CN112894831A - Double-arm robot insulated wire stripping system and method - Google Patents

Double-arm robot insulated wire stripping system and method Download PDF

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Publication number
CN112894831A
CN112894831A CN202110430325.3A CN202110430325A CN112894831A CN 112894831 A CN112894831 A CN 112894831A CN 202110430325 A CN202110430325 A CN 202110430325A CN 112894831 A CN112894831 A CN 112894831A
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China
Prior art keywords
wire
mechanical arm
stripped
wire stripping
stripping
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CN202110430325.3A
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CN112894831B (en
Inventor
王杨
吴晖
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Electric Power Research Institute of Guangdong Power Grid Co Ltd
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Electric Power Research Institute of Guangdong Power Grid Co Ltd
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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
    • B25J9/1656—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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/12—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof
    • H02G1/1202—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof by cutting and withdrawing insulation
    • H02G1/1248—Machines
    • 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
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/50—Reuse, recycling or recovery technologies
    • Y02W30/82—Recycling of waste of electrical or electronic equipment [WEEE]

Abstract

The application discloses a double-arm robot insulated conductor stripping system and method, wherein stripping is completed through coordination of double arms, automatic positioning of stripping positions of mechanical arms and planning of movement tracks of the double arms are achieved, visual positioning errors are inhibited under the action of impedance control, stable and safe interaction between the tail ends of the mechanical arms and the conductors and the tail ends of the double arms is guaranteed, the requirement of stripping tasks on loads of the mechanical arms is remarkably reduced, and simultaneously stripping efficiency is greatly improved.

Description

Double-arm robot insulated wire stripping system and method
Technical Field
The application relates to the technical field of robots, in particular to a double-arm robot insulated wire peeling system and method.
Background
With the development of society and the progress of science and technology, the activities of human society are not powered on at any time. And the peak period of power utilization inevitably can cause power equipment failure, if the power failure is overhauled, the huge economic loss is caused for enterprises, and in addition, a great deal of inconvenience is caused for the daily life of people, so that the electrified rush-repair operation of the power grid failure is more and more urgent.
At present, manual live working has many deficiencies and potential safety hazards, wherein the deficiencies and the potential safety hazards comprise a large amount of safety preparation work in the early stage, electric shock and electric shock risks, high-altitude falling risks and the like. Carry out live working through the replacement people of robot, not only reduce operating personnel's working strength and risk degree, also can save many safety precaution work in earlier stage simultaneously, improve electrical power rush-repair efficiency greatly.
In live-line work, 10kV wire insulation stripping is a key link in robot live-line work, the existing stripping tool is mainly an integrated manual/automatic stripping tool, a method for stripping by adopting a robot also appears, and the robot lifts the stripping tool by a mechanical arm to strip the wire, so that the requirement on the single-arm load of the robot is extremely high, and meanwhile, the stripping efficiency is low, so that the application range is narrow.
Disclosure of Invention
The application provides a double-arm robot insulated wire peeling system and method, which are used for solving the technical problems that the load requirement of peeling by the existing robot is high and the peeling efficiency is low.
In view of this, the present application provides in a first aspect a double-arm robotic insulated wire stripping system comprising: the system comprises a first mechanical arm, a second mechanical arm, a first force transducer, a depth camera and a control unit;
the first end of the first force transducer is fixedly connected with the tail end of the first mechanical arm, the second end of the first force transducer is connected with a wire stripping cutter, the wire stripping cutter is used for stripping a wire to be stripped, the output end of the first force transducer is electrically connected with the control unit, and the first force transducer is used for acquiring the contact force of the wire stripping cutter relative to the wire to be stripped;
the tail end of the second mechanical arm is connected with a locking tool, and the locking tool is used for controlling the wire stripping cutter to lock or unlock the wire to be stripped;
the depth camera is used for acquiring depth information of the wire to be stripped, the tail end of the first mechanical arm and the tail end of the second mechanical arm, respectively obtaining spatial position information of the wire to be stripped, the tail end of the first mechanical arm and the tail end of the second mechanical arm according to the depth information, and transmitting the spatial position information of the wire to be stripped, the tail end of the first mechanical arm and the tail end of the second mechanical arm to the control unit;
the control unit is used for generating path control information according to the spatial position information of the wire to be stripped, and is also used for enabling the wire stripping cutter to move to the relative position of the wire to be stripped in a preset wire stripping posture according to the position and posture action of the first mechanical arm according to the path control information, and is also used for controlling the position and posture action of the tail end of the first mechanical arm according to the contact force of the wire stripping cutter relative to the wire to be stripped and control parameters, obtained by the first force transducer, of the wire stripping cutter, wherein the control parameters comprise damping, rigidity and elasticity caused by the rigidity, so that the wire stripping cutter moves to a preset initial stripping position on the wire to be stripped for stripping treatment;
the wire stripping device is also used for controlling the pose action of the second mechanical arm so that the locking tool moves to the relative position of the wire stripping cutter, so that the locking tool locks or unlocks the wire to be stripped, and controlling the pose actions of the first mechanical arm and the second mechanical arm so that the first mechanical arm and the second mechanical arm are separated from the wire to be stripped.
Preferably, the first and second robotic arms each comprise a six degree of freedom joint arrangement.
Preferably, a second force sensor is arranged between the tail end of the second mechanical arm and the locking tool, the second force sensor is electrically connected with the control unit, and the second force sensor is used for acquiring the contact force of the locking tool relative to the wire stripping tool.
Preferably, the wire stripping tool comprises a holder;
the wire stripping tool comprises a support frame, a wire stripping tool bit and a wire stripping tool bit, wherein the support frame is provided with a wire hole, the wire stripping tool bit comprises an upper clamping plate, a lower clamping plate and a limiting screw rod, the upper clamping plate and the lower clamping plate are respectively provided with a first threaded hole and a second threaded hole which correspond to each other, the limiting screw rod penetrates through the wire stripping tool bit and is respectively in threaded connection with the first threaded hole and the second threaded hole and is used for adjusting the relative distance between the upper clamping plate and the lower clamping plate, a cutter groove is formed in the end face, close to the upper clamping plate and the lower clamping plate, of the upper clamping plate and the lower clamping plate, the cutter groove corresponds to the wire hole, and a wire stripping blade is.
Preferably, the locking tool comprises a support, the support is provided with a locking motor and a rotary fork connected with an output shaft of the locking motor, and the rotary fork is used for rotating the limit screw.
Preferably, the control unit comprises a planner, an impedance controller and a motion controller;
the planner is used for calculating a freedom degree path function of the tail end of the first mechanical arm relative to an absolute coordinate system according to the space position information of the wire to be stripped, generating path control information according to the freedom degree path function, calculating a reference movement speed of the tail end of the first mechanical arm according to the space position information of the tail end of the first mechanical arm, and transmitting the reference movement speed to the impedance controller;
the impedance controller is further used for calculating a theoretical speed of the tail end of the first mechanical arm according to the contact force of the wire stripping cutter relative to the wire to be stripped, which is obtained by the first force transducer, the reference motion speed and the control parameter, and transmitting the theoretical speed to the motion controller;
the motion controller is used for acquiring the angular velocity of each joint of the first mechanical arm through decoupling according to the theoretical velocity, generating control information according to the angular velocity of each joint of the first mechanical arm, and controlling the terminal pose of the first mechanical arm to move according to the control information so that the wire stripping cutter moves to a preset initial stripping position on the wire to be stripped; the wire stripping device is also used for controlling the tail end of the first mechanical arm to move according to a preset stripping path, so that the wire stripping cutter moves from the preset initial stripping position to a preset wire stripping completion position along the axial direction of the wire to be stripped; the wire stripping device is also used for controlling the pose action of the second mechanical arm according to the preset initial stripping position and the preset wire stripping finishing position so as to enable the locking tool to move to the relative position of the wire stripping cutter, so that the locking tool locks or unlocks the wire to be stripped, and also used for controlling the first mechanical arm and the second mechanical arm to return along the original path, so that the first mechanical arm and the second mechanical arm are separated from the wire to be stripped.
In a second aspect, the invention further provides a peeling method based on the double-arm robot insulated wire peeling system, which comprises the following steps:
s1, after the depth information of the wire to be stripped is acquired through a depth camera, the spatial position information of the wire to be stripped is calculated according to the depth information of the wire to be stripped;
s2, generating path control information according to the spatial position information of the wire to be stripped through a control unit, and enabling the wire stripping cutter to move to the relative position of the wire to be stripped in a preset wire stripping posture according to the pose action of the first mechanical arm according to the path control information;
s3, obtaining the contact force of the wire stripping cutter relative to the wire to be stripped through a first force measuring sensor, and then transmitting the contact force of the wire stripping cutter relative to the wire to be stripped to the control unit;
s4, controlling the pose action of the tail end of the first mechanical arm through the control unit according to the contact force of the wire stripping cutter relative to the wire to be stripped and the control parameters, which are obtained by the first force transducer, wherein the control parameters comprise damping, rigidity and elasticity caused by the rigidity, so that the wire stripping cutter moves to a preset initial stripping position on the wire to be stripped;
s5, when the wire stripping cutter moves to the preset initial stripping position, the control unit controls the pose action of the second mechanical arm to enable the locking tool to move to the current relative position of the wire stripping cutter, so that the locking tool locks the wire to be stripped;
s6, after the locking tool locks the wire to be stripped, the control unit controls the pose action of the second mechanical arm so as to enable the second mechanical arm to be separated from the wire to be stripped, and the control unit controls the wire stripping cutter to begin to strip from the preset initial stripping position along the axial direction of the wire to be stripped;
s7, after the wire stripping tool finishes stripping, controlling the pose action of the second mechanical arm through the control unit, so that the locking tool moves to the current relative position of the wire stripping tool, and the locking tool unlocks the wire to be stripped;
and S8, after the locking tool unlocks the wire to be stripped, controlling the pose actions of the first mechanical arm and the second mechanical arm through the control unit, so that the first mechanical arm and the second mechanical arm are separated from the wire to be stripped.
Preferably, the step S5 specifically includes:
s51, controlling the pose motion of the second mechanical arm through the control unit according to the preset initial peeling position so that the locking tool moves to the relative position of the wire stripping cutter;
s52, controlling the feeding direction of the tail end of the second mechanical arm relative to the wire stripping cutter through the control unit according to the contact force of the locking tool relative to the wire stripping cutter fed back by the second force transducer, so that the locking tool locks the wire to be stripped;
the step S7 specifically includes:
s71, after the peeling of the wire stripping cutter is finished, controlling the pose action of the second mechanical arm through the control unit according to the current position of the wire stripping cutter, so that the locking tool moves to the relative position of the wire stripping cutter;
and S72, controlling the feeding direction of the tail end of the second mechanical arm relative to the wire stripping cutter through the control unit according to the contact force of the locking tool relative to the wire stripping cutter fed back by the second force transducer, so that the locking tool unlocks the wire to be stripped.
Preferably, the steps S2 to S8 specifically include:
s21, calculating a degree-of-freedom path function of the tail end of the first mechanical arm relative to an absolute coordinate system according to the spatial position information of the wire to be stripped through a planner, generating path control information according to the degree-of-freedom path function, and enabling the wire stripping tool to move to the relative position of the wire to be stripped in a preset wire stripping posture according to the position and posture action of the first mechanical arm according to the path control information;
s22, after the depth information of the tail end of the first mechanical arm is acquired through the depth camera, the spatial position information of the tail end of the first mechanical arm is calculated according to the depth information of the tail end of the first mechanical arm;
s23, calculating a reference movement speed of the tail end of the first mechanical arm according to the spatial position information of the tail end of the first mechanical arm through the planner, and transmitting the reference movement speed to the impedance controller;
s24, obtaining the contact force of the wire stripping cutter relative to the wire to be stripped through a first force measuring sensor, and then transmitting the contact force of the wire stripping cutter relative to the wire to be stripped to the impedance controller;
s25, calculating the theoretical speed of the tail end of the first mechanical arm according to the contact force of the wire stripping cutter relative to the wire to be stripped, the reference motion speed and the control parameters, which are obtained by the first force transducer, by the impedance controller, and transmitting the theoretical speed to the motion controller;
s26, obtaining the angular velocity of each joint of the first mechanical arm through decoupling according to the theoretical velocity through the motion controller, and generating control information according to the angular velocity of each joint of the first mechanical arm;
s27, controlling the terminal pose motion of the first mechanical arm through the motion controller according to the control information, so that the wire stripping cutter moves to a preset initial stripping position on the wire to be stripped;
s28, controlling the pose motion of a second mechanical arm according to the preset initial peeling position through the motion controller, so that a locking tool moves to the relative position of the wire stripping cutter, and the locking tool locks the wire to be peeled;
s29, after the locking tool locks the wire to be stripped, the second mechanical arm returns back according to the original path through the motion controller, so that the second mechanical arm is separated from the wire to be stripped;
s30, starting a peeling function through the wire stripping cutter, and simultaneously controlling the tail end of the first mechanical arm to move through the motion controller according to a preset peeling path, so that the wire stripping cutter moves from the preset initial peeling position to a preset wire stripping completion position along the axial direction of the wire to be peeled for peeling;
s31, when the wire stripping cutter moves to the preset wire stripping completion position, the wire stripping function is closed, the motion controller controls the pose motion of the second mechanical arm according to the preset wire stripping completion position, so that the locking tool moves to the relative position of the wire stripping cutter, and the locking tool unlocks the wire to be stripped;
and S32, controlling the first mechanical arm and the second mechanical arm to return according to the original path through the motion controller, so that the first mechanical arm and the second mechanical arm are separated from the wire to be stripped.
Preferably, after the step S27, the step S28 includes:
and obtaining an expected position increment of the tail end of the first mechanical arm according to a comparison result of the contact force of the wire stripping cutter relative to the wire to be stripped, which is fed back by the first load cell sensor, and a current preset contact force threshold value by the motion controller, and controlling the pose action of the tail end of the first mechanical arm according to the expected position increment, so that the wire stripping cutter moves along the radial direction of the wire to be stripped.
According to the technical scheme, the invention has the following advantages:
according to the double-arm robot insulated conductor stripping system and method provided by the invention, stripping is finished through coordination of double arms, so that automatic positioning of stripping positions and planning of movement tracks of the double arms of a mechanical arm are realized, visual positioning errors are inhibited under the action of impedance control, stable and safe interaction between the tail end of the mechanical arm and the leads and the tail ends of the double arms is ensured, the requirement of stripping task on mechanical arm load is remarkably reduced, and stripping efficiency is greatly improved.
Drawings
Fig. 1 is a schematic structural diagram of a double-arm robot insulated conductor stripping system according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a wire stripping tool provided in the embodiment of the present application;
FIG. 3 is a schematic structural diagram of a locking tool according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a control unit according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a robotic arm according to an embodiment of the present disclosure;
fig. 6 is a flowchart of a peeling method according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
For easy understanding, please refer to fig. 1, the present application provides a double-arm robot insulated wire stripping system, comprising: a first robot arm 100, a second robot arm 200, a first load cell 101, a depth camera 300, and a control unit 400;
the first end of the first force transducer 101 is fixedly connected with the tail end of the first mechanical arm 100, the second end of the first force transducer 101 is connected with a wire stripping cutter 102, the wire stripping cutter 102 is used for stripping a wire to be stripped, the output end of the first force transducer 101 is electrically connected with the control unit 400, and the first force transducer 101 is used for acquiring the contact force of the wire stripping cutter 102 relative to the wire to be stripped;
the tail end of the second mechanical arm 200 is connected with a locking tool 201, and the locking tool 201 is used for controlling the wire stripping cutter 102 to lock or unlock the wire to be stripped;
the depth camera 300 is configured to acquire depth information of a wire to be stripped, the terminal of the first robot arm 100, and the terminal of the second robot arm 200, further obtain spatial position information of the wire to be stripped, the terminal of the first robot arm 100, and the terminal of the second robot arm 200 according to the depth information, and further transmit the spatial position information of the wire to be stripped, the terminal of the first robot arm 100, and the terminal of the second robot arm 200 to the control unit 400;
the control unit 400 is configured to generate path control information according to spatial position information of a wire to be stripped, and is further configured to control a pose action of the first mechanical arm 100 according to the path control information, so that the wire stripping tool 102 moves to a relative position of the wire to be stripped in a preset wire stripping posture, and is further configured to control a pose action of the tail end of the first mechanical arm 100 according to a contact force of the wire stripping tool 102 obtained by the first force sensor 101 with respect to the wire to be stripped and control parameters, where the control parameters include damping, stiffness, and elastic force caused by stiffness, so that the wire stripping tool 102 moves to a preset initial stripping position on the wire to be stripped for stripping processing;
the wire stripping device is also used for controlling the pose action of the second mechanical arm 200 so that the locking tool 201 moves to the relative position of the wire stripping cutter 102, so that the locking tool 201 locks or unlocks a wire to be stripped, and is also used for controlling the pose action of the first mechanical arm 100 and the second mechanical arm 200 so that the first mechanical arm 100 and the second mechanical arm 200 are separated from the wire to be stripped.
Further, the first robot arm 100 and the second robot arm 200 each include a six-degree-of-freedom joint structure.
Further, a second load cell 202 is arranged between the end of the second mechanical arm 200 and the locking tool 201, the second load cell 202 is electrically connected with the control unit 400, and the second load cell 202 is used for acquiring the contact force of the locking tool 201 relative to the wire stripping tool 102.
Further, as shown in fig. 2, the wire stripping tool 102 includes a holder 11;
the supporting frame 11 is provided with a cutter motor 21 and a wire stripping tool bit 31 connected with an output shaft of the cutter motor 21, the supporting frame 11 is provided with a lead hole 12, the wire stripping tool bit 31 comprises an upper clamping plate 32, a lower clamping plate 33 and a limiting screw rod 34, the upper clamping plate 32 and the lower clamping plate 33 are respectively provided with a first threaded hole and a second threaded hole which correspond to each other, the limiting screw rod 34 penetrates through and is respectively in threaded connection with the first threaded hole and the second threaded hole and is used for adjusting the relative distance between the upper clamping plate 32 and the lower clamping plate 33, a cutter groove 35 is formed on the end face, close to the upper clamping plate 32 and the lower clamping plate 33, of the upper clamping plate 32 and the lower clamping plate 33, the cutter.
It should be noted that, the upper clamping plate 32 and the lower clamping plate 33 are oppositely arranged, and the relative distance between the upper clamping plate 32 and the lower clamping plate 33, that is, the size of the knife groove 35, can be adjusted through the limiting screw 34, so as to clamp the wire or release the wire through the knife groove 35, while in a general example, the knife groove 35 is specifically a U-shaped knife groove.
Further, as shown in fig. 3, the locking tool 201 includes a bracket 40, a locking motor 41 and a rotary fork 42 connected to an output shaft of the locking motor 41 are disposed on the bracket 40, and the rotary fork 42 is used for rotating the limit screw 34.
Specifically, in the present embodiment, the limiting screw 34 is provided with a handle 36, when the locking tool reaches a relative position with respect to the wire stripping tool, the locking motor 41 drives the rotation fork 42 to rotate, so that the rotation fork 42 rotates the handle 36, and further the limiting screw 34 rotates through the handle 36, so as to adjust the relative distance between the upper clamping plate 32 and the lower clamping plate 33, in a general example, when rotating, the rotation fork 42 and the handle 36 are on the same axis, so as to facilitate the rotation driving.
Further, referring to fig. 4, the control unit 400 includes a planner 401, an impedance controller 402, and a motion controller 403;
the planner 401 is configured to calculate, according to spatial position information of a wire to be stripped, a degree-of-freedom path function of the terminal of the first robot arm 100 with respect to an absolute coordinate system, generate path control information according to the degree-of-freedom path function, calculate, according to spatial position information of the terminal of the first robot arm 100, a reference movement speed of the terminal of the first robot arm 100, and transmit the reference movement speed to the impedance controller 402;
specifically, the free path function should be described as a control parameter of the path function, which is expressed as:
Pd(t)＝P0+dis×sin(2Πt)
in the formula, P0 represents the initial position of the end of the first mechanical arm, dis represents the distance between the spatial position of the wire to be stripped and the initial position of the end of the first mechanical arm, and t is the run-time sequence.
The path function is derived from time to obtain a reference motion velocity function as:
Vd(t)＝2Π×dis×cos(2Πt)
when the control program is started, the planner 401 sends the reference movement speed to the robot at regular time intervals from time 0 until pd (t) ═ P0+ dis.
The impedance controller 402 is further configured to calculate a theoretical speed of the end of the first mechanical arm 100 according to the contact force of the wire stripping tool 102 obtained by the first load cell 101 with respect to the wire to be stripped, the reference motion speed, and the control parameter, and further configured to transmit the theoretical speed to the motion controller 403;
it will be appreciated that stiffness and damping are positive and real numbers, and can be confirmed by experiment and set by itself. The test takes the condition that the robot does not vibrate under the control of preset control parameters as a necessary condition, and the elasticity caused by the rigidity is determined by the reference motion position, the actual position and the rigidity of the robot, and specifically comprises the following steps:
F＝[Pd(t)-P(t)]×k
wherein F is elastic force caused by rigidity, Pd (t) is a reference motion position of the tail end of the first mechanical arm of the robot, P (t) is an actual position of the tail end of the first mechanical arm, and k is rigidity.
The motion controller 403 is configured to obtain angular velocities of joints of the first mechanical arm 100 through decoupling according to a theoretical velocity, generate control information according to the angular velocities of the joints of the first mechanical arm 100, and control a terminal pose of the first mechanical arm 100 according to the control information, so that the wire stripping tool 102 moves to an initial stripping position preset on a wire to be stripped; the wire stripping device is also used for controlling the tail end of the first mechanical arm 100 to move according to a preset stripping path, so that the wire stripping cutter 102 moves from a preset initial stripping position to a preset wire stripping completion position along the axial direction of a wire to be stripped; the wire stripping device is also used for controlling the pose action of the second mechanical arm 200 according to a preset initial stripping position and a preset stripping finishing position so as to enable the locking tool 201 to move to the relative position of the stripping cutter 102, so that the locking tool 201 locks or unlocks a wire to be stripped, and also used for controlling the first mechanical arm 100 and the second mechanical arm 200 to return according to the original path, so that the first mechanical arm 100 and the second mechanical arm 200 are separated from the wire to be stripped.
Specifically, the obtaining of the angular velocity of each joint of the first mechanical arm 100 through decoupling according to the theoretical velocity is specifically:
w(t)＝Vd(t)/jaccobi(t)
wherein w (t) represents each joint angular velocity, and t is 1,2, 3.. 6; jaccobi (t) represents the jacobian matrix of the robotic arm at each moment.
Controlling the end pose motion of the first mechanical arm 100 according to the control information, that is, controlling the end pose motion of the first mechanical arm according to the angular velocity of each joint, specifically:
whether the end position of the first robot arm is stopped is controlled by determining whether pd (t) ═ P0+ dis is established, and when pd (t) ═ P0+ dis is established, the motion controller 403 is controlled to stop driving.
It should be noted that, in the present embodiment, a control unit 400 based on impedance control is adopted, and the control parameters of the control unit 400 include damping coefficient, stiffness and elastic force caused by stiffness, as shown in fig. 5, the control parameter is a coordinate system of a single mechanical arm, and an absolute coordinate system O-XYZ thereof is a three-dimensional rectangular coordinate system established by taking a central point of a bottom end joint of the mechanical arm as an origin, wherein the Z-axis direction is collinear with the gravity direction, and the stiffness and the damping coefficient are respectively represented by kx，ky，kz，krx，kry，krzAnd cx，cy，cz，crx，cry，crzComposition, wherein k and c respectively represent the rigidity and the damping of the tail end of the robot in each direction under an absolute coordinate system, and krAnd crRespectively represents the rotation rigidity and the damping of the tail end of the robot in the absolute coordinate system around each direction axis according to the right-hand rule.
Meanwhile, the theoretical speed of the end of the first mechanical arm 100 calculated by the impedance controller 402 according to the contact force of the wire stripping tool 102 obtained by the first load cell 101 with respect to the wire to be stripped, the reference movement speed and the control parameters is calculated by the following formula:
Figure BDA0003031123960000111
in the formula, VcRepresenting theoretical speed, VdDenotes the reference movement speed, FsensedRepresenting the contact force of the stripping tool 102 against the conductor to be stripped, FsprinRepresents the spring force due to the stiffness, and c represents the damping coefficient.
The above is a detailed description of an embodiment of the double-arm robot insulated conductor peeling system provided by the present invention, and the following is a detailed description of an embodiment of the peeling method based on the double-arm robot insulated conductor peeling system provided by the present invention.
For convenience of understanding, referring to fig. 6, the peeling method based on the above-mentioned double-arm robot insulation wire peeling system provided by the present invention includes the following steps:
s1, after the depth information of the wire to be stripped is acquired through the depth camera, the spatial position information of the wire to be stripped is calculated according to the depth information of the wire to be stripped;
s2, generating path control information according to the spatial position information of the wire to be stripped through the control unit, and enabling the wire stripping cutter to move to the relative position of the wire to be stripped in a preset wire stripping posture according to the pose action of the first mechanical arm of the path control information;
s3, obtaining the contact force of the wire stripping cutter relative to the wire to be stripped through the first force measuring sensor, and then transmitting the contact force of the wire stripping cutter relative to the wire to be stripped to the control unit;
s4, controlling the pose action of the tail end of the first mechanical arm through the control unit according to the contact force of the wire stripping cutter relative to the wire to be stripped and the control parameters, wherein the contact force is obtained by the first force measuring sensor, and the control parameters comprise damping, rigidity and elasticity caused by the rigidity, so that the wire stripping cutter moves to the preset initial stripping position on the wire to be stripped;
it should be noted that, in this embodiment, the wire stripping tool is provided with a wire hole, the wire hole can be aligned with the radial end of the wire by controlling the pose of the end of the first mechanical arm, and the impedance parameter of the end of the first mechanical arm is set by the control unit, where the stiffness kryThe support frame opening is greatly ensured to have no offset, in a general example, the rigidity and the damping are positive real numbers, and the rigidity and the damping are set by self after being confirmed through experiments, but the data selection is necessary to ensure that the robot does not vibrate under the control of the set of control parameters. k is a radical ofzAnd kxThe wire stripping device is small in size, the wire stripping device can decelerate in time after touching a wire forwards and can passively move up and down under the action of resistance to finish opening alignment, and then the terminal pose of the first mechanical arm is controlled to move, so that the wire stripping tool moves to a preset initial stripping position along the radial direction of the wire.
Because of the error of visual feedback, the end of the mechanical arm can be effectively controlled to move in the direction perpendicular to the advancing direction by adopting the force control based on impedance so as to counteract the condition that the guide wire and the opening of the support frame are not aligned.
S5, when the wire stripping cutter moves to a preset initial stripping position, the control unit controls the pose action of the second mechanical arm to enable the locking tool to move to the current relative position of the wire stripping cutter, so that the locking tool locks the wire to be stripped;
s6, after the locking tool locks the wire to be stripped, the control unit controls the pose motion of the second mechanical arm so as to separate the second mechanical arm from the wire to be stripped, and the control unit controls the wire stripping cutter to start stripping from a preset initial stripping position along the axial direction of the wire to be stripped;
s7, after the wire stripping tool finishes stripping, the control unit controls the pose action of the second mechanical arm, so that the locking tool moves to the current relative position of the wire stripping tool, and the locking tool unlocks the wire to be stripped;
and S8, after the locking tool unlocks the wire to be stripped, the control unit controls the pose actions of the first mechanical arm and the second mechanical arm, so that the first mechanical arm and the second mechanical arm are separated from the wire to be stripped.
Further, step S5 specifically includes:
s51, controlling the pose motion of the second mechanical arm through the control unit according to the preset initial peeling position so that the locking tool moves to the relative position of the wire stripping cutter;
s52, controlling the feeding direction of the tail end of the second mechanical arm relative to the wire stripping cutter through the control unit according to the contact force of the locking tool relative to the wire stripping cutter fed back by the second force transducer, so that the locking tool locks the wire to be stripped;
it should be noted that, when there is a deviation between the locking tool and the wire stripping tool due to a positioning error, the contact between the locking tool and the wire stripping tool generates an offset load force, and under the action of the controller, the offset load force is decomposed into two component forces, the first component force is an elastic force caused by stiffness and is obtained by multiplying the deviation by a stiffness coefficient, the second component force is a damping force caused by damping, and the damping force is obtained by dividing the damping force by the damping coefficient, that is, a speed variation caused by the damping coefficient, and subtracting the variation from the original speed is a terminal movement variation caused by the offset load force under the action of the controller, and the variation in speed inevitably causes a variation in movement direction. Therefore, the positioning error can be effectively inhibited under the feedback of force control, and the precise matching of double arms is realized.
Step S7 specifically includes:
s71, after the peeling of the wire stripping cutter is finished, controlling the pose action of the second mechanical arm through the control unit according to the current position of the wire stripping cutter, so that the locking tool moves to the relative position of the wire stripping cutter;
and S72, controlling the feeding direction of the tail end of the second mechanical arm relative to the wire stripping cutter through the control unit according to the contact force of the locking tool relative to the wire stripping cutter fed back by the second force measuring sensor, so that the locking tool unlocks the wire to be stripped.
Further, steps S2 to S8 specifically include:
s21, calculating a degree-of-freedom path function of the tail end of the first mechanical arm relative to an absolute coordinate system according to the spatial position information of the wire to be stripped through a planner, generating path control information according to the degree-of-freedom path function, and enabling the wire stripping cutter to move to the relative position of the wire to be stripped according to the pose action of the first mechanical arm according to the path control information;
s22, after the depth information of the tail end of the first mechanical arm is acquired through the depth camera, the spatial position information of the tail end of the first mechanical arm is obtained through calculation according to the depth information of the tail end of the first mechanical arm;
s23, calculating a reference movement speed of the tail end of the first mechanical arm according to the spatial position information of the tail end of the first mechanical arm through the planner, and transmitting the reference movement speed to the impedance controller;
s24, obtaining the contact force of the wire stripping cutter relative to the wire to be stripped through the first force measuring sensor, and then transmitting the contact force of the wire stripping cutter relative to the wire to be stripped to the impedance controller;
s25, calculating the theoretical speed of the tail end of the first mechanical arm according to the contact force of the wire stripping cutter obtained by the first force transducer relative to the wire to be stripped, the reference motion speed and the control parameters through the impedance controller, and transmitting the theoretical speed to the motion controller;
s26, obtaining the angular velocity of each joint of the first mechanical arm through decoupling according to the theoretical velocity through the motion controller, and generating control information according to the angular velocity of each joint of the first mechanical arm;
s27, controlling the tail end pose of the first mechanical arm to move through the motion controller according to the control information, so that the wire stripping cutter moves to a preset initial stripping position on a wire to be stripped;
s28, controlling the pose motion of the second mechanical arm according to the preset initial peeling position through the motion controller, so that the locking tool moves to the relative position of the wire stripping cutter, and the locking tool locks the wire to be peeled;
s29, after the wire to be stripped is locked by the locking tool, the wire returns back along the original path through the second mechanical arm of the motion controller, so that the second mechanical arm is separated from the wire to be stripped;
s30, starting a peeling function through a wire stripping cutter, and simultaneously controlling the tail end of the first mechanical arm to move through the motion controller according to a preset peeling path, so that the wire stripping cutter moves from a preset initial peeling position to a preset wire stripping completion position along the axial direction of a wire to be peeled to perform peeling treatment;
s31, when the wire stripping cutter moves to a preset wire stripping completion position, the stripping function is closed, the motion controller controls the pose motion of the second mechanical arm according to the preset wire stripping completion position, so that the locking tool moves to the relative position of the wire stripping cutter, and the locking tool unlocks the wire to be stripped;
and S32, controlling the first mechanical arm and the second mechanical arm to return according to the original path through the motion controller, so that the first mechanical arm and the second mechanical arm are separated from the wire to be stripped.
Further, after the step S27, the step S28 includes before:
the motion controller obtains the expected position increment of the tail end of the first mechanical arm according to the comparison result of the contact force of the wire stripping cutter fed back by the first force transducer relative to the wire to be stripped and the current preset contact force threshold value, and controls the pose action of the tail end of the first mechanical arm according to the expected position increment, so that the wire stripping cutter moves along the radial direction of the wire to be stripped.
It should be noted that, when there is a deviation between the locking tool and the wire stripping tool due to a positioning error, the contact between the locking tool and the wire stripping tool generates an offset load force, and the offset load force is decomposed into two component forces under the action of the controller, where the first component force is an elastic force caused by stiffness and is obtained by multiplying the deviation by a stiffness coefficient, and the second component force is a damping force caused by damping and is obtained by dividing the damping force by a damping coefficient, that is, a speed variation caused by the damping coefficient, and subtracting the variation from the original speed is a terminal movement variation caused by the offset load force under the action of the controller. When the extrusion is caused by the positioning error, the motion controller can generate reverse speed variation to reduce the extrusion and even break away from the extrusion state. And the positioning error can be effectively inhibited under the feedback of force control, and the precise matching of two arms is realized.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (10)

1. The utility model provides a two-arm robot insulated wire system of skinning which characterized in that includes: the system comprises a first mechanical arm, a second mechanical arm, a first force transducer, a depth camera and a control unit;
the first end of the first force transducer is fixedly connected with the tail end of the first mechanical arm, the second end of the first force transducer is connected with a wire stripping cutter, the wire stripping cutter is used for stripping a wire to be stripped, the output end of the first force transducer is electrically connected with the control unit, and the first force transducer is used for acquiring the contact force of the wire stripping cutter relative to the wire to be stripped;
the tail end of the second mechanical arm is connected with a locking tool, and the locking tool is used for controlling the wire stripping cutter to lock or unlock the wire to be stripped;
the depth camera is used for acquiring depth information of the wire to be stripped, the tail end of the first mechanical arm and the tail end of the second mechanical arm, respectively obtaining spatial position information of the wire to be stripped, the tail end of the first mechanical arm and the tail end of the second mechanical arm according to the depth information, and transmitting the spatial position information of the wire to be stripped, the tail end of the first mechanical arm and the tail end of the second mechanical arm to the control unit;
the control unit is used for generating path control information according to the spatial position information of the wire to be stripped, and is also used for enabling the wire stripping cutter to move to the relative position of the wire to be stripped in a preset wire stripping posture according to the position and posture action of the first mechanical arm according to the path control information, and is also used for controlling the position and posture action of the tail end of the first mechanical arm according to the contact force of the wire stripping cutter relative to the wire to be stripped and control parameters, obtained by the first force transducer, of the wire stripping cutter, wherein the control parameters comprise damping, rigidity and elasticity caused by the rigidity, so that the wire stripping cutter moves to a preset initial stripping position on the wire to be stripped for stripping treatment;
the wire stripping device is also used for controlling the pose action of the second mechanical arm so that the locking tool moves to the relative position of the wire stripping cutter, so that the locking tool locks or unlocks the wire to be stripped, and controlling the pose actions of the first mechanical arm and the second mechanical arm so that the first mechanical arm and the second mechanical arm are separated from the wire to be stripped.
2. The dual-arm robotic insulated wire stripping system according to claim 1, wherein the first robotic arm and the second robotic arm each comprise a six degree of freedom joint structure.
3. The system for peeling the insulated wire according to claim 1, wherein a second load cell is disposed between the end of the second mechanical arm and the locking tool, the second load cell is electrically connected to the control unit, and the second load cell is used for acquiring the contact force of the locking tool relative to the wire stripping tool.
4. The dual-arm robotic insulated wire stripping system according to claim 1, wherein the wire stripping blade includes a support frame;
the wire stripping tool comprises a support frame, a wire stripping tool bit and a wire stripping tool bit, wherein the support frame is provided with a wire hole, the wire stripping tool bit comprises an upper clamping plate, a lower clamping plate and a limiting screw rod, the upper clamping plate and the lower clamping plate are respectively provided with a first threaded hole and a second threaded hole which correspond to each other, the limiting screw rod penetrates through the wire stripping tool bit and is respectively in threaded connection with the first threaded hole and the second threaded hole and is used for adjusting the relative distance between the upper clamping plate and the lower clamping plate, a cutter groove is formed in the end face, close to the upper clamping plate and the lower clamping plate, of the upper clamping plate and the lower clamping plate, the cutter groove corresponds to the wire hole, and a wire stripping blade is.
5. The system for peeling the insulated wire by using the double-arm robot as claimed in claim 4, wherein the locking tool comprises a bracket, the bracket is provided with a locking motor and a rotary fork connected with an output shaft of the locking motor, and the rotary fork is used for rotating the limit screw.
6. The dual-arm robotic insulated wire stripping system according to claim 1, wherein the control unit includes a planner, an impedance controller and a motion controller;
the planner is used for calculating a freedom degree path function of the tail end of the first mechanical arm relative to an absolute coordinate system according to the space position information of the wire to be stripped, generating path control information according to the freedom degree path function, calculating a reference movement speed of the tail end of the first mechanical arm according to the space position information of the tail end of the first mechanical arm, and transmitting the reference movement speed to the impedance controller;
the impedance controller is further used for calculating a theoretical speed of the tail end of the first mechanical arm according to the contact force of the wire stripping cutter relative to the wire to be stripped, which is obtained by the first force transducer, the reference motion speed and the control parameter, and transmitting the theoretical speed to the motion controller;
the motion controller is used for acquiring the angular velocity of each joint of the first mechanical arm through decoupling according to the theoretical velocity, generating control information according to the angular velocity of each joint of the first mechanical arm, and controlling the terminal pose of the first mechanical arm to move according to the control information so that the wire stripping cutter moves to a preset initial stripping position on the wire to be stripped; the wire stripping device is also used for controlling the tail end of the first mechanical arm to move according to a preset stripping path, so that the wire stripping cutter moves from the preset initial stripping position to a preset wire stripping completion position along the axial direction of the wire to be stripped; the wire stripping device is also used for controlling the pose action of the second mechanical arm according to the preset initial stripping position and the preset wire stripping finishing position so as to enable the locking tool to move to the relative position of the wire stripping cutter, so that the locking tool locks or unlocks the wire to be stripped, and also used for controlling the first mechanical arm and the second mechanical arm to return along the original path, so that the first mechanical arm and the second mechanical arm are separated from the wire to be stripped.
7. A peeling method based on the double-arm robot insulated wire peeling system of any one of claims 1-6, characterized by comprising the following steps:
s1, after the depth information of the wire to be stripped is acquired through a depth camera, the spatial position information of the wire to be stripped is calculated according to the depth information of the wire to be stripped;
s2, generating path control information according to the spatial position information of the wire to be stripped through a control unit, and enabling the wire stripping cutter to move to the relative position of the wire to be stripped in a preset wire stripping posture according to the pose action of a first mechanical arm of the path control information;
s3, obtaining the contact force of a wire stripping cutter relative to the wire to be stripped through a first force measuring sensor, and then transmitting the contact force of the wire stripping cutter relative to the wire to be stripped to the control unit;
s4, controlling the pose action of the tail end of the first mechanical arm through the control unit according to the contact force of the wire stripping cutter relative to the wire to be stripped and the control parameters, which are obtained by the first force transducer, wherein the control parameters comprise damping, rigidity and elasticity caused by the rigidity, so that the wire stripping cutter moves to a preset initial stripping position on the wire to be stripped;
s5, when the wire stripping cutter moves to the preset initial stripping position, the control unit controls the pose action of the second mechanical arm to enable the locking tool to move to the current relative position of the wire stripping cutter, so that the locking tool locks the wire to be stripped;
s6, after the locking tool locks the wire to be stripped, the control unit controls the pose action of the second mechanical arm so as to enable the second mechanical arm to be separated from the wire to be stripped, and the control unit controls the wire stripping cutter to begin to strip from the preset initial stripping position along the axial direction of the wire to be stripped;
s7, after the wire stripping tool finishes stripping, controlling the pose action of the second mechanical arm through the control unit, so that the locking tool moves to the current relative position of the wire stripping tool, and the locking tool unlocks the wire to be stripped;
and S8, after the locking tool unlocks the wire to be stripped, controlling the pose actions of the first mechanical arm and the second mechanical arm through the control unit, so that the first mechanical arm and the second mechanical arm are separated from the wire to be stripped.
8. Peeling method according to claim 7, wherein step S5 specifically comprises:
s51, controlling the pose motion of the second mechanical arm through the control unit according to the preset initial peeling position so that the locking tool moves to the relative position of the wire stripping cutter;
s52, controlling the feeding direction of the tail end of the second mechanical arm relative to the wire stripping cutter through the control unit according to the contact force of the locking tool relative to the wire stripping cutter fed back by the second force transducer, so that the locking tool locks the wire to be stripped;
the step S7 specifically includes:
s71, after the peeling of the wire stripping cutter is finished, controlling the pose action of the second mechanical arm through the control unit according to the current position of the wire stripping cutter, so that the locking tool moves to the relative position of the wire stripping cutter;
and S72, controlling the feeding direction of the tail end of the second mechanical arm relative to the wire stripping cutter through the control unit according to the contact force of the locking tool relative to the wire stripping cutter fed back by the second force transducer, so that the locking tool unlocks the wire to be stripped.
9. The peeling method as claimed in claim 7, wherein the steps S2 to S8 specifically include:
s21, calculating a degree-of-freedom path function of the tail end of the first mechanical arm relative to an absolute coordinate system according to the spatial position information of the wire to be stripped through a planner, generating path control information according to the degree-of-freedom path function, and enabling the wire stripping tool to move to the relative position of the wire to be stripped in a preset wire stripping posture according to the position and posture action of the first mechanical arm according to the path control information;
s22, after the depth information of the tail end of the first mechanical arm is acquired through the depth camera, the spatial position information of the tail end of the first mechanical arm is calculated according to the depth information of the tail end of the first mechanical arm;
s23, calculating a reference movement speed of the tail end of the first mechanical arm according to the spatial position information of the tail end of the first mechanical arm through the planner, and transmitting the reference movement speed to the impedance controller;
s24, obtaining the contact force of the wire stripping cutter relative to the wire to be stripped through a first force measuring sensor, and then transmitting the contact force of the wire stripping cutter relative to the wire to be stripped to the impedance controller;
s25, calculating the theoretical speed of the tail end of the first mechanical arm according to the contact force of the wire stripping cutter relative to the wire to be stripped, the reference motion speed and the control parameters, which are obtained by the first force transducer, by the impedance controller, and transmitting the theoretical speed to the motion controller;
s26, obtaining the angular velocity of each joint of the first mechanical arm through decoupling according to the theoretical velocity through the motion controller, and generating control information according to the angular velocity of each joint of the first mechanical arm;
s27, controlling the terminal pose motion of the first mechanical arm through the motion controller according to the control information, so that the wire stripping cutter moves to a preset initial stripping position on the wire to be stripped;
s28, controlling the pose motion of a second mechanical arm according to the preset initial peeling position through the motion controller, so that a locking tool moves to the relative position of the wire stripping cutter, and the locking tool locks the wire to be peeled;
s29, after the locking tool locks the wire to be stripped, the second mechanical arm returns back according to the original path through the motion controller, so that the second mechanical arm is separated from the wire to be stripped;
s30, starting a peeling function through the wire stripping cutter, and simultaneously controlling the tail end of the first mechanical arm to move through the motion controller according to a preset peeling path, so that the wire stripping cutter moves from the preset initial peeling position to a preset wire stripping completion position along the axial direction of the wire to be peeled for peeling;
s31, when the wire stripping cutter moves to the preset wire stripping completion position, the wire stripping function is closed, the motion controller controls the pose motion of the second mechanical arm according to the preset wire stripping completion position, so that the locking tool moves to the relative position of the wire stripping cutter, and the locking tool unlocks the wire to be stripped;
and S32, controlling the first mechanical arm and the second mechanical arm to return according to the original path through the motion controller, so that the first mechanical arm and the second mechanical arm are separated from the wire to be stripped.
10. Peeling method as claimed in claim 9, characterized in that after step S27, step S28 is preceded by:
and obtaining an expected position increment of the tail end of the first mechanical arm according to a comparison result of the contact force of the wire stripping cutter relative to the wire to be stripped, which is fed back by the first load cell sensor, and a current preset contact force threshold value by the motion controller, and controlling the pose action of the tail end of the first mechanical arm according to the expected position increment, so that the wire stripping cutter moves along the radial direction of the wire to be stripped.
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