or equal to the height of the supplied material layer, or when the height of the discharged material layer is determined to be greater than the height of the clamp 1308, the height adjusting device is controlled to increase the height of the clamp 1308, and the function of automatically adjusting the height is achieved.
When the height of the incoming material layer is less than or equal to the height of the clamp 1308, the problem of collision does not occur, so that the clamp 1308 can be directly controlled to assemble the component 1328 to be assembled to the assembly base 1326.
Further, as shown in fig. 13, the assembling system further includes: the first image acquisition device 1316 is connected with the control device 1306, the first image acquisition device 1316 is configured to acquire an image of a material layer of the feeding device 1312 and send the image of the material layer to the control device 1306, so that the control device 1306 controls the gripping device 1304 to grip the to-be-assembled part 1328 located at a preset position when the feeding device 1312 is in a full material pile state, or controls the gripping device 1304 to grip the to-be-assembled part 1328 according to a material shortage direction of the feeding device 1312 when the feeding device 1312 is not in the full material pile state.
Therein, the first image capturing device 1316 may be disposed on the gripping device 1304. The connection between the control device 1306 and the first image capturing device 1316 may include a wired connection or a wireless connection.
In this embodiment, an image of a material layer of the feeding device 1312 carrying the component to be assembled 1328 is acquired by the first image acquisition device 1316, and whether the feeding device 1312 is in a full material stack state is determined according to the image of the material layer. When the feeding device 1312 is in a full material stack state, the target to-be-assembled part at the preset position is used as the first to-be-assembled part to be grabbed by the grabbing device 1304, and the grabbing device 1304 is controlled to grab from the target to-be-assembled part. It should be noted that the target assembly-ready members in the full-stack state are the assembly-ready members located at four angular positions of the feeding device 1312, for example, the feeding device 1312 includes n rows and m columns, and then the target assembly-ready members may be any one of the coordinates (1, 1), (1, m), (n, 1), (n, m). And continuously grabbing the next to-be-assembled part after the first to-be-assembled part is grabbed, wherein if the to-be-assembled part with the coordinate of (1, 1) is the first to-be-assembled part, the next to-be-assembled part can be the to-be-assembled part with the coordinate of (1, 2) or (2, 1), and the next to-be-assembled part can be set according to actual assembly requirements.
When the feeding device 1312 is judged not to be in the full material pile state, the part to be assembled which is the first part to be assembled and is grabbed by the grabbing device 1304 is determined according to the material shortage direction of the feeding device 1312, and the grabbing device 1304 is controlled to grab the part to be assembled from the target part to be assembled so as to assemble the part to be assembled to the assembling base 1326. Through the mode, the problem that the assembly system cannot completely and autonomously cope with the situation of not being full of stacks in the related technology and can continue to be assembled only after the parameters are manually adjusted by workers is solved, the automation degree of assembly is improved, and the assembly efficiency is improved.
Further, as shown in fig. 13, the assembling system further includes: and the second image acquisition device 1318 is connected to the control device 1306, and the second image acquisition device 1318 is configured to acquire an image of the component to be assembled 1328 and send the image of the component to be assembled 1328 to the control device 1306, so that the control device 1306 controls the grabbing device 1304 to grab the component to be assembled 1328.
Wherein the second image acquisition device 1318 may be arranged on the gripping device 1304. The connection mode of the control device 1306 and the second image acquisition device 1318 comprises wired connection or wireless connection.
In this embodiment, the second image capturing device 1318 is used to photograph the currently grabbed component 1328 to determine the placement angle of the currently grabbed component 1328 to be assembled according to the currently grabbed image of the component 1328 to be assembled, and then determine whether the placement angle is normal, or grab the component 1328 to be assembled according to the placement angle, so as to ensure smooth grabbing of the component 1328 to be assembled and prevent the collision.
It should be noted that the first image capturing device 1316 and the second image capturing device 1318 may be the same device or different devices, and in fig. 13, the first image capturing device 1316 and the second image capturing device 1318 are different devices.
Further, as shown in fig. 13, the assembling system further includes: and the alarm device 1320 is connected to the control device 1306, and the alarm device 1320 is configured to send out an alarm message when the height of the material layer is greater than the height of the clamp 1308, and/or send out an alarm message when the force moment value is greater than a preset moment value (i.e., the second preset moment value).
In this embodiment, when the control device 1306 determines that the height of the discharged material layer is greater than the height of the clamp 1308 of the gripping device 1304, the control alarm device 1320 sends an alarm message to prompt the operator to raise the height of the clamp 1308 so that the height of the clamp 1308 is greater than or equal to the height of the incoming material layer.
When the control device 1306 determines that the posture information of the clamp 1308 cannot be automatically adjusted according to the force moment value of the clamp 1308, a warning message is sent to prompt a worker to adjust the posture of the clamp 1308 or take out a to-be-assembled part, so that the clamp is prevented from being crashed and damaged.
The connection mode between the control device 1306 and the alarm device 1320 includes a wired connection or a wireless connection.
Further, as shown in fig. 13, the assembling system further includes: a conveyor 1322 is coupled to the control device 1306, the conveyor 1322 being configured to carry and convey the mounting base 1326.
The connection between the control device 1306 and the transmitting device 1322 may be wired or wireless.
In this embodiment, the conveying device 1322 can carry and convey a plurality of assembly bases 1326, so that an assembly mode of the assembly line of the assembly bases 1326 is realized, and the assembly efficiency is improved.
Further, as shown in fig. 13, the assembling system further includes: a holding device 1324 coupled to the control device 1306, the holding device 1324 configured to hold the mounting base 1326 during assembly of the component 1328 and to be removed after the component 1328 is mounted to the mounting base 1326 to allow the mounting base 1326 to be transported on the transport device 1322.
The connection between the control device 1306 and the fixing device 1324 includes a wired connection or a wireless connection.
In this embodiment, when the component to be assembled 1328 needs to be assembled to a certain assembly base 1326, the assembly base 1326 is fixed by the fixing device 1324, so that the assembly base 1326 is prevented from being displaced during the assembly process, and the assembly cannot be performed or assembly errors occur. After assembly, the fixing device 1324 is removed to release the assembly base 1326, so that the conveying device 1322 conveys the assembled assembly base 1326 away, and the whole press-assembling process is finished.
It should be noted that fig. 13 is a schematic diagram of a possible structure of the assembling system according to the embodiment of the present invention, and the connection relationship and the arrangement position of the components are not limited to those shown in fig. 13.
As a specific example, the present invention relates to the field of upper computers, robots, programmable controllers, vision detection positioning systems, and related communications, and includes ethernet communications, mitsubishi slmp (seamless Message protocol) protocols, etc., where the upper computer is connected to the programmable controllers through ethernet, and implements a fast, stable, and reliable compressor assembly by controlling a code scanning gun, a vision sensor, a height sensor, a robot, and a fixture thereof.
FIG. 14 shows a schematic view of an assembly system of an embodiment of the present invention. Wherein, this fitting system includes: robot 1402, programmable controller 1404, code scanning system 1406, vision sensor 1408, ranging sensor 1410, and upper computer 1412. For example, the robot 1402 is kawasaki RN50, the programmable controller 1404 is mitsubishi FX5U, the vision sensor 1408 is o-net sv300, the range sensor 1410 is keyence sr-5000, and the code scanning system 1406 is conradson DM260Q, but it should be noted that the assembly system of the present embodiment is not limited to a specific compressor model, and the above parameters can be flexibly selected. The specific working process of the assembly system comprises the following steps:
(1) the assembly base is scanned by the code scanning system 1406, the upper computer 1412 judges whether the compressor model corresponding to the assembly base is recorded in the work order in the MES, if yes, the programmable controller 1404 controls the robot 1402 to move to a photographing position, and the distance measuring sensor 1410 is controlled to detect the height of the incoming material layer, otherwise, abnormal processing is performed.
(2) The upper computer 1412 determines whether the height of the incoming material layer is greater than the height of the fixture of the robot 1402, and if so, performs exception handling, otherwise, controls the vision sensor 1408 to photograph the incoming material layer through the programmable controller 1404 to obtain an image of the incoming material layer.
(3) The upper computer 1412 judges whether the incoming material is fully stacked according to the incoming material layer image, if the incoming material layer image is fully stacked, the programmable controller 1404 controls the robot 1402 to determine an initial grabbing position according to fixed coordinates, and if the incoming material layer image is not fully stacked, the programmable controller 1404 controls the robot 1402 to autonomously judge an initial grabbing position of the material layer image which is not fully stacked according to the material shortage direction.
(4) The programmable controller 1404 controls the vision sensor 1408 to take a picture of the compressor to be grabbed, the upper computer 1412 judges whether the placing angle of the compressor is normal, if the compressor is normally grabbed, the robot 1402 is controlled by the programmable controller 1404, and if not, exception handling is performed.
(5) And the upper computer 1412 judges whether the force feedback value of the clamp is normal or not, controls the robot 1402 to assemble the compressor on the positioned assembly base through the programmable controller 1404 if the force feedback value is normal, and gives an assembly completion signal to release the assembly base, otherwise, performs exception handling.
It should be noted that the order of execution of the upper computer 1412 for judging the incoming material layer height and judging whether the stack is full is not limited. After obtaining the compressor model corresponding to the assembly base, programmable controller 1404 automatically adjusts the width of the servo clamp to accommodate the diameter variations of different compressors.
The assembly system further includes a SCADA (Supervisory Control And Data Acquisition) system 1414 for acquiring And monitoring Data of the upper computer 1412.
The embodiment of the invention aims to provide an air conditioner compressor assembling system which can automatically detect the floor height and the underfilling stack, automatically match the model, automatically change the model and automatically prevent mistakes (namely, prevent collision). The compatibility of the automatic assembly of the existing robot is improved, the safe use of a user is guaranteed, meanwhile, the automatic identification coping capacity after the material is not piled up fully or the number of layers is changed is provided, and the effects of improving the automatic assembly efficiency of the compressor and reducing the failure rate are achieved.
In an embodiment of the third aspect of the present invention, a readable storage medium is provided, on which a program or instructions are stored, and the program or instructions, when executed by a processor, implement the assembling method of the first aspect.
The invention provides a readable storage medium, a program or instructions which, when executed by a processor, carry out the steps of the assembly method as described above in relation to the embodiment of the first aspect, and which therefore comprises all the advantageous effects of the assembly method as described above in relation to the embodiment of the first aspect.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (17)

1. A method of assembly, comprising:
scanning the graphic code of an assembly base and determining a target type of assembly to be assembled matched with the graphic code of the assembly base, or scanning the graphic code of the assembly to be assembled and determining an assembly base of the target type matched with the graphic code of the assembly to be assembled;
and controlling a gripping device to assemble the assembly part to the assembly base.
2. The assembly method of claim 1, further comprising:
acquiring the height of a material layer of a feeding device bearing the to-be-assembled part;
sending alarm information based on the fact that the height of the material layer is larger than the height of a clamp of the grabbing device;
and based on the fact that the height of the material layer is smaller than or equal to the height of a clamp of the grabbing device, controlling the grabbing device to assemble the to-be-assembled part to the assembling base.
3. The assembly method according to claim 1, wherein the step of controlling the gripping device to assemble the component to be assembled to the assembly base comprises:
acquiring a material layer image of a feeding device bearing the to-be-assembled part;
determining whether the feeding device is in a full material stack state or not according to the material layer image;
controlling the gripping device to start gripping from a target assembly part to be assembled positioned at a preset position based on the fact that the feeding device is in a full material stack state, so that the assembly part to be assembled is assembled to the assembling base;
and determining a target assembly part to be assembled according to the material shortage direction of the feeding device based on the fact that the feeding device is not in the full-stack state of the materials, and controlling the grabbing device to grab from the target assembly part to be assembled so as to assemble the assembly part to be assembled to the assembling base.
4. The assembly method according to claim 3, wherein the step of determining a target assembly member to be assembled according to the starved direction of the feeding device specifically comprises:
acquiring the material shortage direction of the feeding device, wherein the material shortage direction comprises a transverse material shortage direction and a longitudinal material shortage direction;
determining a to-be-assembled part in a first column from the transverse material shortage direction, determining a first to-be-assembled part in the first column from the longitudinal material shortage direction, or determining a to-be-assembled part in a first row from the longitudinal material shortage direction, and determining a first to-be-assembled part in the first row from the transverse material shortage direction;
and taking the first assembly to be assembled as the target assembly to be assembled.
5. The assembly method according to any one of claims 1 to 4, wherein the step of controlling the gripping device to assemble the component to be assembled to the assembly base comprises:
controlling the gripping device to grip the assembly part to be assembled, and acquiring a force moment value of a clamp of the gripping device in a gripping process;
controlling a gripping device to assemble the assembly part to be assembled to the assembling base based on the fact that the force moment value is smaller than or equal to a first preset moment value;
based on the fact that the force moment value is larger than the first preset moment value and is smaller than or equal to the second preset moment value, adjusting the posture information of the clamp of the grabbing device according to the force moment value until the force moment value is smaller than or equal to the first preset moment value, wherein the first preset moment value is smaller than the second preset moment value;
and sending alarm information based on the condition that the force moment value is greater than the second preset moment value.
6. The assembly method according to any one of claims 1 to 4, wherein the step of controlling the gripping device to assemble the component to be assembled to the assembly base comprises:
according to the target model of the to-be-assembled part, the grabbing size of a clamp of the grabbing device is adjusted;
and controlling the gripping device to grip the to-be-assembled part according to the gripping size so as to assemble the to-be-assembled part to the assembling base.
7. An assembly system, comprising:
a scanning device configured to scan a graphic code of the assembly base or scan a graphic code of the assembly to be assembled;
a gripping device configured to grip a to-be-assembled member, to assemble the to-be-assembled member to the assembly base;
the control device is connected with the scanning device and the grabbing device, the control device is configured to determine a target type of the to-be-assembled part matched with the graphic code of the assembling base, or determine a target type of the assembling base matched with the graphic code of the to-be-assembled part, and the control device is further configured to control the grabbing device to assemble the to-be-assembled part to the assembling base.
8. The fitting system according to claim 7, wherein said gripping means comprises:
the fixture is configured to grab the to-be-assembled part according to the grabbing size determined by the control device according to the target model of the to-be-assembled part.
9. The fitting system of claim 8, further comprising:
the moment detection device is arranged on the clamp and connected with the control device, and is configured to detect the stress moment value of the clamp in the process of grabbing the assembly part to be assembled by the clamp and send the stress moment value of the clamp to the control device so that the control device can adjust the grabbing device to grab the assembly part to be assembled.
10. The fitting system of claim 9, further comprising:
a feeder device configured to carry the to-be-assembled member.
11. The fitting system of claim 10, further comprising:
the height detection device is connected with the control device and is configured to detect the height of a material layer of the feeding device and send the height of the material layer to the control device, so that the control device controls the grabbing device to assemble the assembly part to the assembly base under the condition that the height of the material layer is smaller than or equal to the height of the clamp.
12. The fitting system of claim 11, further comprising:
and the alarm device is connected with the control device and is configured to send out alarm information under the condition that the height of the material layer is greater than the height of the clamp, and/or send out alarm information under the condition that the stress torque value is greater than a preset torque value.
13. The fitting system of claim 10, further comprising:
first image acquisition device, with controlling means connects, first image acquisition device is configured to gather feedway's material layer image, and will material layer image send to controlling means, for controlling means is in feedway is controlled under the condition that feedway is in the full buttress state of material grabbing device begins to snatch from the waiting assembly piece that is located preset position, perhaps is in feedway is not controlled according to feedway's scarce material direction control grabbing device snatchs treat the assembly piece under the condition that the material is full buttress state.
14. The fitting system according to any one of claims 7 to 13, further comprising:
the second image acquisition device is connected with the control device and is configured to acquire the image of the to-be-assembled part and send the image of the to-be-assembled part to the control device, so that the control device can control the grabbing device to grab the to-be-assembled part.
15. The fitting system according to any one of claims 7 to 13, further comprising:
a transport device coupled to the control device, the transport device configured to carry and transport the mounting base.
16. The fitting system of claim 15, further comprising:
the fixing device is connected with the control device and is configured to fix the assembling base in the assembling process of the assembly part to be assembled and move away after the assembly part to be assembled is assembled to the assembling base so that the assembling base can be conveyed on the conveying device.
17. A readable storage medium on which a program or instructions are stored, characterized in that said program or instructions, when executed by a processor, implement the assembly method according to any one of claims 1 to 6.
CN202011066483.7A 2020-09-30 2020-09-30 Assembling method, assembling system and readable storage medium Pending CN112060096A (en)

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CN114992786A (en) * 2022-06-17 2022-09-02 四川长虹空调有限公司 Air conditioner assembling method and system

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