CN112719830B - Mechanical arm flexible assembling equipment and control method - Google Patents

Mechanical arm flexible assembling equipment and control method Download PDF

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Publication number
CN112719830B
CN112719830B CN202011510782.5A CN202011510782A CN112719830B CN 112719830 B CN112719830 B CN 112719830B CN 202011510782 A CN202011510782 A CN 202011510782A CN 112719830 B CN112719830 B CN 112719830B
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mechanical arm
pressure sensor
sensor array
workpiece
station
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CN112719830A (en
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顾寄南
姜岩
庞晨涛
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Jiangsu University
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Jiangsu University
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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
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention provides a mechanical arm compliant assembling device and a control method thereof, wherein the mechanical arm compliant assembling device comprises an assembling work bit unit and a visual positioning unit; the assembling work position unit comprises a workbench, a clamping device, a turnover plate, a turnover driving mechanism, a first pressure sensor array, a second pressure sensor array, a visual positioning unit and a control unit; the visual positioning unit comprises an image acquisition device; according to the invention, the pressure sensor array is used for replacing a tail end force sensor, a force sensor does not need to be arranged at the tail end of the mechanical arm, and only a multipoint force sensor is arranged under the PCB clamping plate, so that the force and position mixed control of the mechanical arm is realized through pressure feedback, and the assembly flexibility is increased; the use of cameras is reduced, the front and back surfaces of a workpiece are assembled by the aid of plane movement of the turnover mechanism and the cameras, and the problems that manual assembly of special-shaped electronic components is low in efficiency, high in cost and difficult to guarantee quality are solved.

Description

Mechanical arm flexible assembling equipment and control method
Technical Field
The invention belongs to the technical field of robots, and particularly relates to flexible assembling equipment for a mechanical arm and a control method.
Background
With the development of modern technologies, the update iteration speed of electronic products is increased, wherein the printed circuit board PCB is the foundation of the electronic products. The quality of the electronic product depends on the assembly precision of a circuit board assembly line, and poor contact, open circuit and other consequences can be caused due to low assembly precision, so that the experience of electronic product consumers is influenced.
In the prior art, the Surface Mount Technology (SMT) can only realize the assembly automation of conventional electronic components, and the special-shaped electronic components also need a large amount of manual work for assembly. The manual assembly has the disadvantages of low efficiency, high cost, difficult quality guarantee and the like.
In the industrial mechanical arm assembly field, the mechanical arm can replace the workman to carry out repeatability and work, has the characteristics that assembly efficiency is high, the comprehensive cost is low, the quality is easily managed and controlled. Therefore, the assembly operation by the multi-degree-of-freedom mechanical arm can liberate human from repeated labor and improve the assembly precision.
However, the prior art in the field of assembling the special-shaped electronic components for the PCB has the following disadvantages:
the existing mechanical arm assembly equipment is strong in specificity and poor in adaptability to assembly operation of special-shaped electronic components.
Secondly, the rigidity of the mechanical arm is high, the rigidity of the PCB is low, if the mechanical arm is not subjected to flexible assembly control, the workpiece is damaged lightly, the motor of the mechanical arm is overheated heavily, the service life is shortened, and even the mechanical arm is damaged.
Disclosure of Invention
Aiming at the technical problem, the invention provides compliant assembling equipment and a control method for a mechanical arm, wherein a pressure sensor array is used for replacing a tail end force sensor, a force sensor is not required to be arranged at the tail end of the mechanical arm, only a multipoint force sensor is required to be arranged under a PCB clamping plate, and the force and position mixed control of the mechanical arm is realized through pressure feedback, so that the assembly compliance is increased; the use of cameras is reduced, the front and back surfaces of a workpiece are assembled by the aid of plane movement of the turnover plate and the cameras, and the problems that manual assembly of special-shaped electronic components is low in efficiency, high in cost and difficult to guarantee quality are solved.
The technical scheme of the invention is as follows: the mechanical arm compliant assembling equipment comprises an assembling work position unit and a visual positioning unit;
the assembling work position unit comprises a workbench, a clamping device, a turnover plate, a turnover driving mechanism, a first pressure sensor array, a second pressure sensor array, a visual positioning unit and a control unit;
the turnover plate, the turnover driving mechanism, the first pressure sensor array and the second pressure sensor array are respectively arranged on the workbench; the first and second pressure sensor arrays each include a plurality of pressure sensors; the workbench is provided with a first station and a second station, the first pressure sensor array is positioned on the first station, and the second pressure sensor array is positioned on the second station; the clamping device is fixed on the turnover plate and used for clamping a workpiece; the overturning driving mechanism is connected with the overturning plate; the turnover driving mechanism drives the turnover plate to drive the clamping device to rotate and change stations; when the workpiece is positioned at the first station, the bottom surface of the turnover plate is in contact with a first pressure sensor array, and the first pressure sensor array is used for measuring the pressure of the turnover plate and the initial workpiece; when the workpiece is positioned at the second station, the clamping device is in contact with a second pressure sensor array, and the second pressure sensor array is used for measuring the pressure of the workpiece assembled at the first station and the turnover plate; the first pressure sensor array and the second pressure sensor array are respectively connected with the mechanical arm controller and transmit the measured pressure information to the mechanical arm controller;
the visual positioning unit comprises an image acquisition device; the image acquisition device is positioned above the assembly work station unit and used for acquiring images of the first work station and the second work station and sending the images to the control unit; the control unit is respectively connected with the image acquisition device, the turnover driving mechanism and the mechanical arm track planner; the control unit processes the image acquired by the image acquisition device to obtain the coordinate and attitude information of the workpiece, transmits the coordinate and attitude information to the mechanical arm track planner, obtains expected track information through planning by the mechanical arm track planner and transmits the expected track information to the mechanical arm controller, the mechanical arm controller performs error feedback control on the motion track of the mechanical arm according to the obtained track planning information and the track information actually measured by the mechanical arm, and controls the motor power to perform mechanical arm assembly work according to the obtained pressure information.
In the above scheme, the image acquisition device comprises an industrial camera, a light source, a plane moving mechanism and a visual unit fixing device; the industrial camera and the light source are arranged on a plane moving mechanism, and the plane moving mechanism is arranged on the visual unit fixing device; the control unit is respectively connected with the industrial camera and the plane moving mechanism; the industrial camera can perform plane motion on a plane moving mechanism; the industrial camera is used for acquiring images of the first station and the second station and sending the images to the control unit.
In the scheme, the clamping device comprises two buckling plates which are respectively positioned at two sides of the turnover plate, a slot is formed in one side of each buckling plate, workpieces are installed on the turnover plate through the slots, and the workpieces can be adaptively replaced through the slots to be assembled with different workpieces.
In the scheme, the middle of the turnover plate is hollow, so that the back of the workpiece can be conveniently installed.
In the above scheme, the turnover driving mechanism includes a first bearing seat, a second bearing seat, a rotating shaft, a coupling and a motor; the rotating shaft is arranged on the workbench through a first bearing seat and a second bearing seat, and an output shaft of the motor is connected with the rotating shaft through a coupler.
In the above scheme, the rotating shaft is a stepped shaft; an iron block is arranged on one side of the turnover plate; an electromagnetic adsorption device is arranged in the rotating shaft; the electromagnetic adsorption device can adsorb the iron block positioned on one side of the turnover plate after being electrified and is used for fixing the turnover plate.
In the above solution, the first pressure sensor array and the second pressure sensor array respectively include four pressure sensors; the four pressure sensors are symmetrically arranged in pairs.
In the above scheme, the control unit is an industrial personal computer or an embedded image processor.
A method of controlling a compliant assembly apparatus according to said robotic arm, comprising the steps of:
a workpiece is arranged on the turnover plate of the first station and is clamped by a clamping device; the first pressure sensor array measures the pressure of the turnover plate and the initial workpiece and sends the pressure to the mechanical arm controller; the control unit controls the turnover plate to turn over and drives the workpiece to rotate to a second station; the second pressure sensor array measures the pressure of the workpiece and the turnover plate assembled at the first station and sends the pressure to the mechanical arm controller; the mechanical arm controller adopts force control in the normal direction of the surface of the workpiece, namely the Z-axis direction, and adopts position control in the directions of the other degrees of freedom; the mechanical arm controller obtains the normal contact force F of the mechanical arm and the mounting workpiece through the first pressure sensor array or the second pressure sensor arrayzControlling the motor power of the mechanical arm;
the image acquisition device acquires images of the first station and the second station and sends the images to the control unit; the control unit processes the image acquired by the image acquisition device to obtain the coordinate and the attitude information x of the workpiececThe position and orientation signals x of the workpiececThe expected trajectory information is obtained by the mechanical arm dynamics trajectory planning, and comprises the expected position qd of the mechanical arm joint and the expected speed of the mechanical arm joint
Figure GDA0003529746720000031
Expected acceleration of mechanical arm joint
Figure GDA0003529746720000032
The track planning information qd,
Figure GDA0003529746720000033
Transmitted to a mechanical arm controller, and the mechanical arm controller obtains the track planning information and the actually measured rotation angle q of the mechanical armrealAnd the rotational speed
Figure GDA0003529746720000034
And (4) carrying out error feedback control, outputting motor torque tau, and controlling a motor of the mechanical arm to rotate to carry out mechanical arm assembly work.
In the above scheme, the manipulator controller obtains the normal contact force F between the manipulator and the mounting workpiece through the first pressure sensor array or the second pressure sensor arrayzThe following method was used to calculate:
the first pressure sensor array or the second pressure sensor array respectively comprises four pressure sensors; the four pressure sensors are symmetrically arranged in pairs; the pressure values measured by the four pressure sensors are respectively F1、F2、F3、F4(ii) a The side length of a stressed rectangle formed by the first pressure sensor array or the second pressure sensor array is 2a and 2b, and the stress of a contact point is FextWill FextDecomposition to Fx、Fy、FzAre unknown parameters, and the Z-axis direction stress is obtained through the first pressure sensor array or the second pressure sensor array, namely F is not concernedx、Fy；
Through the stress analysis, can stand simultaneously in Z axle direction:
a(F1+F2-F3-F4)-nFz＝0
b(F1+F4-F2-F3)-mFz＝0
F1+F2+F3+F4-Fz＝0
obtaining by solution:
Figure GDA0003529746720000035
Figure GDA0003529746720000036
F3＝Fz-F4-F1-F2
wherein, a is half of the width of the stressed rectangular surface, b is half of the height of the stressed rectangular surface, m is the distance from the stress point to the y axis of the stressed rectangular surface, n is the distance from the stress point to the x axis of the stressed rectangular surface, FzUnknown, obtaining a pressure sensor value F by means of the first or second pressure sensor array1、F2、F3、F4Can be solved to obtain FzIf F is obtained from each formulazThe difference in magnitude is the reason for friction, and the average value is taken, and finally F is calculatedext＝Fz。
Compared with the prior art, the invention has the beneficial effects that: the invention provides a method for controlling the force and position of a mechanical arm by using a pressure sensor array to replace a tail end force sensor, without installing a force sensor at the tail end of the mechanical arm, only by installing a multipoint force sensor under a PCB clamping plate, and through pressure feedback, the mixed control of the force and the position of the mechanical arm is realized, and the assembly flexibility is increased; the use of cameras is reduced, the front and back surfaces of a workpiece are assembled by the aid of plane movement of the turnover plate and the cameras, and the problems that manual assembly of special-shaped electronic components is low in efficiency, high in cost and difficult to guarantee quality are solved.
Drawings
FIG. 1 is a schematic diagram of the equipment design of one embodiment of the present invention;
FIG. 2 is a simplified diagram of an assembly station according to an embodiment of the present invention;
FIG. 3 is a schematic view of a roll-over panel according to an embodiment of the present invention;
FIG. 4 is a force receiving rectangular diagram of a pressure sensor in accordance with one embodiment of the present invention;
FIG. 5 is a contact force exploded view of an embodiment of the present invention;
FIG. 6 is a simplified diagram of a force sense control system according to an embodiment of the present invention;
fig. 7 is a simplified diagram of the mechanical arm force position control switching according to an embodiment of the present invention.
In the figure: 1. a vision unit fixing device; 2. an industrial camera; 3. a light source; 4. a turnover plate; 41. an iron block; 5. a pressure sensor; 51. a first array of pressure sensors; 52. a second array of pressure sensors; 6. a work table; 7. a plane moving mechanism; 9. a turnover driving mechanism; 10. a rotating shaft; 11. a coupling; 12. an electric motor; 13. a clamping device; 15. an electromagnetic adsorption device; 17. a first bearing housing; 18. a second bearing housing; 101. a first station 101; 102. and a second station.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Fig. 1, 2 and 3 show a preferred embodiment of the compliant robotic arm assembly apparatus, which is characterized by comprising an assembly tool bit unit and the vision positioning unit; the assembly work station comprises a workbench 6, a clamping device 13, a turnover plate 4, a turnover driving mechanism 9, a first pressure sensor array 51, a second pressure sensor array 52, a visual positioning unit and a control unit; the turnover plate 4, the turnover driving mechanism 9, the first pressure sensor array 51 and the second pressure sensor array 52 are respectively arranged on the workbench 6; the first pressure sensor array 51 and the second pressure sensor array 52 respectively include a plurality of pressure sensors 5; a first station 101 and a second station 102 are arranged on the workbench 6, the first pressure sensor array 51 is positioned on the first station 101, and the second pressure sensor array 52 is positioned on the second station 102; the clamping device 13 is fixed on the turnover plate 4 and used for clamping a workpiece; the overturning driving mechanism 9 is connected with the overturning plate 4; the turnover driving mechanism 9 drives the turnover plate 4 to drive the clamping device 13 to rotate and change stations; when the workpiece is positioned at the first station 101, the bottom surface of the turnover plate 4 is in contact with a first pressure sensor array 51, and the first pressure sensor array 51 is used for measuring the pressure of the turnover plate 4 and the initial workpiece; when the workpiece is at the second station 102, the clamping device 13 is in contact with a second pressure sensor array 52, and the second pressure sensor array 52 is used for measuring the pressure of the assembled workpiece at the first station 101 and the turnover plate 4; the first pressure sensor array 51 and the second pressure sensor array 52 are connected to the arm controller, respectively, and transmit the measured pressure information to the arm controller.
The visual positioning unit comprises an image acquisition device; the image acquisition device is positioned above the assembly work station unit and used for acquiring images of the first work station 101 and the second work station 102 and sending the images to the control unit; the control unit is respectively connected with the image acquisition device, the turnover driving mechanism 9 and the mechanical arm track planner; the control unit processes the image acquired by the image acquisition device to obtain the coordinate and attitude information of the workpiece, transmits the coordinate and attitude information to the mechanical arm track planner, obtains expected track information through planning by the mechanical arm track planner and transmits the expected track information to the mechanical arm controller, the mechanical arm controller performs error feedback control on the motion track of the mechanical arm according to the obtained track planning information and the track information actually measured by the mechanical arm, and controls the motor power to perform mechanical arm assembly work according to the obtained pressure information.
The image acquisition device comprises an industrial camera 2, a light source 3, a plane moving mechanism 7 and a visual unit fixing device 1; the industrial camera 2 and the light source 3 are arranged on a plane moving mechanism 7, and the plane moving mechanism 7 is arranged on the visual unit fixing device 1; the control unit is respectively connected with the industrial camera 2 and the plane moving mechanism 7; the industrial camera 2 can perform plane motion on a plane moving mechanism 7; the industrial camera 2 is used to capture images of the first station 101 and the second station 102 and send them to the control unit.
The clamping device 13 comprises two buckling plates which are respectively positioned on two sides of the turnover plate 4, a slot is formed in one side of each buckling plate, workpieces are installed on the turnover plate 4 through the slots, and the workpieces can be adaptively replaced through the slots to be assembled with different workpieces.
The middle of the turnover plate 4 is hollow, so that the back of a workpiece can be conveniently installed.
The overturning driving mechanism 9 comprises a first bearing seat 17, a second bearing seat 18, a rotating shaft 10, a coupling 11 and a motor 12; the rotary shaft 10 is mounted on the table 6 via a first bearing housing 17 and a second bearing housing 18, and an output shaft of the motor 12 is connected to the rotary shaft 10 via a coupling 11.
The rotating shaft 10 is a stepped shaft; an iron block 41 is arranged on one side of the turnover plate 4; an electromagnetic adsorption device 15 is arranged in the rotating shaft 10; the electromagnetic adsorption device 15 can adsorb the iron block 41 on one side of the turnover plate 4 after being electrified, and is used for fixing the turnover plate 4.
The first pressure sensor array 51 and the second pressure sensor array 52 respectively include four pressure sensors 5; the four pressure sensors 5 are arranged two by two symmetrically.
The control unit is an industrial personal computer or an embedded image processor.
As shown in fig. 5, 6 and 7, a control method according to the compliant assembly apparatus for a robot arm includes the steps of:
a workpiece is arranged on the turnover plate 4 of the first station 101 and is clamped by a clamping device 13; the first pressure sensor array 51 measures the pressure of the turnover plate 4 and the initial workpiece and sends the pressure to the mechanical arm controller; the control unit controls the turnover plate 4 to turn over and drives the workpiece to rotate to the second station 102; the second pressure sensor array 52 measures the pressure of the workpiece assembled at the first station 101 and the turnover plate 4 and sends the pressure to the mechanical arm controller; the mechanical arm controller adopts a force/position hybrid control method, adopts force control in the normal direction of the surface of the workpiece, namely the Z-axis direction, and adopts position control in the directions of the other degrees of freedom; the normal contact force F of the mechanical arm and the mounting workpiece is obtained through the first pressure sensor array 51 or the second pressure sensor array 52zControlling the motor power of the mechanical arm;
the image acquisition device acquires images of the first station 101 and the second station 102 and sends the images to the control unit; the control unit processes the image acquired by the image acquisition device to obtain the coordinate and the attitude information x of the workpiececThe position and orientation signals x of the workpiececTransmitting the data to a track planner, and after the mechanical arm dynamics track planning, obtaining expected track information including the expected position qd of the mechanical arm joint and the expected speed of the mechanical arm joint
Figure GDA0003529746720000061
Expected acceleration of mechanical arm joint
Figure GDA0003529746720000062
The track planning information qd,
Figure GDA0003529746720000063
The obtained track planning information and the actually measured rotation angle qreal and rotation speed of the mechanical arm are transmitted to a mechanical arm controller
Figure GDA0003529746720000064
And (4) carrying out error feedback control, outputting motor torque tau, and controlling a motor of the mechanical arm to rotate to carry out mechanical arm assembly work.
The first pressure sensor array 51 or the second pressure sensor array 52 obtains the normal contact force F of the mechanical arm and the mounting workpiecezCalculated by the following method:
the first pressure sensor array 51 or the second pressure sensor array 52 includes four pressure sensors 5, respectively; the four pressure sensors 5 are symmetrically arranged two by two; the pressure values measured by the four pressure sensors 5 are respectively F1、F2、F3、F4(ii) a Let the side length of the force-receiving rectangle 53 formed by the first pressure sensor array 51 or the second pressure sensor array 52 be 2a and 2b, and the contact point force be FextWill FextDecomposition to Fx、Fy、FzAre unknown parameters, and the Z-axis force is obtained by the first pressure sensor array 51 or the second pressure sensor array 52, i.e. F is not concernedx、Fy；
Through the stress analysis, can stand simultaneously in Z axle direction:
a(F1+F2-F3-F4)-nFz＝0
b(F1+F4-F2-F3)-mFz＝0
F1+F2+F3+F4-Fz＝0
obtaining by solution:
Figure GDA0003529746720000071
Figure GDA0003529746720000072
F3＝Fz-F4-F1-F2
wherein, a is half of the width of the stressed rectangular surface, b is half of the height of the stressed rectangular surface, m is the distance from the stress point to the y axis of the stressed rectangular surface, n is the distance from the stress point to the x axis of the stressed rectangular surface, FzUnknown, the pressure sensor values F are obtained by the first pressure sensor array 51 or the second pressure sensor array 521、F2、F3、F4Can be solved to obtain FzIf F is obtained from the formulazThe difference in magnitude is the reason for friction, and the average is taken, and finally F is madeext＝Fz。
In the control method of the mechanical arm compliant assembly equipment, a mechanical arm controller adopts a force/position hybrid control method, force control is adopted in the normal direction of the surface of a workpiece, namely the Z-axis direction, and position control is adopted in the directions of the other degrees of freedom; the position and the attitude of the workpiece under the workpiece coordinate system are obtained through the visual positioning unit, and a workpiece position and attitude signal x is obtainedcTransmitting to a trajectory planner; obtaining the normal contact force F of the mechanical arm and the mounting workpiece through the pressure sensor array 51 or the pressure sensor array 52z(ii) a After the mechanical arm dynamics track planning, obtaining expected track information such as the expected position qd of the mechanical arm joint and the expected speed of the mechanical arm joint
Figure GDA0003529746720000073
Expected acceleration of mechanical arm joint
Figure GDA0003529746720000074
The track planning information qd,
Figure GDA0003529746720000075
The obtained track planning information and the actually measured rotation angle qreal and rotation speed of the mechanical arm are transmitted to a mechanical arm controller
Figure GDA0003529746720000076
And carrying out error feedback control, outputting motor torque tau and controlling the motor to rotate.
The method comprises the following specific steps:
establishing a mechanical arm kinematics and dynamics model, and designing a trajectory planner in a joint space;
placing a workpiece: inserting the workpiece between the turnover plate 4 and the clamping device 13;
first pressure sensor array 51 calibrates: that is, when the workpiece is placed on the turnover device, the initial value of the pressure sensor array 51 is zero after compensation; the electromagnetic adsorption device 15 is electrified to adsorb the iron blocks 41 on the turnover plate 4 and fix the turnover plate 4;
assembling the A surface of the workpiece: the industrial camera 2 is moved above the first station G1 by the plane moving mechanism 7; the industrial camera 2 acquires a workpiece image of the first station G1 and sends the image to the computer; firstly, self-calibration is carried out on a computer through a calibration point placed in a scene, and an assembly position and a workpiece posture, namely a workpiece posture, on a workpiece are obtained through an image template matching method, wherein the workpiece posture is a posture relative to a workpiece coordinate system; sending the pose information of the workpiece in the workpiece coordinate system to a track planner; the track planner receives the position and pose information of the workpiece relative to the workpiece coordinate system from the computer through serial port communication; the track planner resolves the current pose of the mechanical arm and the pose information of the workpiece transmitted through serial port communication to obtain the expected track information of the mechanical arm, such as the expected position qd of the mechanical arm joint and the expected speed of the mechanical arm joint
Figure GDA0003529746720000081
Expected acceleration of mechanical arm joint
Figure GDA0003529746720000082
Transmitted to the arm controller; the manipulator controller obtains the joint expectation track information output by the track planner, such as the manipulator joint expectation position qd and the manipulator joint expectation speed
Figure GDA0003529746720000083
Expected acceleration of mechanical arm joint
Figure GDA0003529746720000084
And contact point information output by the pressure sensor array 51 or the pressure sensor array 51, and the contact point information is processed to obtain a stress Fz(ii) a The manipulator controller controls qd,
Figure GDA0003529746720000085
With the actually measured qreal,
Figure GDA0003529746720000086
The output is the torque of the motor, and the torque is used for controlling the motor to drive the mechanical arm to enter the workpiece A surface for assembly operation; wherein the actually measured qreal,
Figure GDA0003529746720000087
The precise action of the mechanical arm is realized through the feedback of a coder of the motor;
turning over a workpiece: after assembling the surface A of the workpiece, the motor 12 drives the rotating shaft 10 to rotate, and the workpiece reaches a second station G2;
second pressure sensor array 52 calibration: that is, when the workpiece mounted at the first station G1 is placed on the turnover device, the initial value of the pressure sensor array 52 is zero after compensation;
assembling a B surface of the workpiece: the industrial camera 2 is moved above the second station G2 by the plane moving mechanism 7; the industrial camera 2 acquires an image of the workpiece of the second station G2 and sends the image to the computer; firstly, self-calibration is carried out on a computer through a calibration point placed in a scene, and an assembly position and a workpiece posture, namely a workpiece posture, on a workpiece are obtained through an image template matching method, wherein the posture is a posture relative to a workpiece coordinate system; the position and attitude information of the workpiece in the workpiece coordinateSending the data to a trajectory planner; the track planner receives the position and pose information of the workpiece relative to the workpiece coordinate system from the computer through serial port communication; the track planner resolves the current pose of the mechanical arm and the pose information of the workpiece transmitted through serial port communication to obtain expected joint track information such as the expected position qd of the mechanical arm and the expected speed of the joint of the mechanical arm
Figure GDA0003529746720000088
Expected acceleration of mechanical arm joint
Figure GDA0003529746720000089
Transmitted to the arm controller; the manipulator controller obtains the joint expected track information output by the track planner, such as the expected position qd of the manipulator joint and the expected speed of the manipulator joint
Figure GDA0003529746720000091
Expected acceleration of mechanical arm joint
Figure GDA0003529746720000092
And contact point information output by the pressure sensor array 52, and processed to obtain the force Fz(ii) a The manipulator controller controls qd,
Figure GDA0003529746720000093
With the actually measured qreal,
Figure GDA0003529746720000094
The output is the torque of the motor, and the torque is used for controlling the motor to drive the mechanical arm to carry out assembly operation; wherein the actually measured qreal,
Figure GDA0003529746720000095
The precise action of the mechanical arm is realized through the feedback of a coder of the motor;
after the surface B of the assembly workpiece is finished, the mechanical arm takes away the assembly workpiece; the motor 12 rotates the rotary shaft 10, and the workpiece reaches the first station G2.
The manipulator controller can be divided into two parts: a position controller and a force sense controller;
when force FzWhen the time is zero, a position controller is used, and the position controller can use a PID controller;
the position controller obtains qd output by the track planner,
Figure GDA0003529746720000096
Using a motor position control mode, outputting a rotation quantity theta of the motor by a position controller; at the moment, the motion position error of the mechanical arm can enable the mechanical arm to accurately reach qd output by the track planner through PID compensation,
Figure GDA0003529746720000097
When force FzWhen the value is not zero, a force sense controller is used;
the force sense controller obtains qd output by the track planner,
Figure GDA0003529746720000098
And a force FzUsing a motor torque control mode, outputting the torque of the motor by the force sense controller; the force sense controller controls the motion of the mechanical arm end effector in the normal direction of the workpiece, and the normal direction of the workpiece is the force control direction;
the force sense controller of the mechanical arm in the force control direction can simulate a spring damping system and can be designed as follows:
Figure GDA0003529746720000099
will be provided with
Figure GDA00035297467200000910
Moving to the left of the equation, we get:
Figure GDA00035297467200000911
m is a mass coefficient, B is a damping coefficient, K is a spring elastic coefficient, and the three coefficients need to be adjustedDetermining; fext is the actual contact force which needs to be actually measured by the pressure sensor array; x is the displacement of the tail end of the mechanical arm on the normal line of the workpiece under a working space Cartesian coordinate system,
Figure GDA00035297467200000912
is the velocity of the end of the robot arm in the normal to the workpiece in the working space cartesian coordinate system.
By knowing M, B, K and actual speed
Figure GDA00035297467200000913
The actual position x, the expected acceleration can be calculated
Figure GDA00035297467200000914
The acceleration is the acceleration of the end effector in a Cartesian space, and the relationship between the end acceleration and the joint acceleration can be obtained by derivation of a Jacobian matrix:
Figure GDA0003529746720000101
this is achieved by
Figure GDA0003529746720000102
For controlling the variable, the control quantity is expressed by the above equation
Figure GDA0003529746720000103
A control variable qd converted into a mechanical arm joint space,
Figure GDA0003529746720000104
The output torque of the mechanical arm joint can be obtained through a mechanical arm dynamic modelτ。
Further, the actual contact force FextThe method comprises the following steps:
let the side length of the stressed rectangle 53 formed by the first pressure sensor array 51 or the second pressure sensor array 52 be 2a and 2b, and the contact point stress be FextCan be combined with FextIs decomposed intoFx、Fy、FzAre unknown parameters, and the Z-axis stress can be obtained through the pressure sensor, namely F is not concernedx、Fy。
Through the stress analysis, can stand simultaneously in Z axle direction:
a(F1+F2-F3-F4)-nFz＝0
b(F1+F4-F2-F3)-mFz＝0
F1+F2+F3+F4-Fz＝0
obtaining by solution:
Figure GDA0003529746720000105
Figure GDA0003529746720000106
F3＝Fz-F4-F1-F2
wherein FzUnknown, pressure sensor values F are obtained by pressure sensor array 51 or pressure sensor array 521、F2、F3、F4Can be solved to obtain FzIf F is obtained from the formulazThe difference in magnitude is the cause of friction or workpiece micro-deformation, the average is taken, and finally F is calculatedext＝Fz。
Further, the output of the mechanical arm controller is the torque tau of the motor, which is used for driving the motor to rotate, and through a mechanical arm dynamics model:
Figure GDA0003529746720000107
wherein D is a D multiplied by D mass matrix, H is a D multiplied by 1 nonlinear Coriolis force and centrifugal force matrix, G is a D multiplied by 1 gravity vector, and D is the degree of freedom of the mechanical arm.
Mechanical arm motor feedback
Figure GDA0003529746720000111
qreal, and the first pressure sensor array 51 or the second pressure sensor array 52 feed back the contact force F in real timezControlling qd,
Figure GDA0003529746720000112
With the actually measured qreal,
Figure GDA0003529746720000113
The mechanical arm shows flexibility.
Force position control switching as shown in fig. 7, force control uses a kinetic model, and position control uses a kinematic model, where S is a selection matrix; specifically, the diagonal matrix diag {0, 1} or diag {1, 0}, when FzPosition control is used when 0.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

Claims (9)

1. The compliant assembling equipment for the mechanical arm is characterized by comprising an assembling work position unit and a visual positioning unit;
the assembling work position unit comprises a workbench (6), a clamping device (13), a turnover plate (4), a turnover driving mechanism (9), a first pressure sensor array (51), a second pressure sensor array (52), a visual positioning unit and a control unit;
the turnover plate (4), the turnover driving mechanism (9), the first pressure sensor array (51) and the second pressure sensor array (52) are respectively arranged on the workbench (6); the first pressure sensor array (51) and the second pressure sensor array (52) each comprise a plurality of pressure sensors (5); a first station (101) and a second station (102) are arranged on the workbench (6), the first pressure sensor array (51) is positioned on the first station (101), and the second pressure sensor array (52) is positioned on the second station (102); the clamping device (13) is fixed on the turnover plate (4) and used for clamping a workpiece, the clamping device (13) comprises two buckling plates, the two buckling plates are respectively positioned on two sides of the turnover plate (4), one side of each buckling plate is provided with a slot, and the workpiece is arranged on the turnover plate (4) through the slots; the overturning driving mechanism (9) is connected with the overturning plate (4); the turnover driving mechanism (9) drives the turnover plate (4) to drive the clamping device (13) to rotate and change stations; when the workpiece is positioned at the first station (101), the bottom surface of the turnover plate (4) is in contact with a first pressure sensor array (51), and the first pressure sensor array (51) is used for measuring the pressure of the turnover plate (4) and the initial workpiece; when the workpiece is positioned at the second station (102), the clamping device (13) is in contact with a second pressure sensor array (52), and the second pressure sensor array (52) is used for measuring the pressure of the workpiece assembled at the first station (101) and the turnover plate (4); the first pressure sensor array (51) and the second pressure sensor array (52) are respectively connected with the mechanical arm controller and transmit the measured pressure information to the mechanical arm controller;
the visual positioning unit comprises an image acquisition device; the image acquisition device is positioned above the assembly work station unit and used for acquiring images of the first work station (101) and the second work station (102) and sending the images to the control unit; the control unit is respectively connected with the image acquisition device, the turnover driving mechanism (9) and the mechanical arm track planner; the control unit processes the image acquired by the image acquisition device to obtain the coordinate and attitude information of the workpiece, transmits the coordinate and attitude information to the mechanical arm track planner, obtains expected track information through planning by the mechanical arm track planner and transmits the expected track information to the mechanical arm controller, the mechanical arm controller performs error feedback control on the motion track of the mechanical arm according to the obtained track planning information and the track information actually measured by the mechanical arm, and controls the motor power to perform mechanical arm assembly work according to the obtained pressure information;
the workpiece is arranged on the turnover plate (4) of the first station (101) and is clamped by the clamping device (13); the first pressure sensor array (51) measures the pressure of the turnover plate (4) and the initial workpiece and sends the pressure to the mechanical arm controller; the control unit controls the turnover plate (4) to turn over and drives the workpiece to rotate to the second station (102); the second pressure sensor array (52) measures the pressure of the workpiece assembled at the first station (101) and the turnover plate (4) and sends the pressure to the mechanical arm controller; the mechanical arm controller adopts force control in the normal direction of the surface of the workpiece, namely the Z-axis direction, and adopts position control in the directions of the other degrees of freedom, and obtains the normal contact force F between the mechanical arm and the mounted workpiece through a first pressure sensor array (51) or a second pressure sensor array (52)zControlling the motor power of the mechanical arm;
the image acquisition device acquires images of a first station (101) and a second station (102) and sends the images to the control unit; the control unit processes the image acquired by the image acquisition device to obtain the coordinate and the attitude information x of the workpiececThe position and orientation signals x of the workpiececTransmitting the data to a track planner, and obtaining expected track information including expected positions q of joints of the mechanical arm after the dynamic track planning of the mechanical armdDesired velocity of robot arm joint
Figure FDA0003529746710000021
Expected acceleration of mechanical arm joint
Figure FDA0003529746710000022
Planning the trackd、
Figure FDA0003529746710000023
Transmitted to a mechanical arm controller, and the mechanical arm controller obtains the track planning information and the actually measured rotation angle q of the mechanical armrealAnd the rotational speed
Figure FDA0003529746710000024
And (4) carrying out error feedback control, outputting motor torque tau, and controlling a motor of the mechanical arm to rotate to carry out mechanical arm assembly work.
2. The compliant robotic arm assembly apparatus of claim 1, wherein the image capture device comprises an industrial camera (2), a light source (3), a planar motion mechanism (7), and a vision unit fixture (1); the industrial camera (2) and the light source (3) are arranged on a plane moving mechanism (7), and the plane moving mechanism (7) is arranged on the visual unit fixing device (1); the control unit is respectively connected with the industrial camera (2) and the plane moving mechanism (7); the industrial camera (2) can perform plane motion on a plane moving mechanism (7); the industrial camera (2) is used for acquiring images of the first station (101) and the second station (102) and sending the images to the control unit.
3. Compliant assembly equipment of mechanical arms according to claim 1 characterized in that the turning plate (4) is hollow in the middle.
4. Compliant assembly equipment of a mechanical arm according to claim 1, characterized in that the overturning driving mechanism (9) comprises a first bearing block (17), a second bearing block (18), a rotating shaft (10), a coupling (11) and an electric motor (12); the rotary shaft (10) is arranged on the workbench (6) through a first bearing seat (17) and a second bearing seat (18), and an output shaft of the motor (12) is connected with the rotary shaft (10) through a coupling (11).
5. Compliant assembly equipment of a robot arm according to claim 4, characterized in that the rotation axis (10) is a stepped axis; an iron block (41) is arranged on one side of the turnover plate (4); an electromagnetic adsorption device (15) is arranged in the rotating shaft (10); and the electromagnetic adsorption device (15) adsorbs the iron block (41) positioned on one side of the turnover plate (4) after being electrified.
6. The compliant robotic arm assembly apparatus of claim 1, wherein the first and second arrays of pressure sensors (51, 52) each comprise four pressure sensors (5); the four pressure sensors (5) are symmetrically arranged two by two.
7. The compliant robotic arm assembly apparatus of claim 1, wherein the control unit is an industrial personal computer or an embedded image processor.
8. A method of controlling a compliant assembly apparatus of a robotic arm according to any of claims 1 to 7, comprising the steps of:
a workpiece is arranged on the turnover plate (4) of the first station (101) and is clamped by a clamping device (13); the first pressure sensor array (51) measures the pressure of the turnover plate (4) and the initial workpiece and sends the pressure to the mechanical arm controller; the control unit controls the turnover plate (4) to turn over and drives the workpiece to rotate to the second station (102); the second pressure sensor array (52) measures the pressure of the workpiece assembled at the first station (101) and the turnover plate (4) and sends the pressure to the mechanical arm controller; the mechanical arm controller adopts force control in the normal direction of the surface of the workpiece, namely the Z-axis direction, and adopts position control in the directions of the other degrees of freedom, and obtains the normal contact force F between the mechanical arm and the mounted workpiece through a first pressure sensor array (51) or a second pressure sensor array (52)zControlling the motor power of the mechanical arm;
the image acquisition device acquires images of a first station (101) and a second station (102) and sends the images to the control unit; the control unit processes the image acquired by the image acquisition device to obtain the coordinate and the attitude information x of the workpiececThe position and orientation signals x of the workpiececTransmitting the data to a track planner, and obtaining expected track information including expected positions q of joints of the mechanical arm after the dynamic track planning of the mechanical armdDesired velocity of robot arm joint
Figure FDA0003529746710000031
Expected acceleration of mechanical arm joint
Figure FDA0003529746710000034
Planning the trackd、
Figure FDA0003529746710000032
Transmitted to a mechanical arm controller, and the mechanical arm controller obtains the track planning information and the actually measured rotation angle q of the mechanical armrealAnd the rotational speed
Figure FDA0003529746710000033
And (4) carrying out error feedback control, outputting motor torque tau, and controlling a motor of the mechanical arm to rotate to carry out mechanical arm assembly work.
9. The control method of the compliant assembly apparatus for robot arm of claim 8, wherein the robot arm controller obtains the normal contact force F of the robot arm to the mounting workpiece by the first pressure sensor array (51) or the second pressure sensor array (52)zCalculated by the following method:
the first pressure sensor array (51) or the second pressure sensor array (52) comprises four pressure sensors (5), respectively; the four pressure sensors (5) are symmetrically arranged in pairs; the pressure values measured by the four pressure sensors (5) are respectively F1、F2、F3、F4(ii) a Let the side length of a force-bearing rectangle (53) formed by the first pressure sensor array (51) or the second pressure sensor array (52) be 2a and 2b, and the contact point force be FextWill FextDecomposition to Fx、Fy、FzAre unknown parameters, and the Z-axis direction stress is obtained through the first pressure sensor array (51) or the second pressure sensor array (52), namely F is not concernedx、Fy；
Through stress analysis, simultaneous measurement is carried out in the Z-axis direction:
a(F1+F2-F3-F4)-nFz＝0
b(F1+F4-F2-F3)-mFz＝0
F1+F2+F3+F4-Fz＝0
obtaining by solution:
Figure FDA0003529746710000041
Figure FDA0003529746710000042
F3＝Fz-F4-F1-F2
wherein, a is half of the width of the stressed rectangular surface, b is half of the height of the stressed rectangular surface, m is the distance from the stress point to the y axis of the stressed rectangular surface, n is the distance from the stress point to the x axis of the stressed rectangular surface, FzUnknown, the pressure sensor values F are obtained by the first pressure sensor array (51) or the second pressure sensor array (52)1、F2、F3、F4To get FzFinally, let Fext＝Fz。
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