CN113635308A - Automatic disassembly method and disassembly device for hand-eye integrated retired automobile parts - Google Patents
Automatic disassembly method and disassembly device for hand-eye integrated retired automobile parts Download PDFInfo
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- CN113635308A CN113635308A CN202111001784.6A CN202111001784A CN113635308A CN 113635308 A CN113635308 A CN 113635308A CN 202111001784 A CN202111001784 A CN 202111001784A CN 113635308 A CN113635308 A CN 113635308A
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- 210000000078 claw Anatomy 0.000 claims description 38
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B23P19/04—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 for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- 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
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- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
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Abstract
The invention discloses an automatic disassembly method and a disassembly device for hand-eye integrated retired automobile parts, which comprises the steps of installing a tail end disassembling device at the tail end of an industrial robot, wherein the tail end disassembling device comprises an industrial depth camera; moving the tail end disassembling device, and acquiring visual pictures of retired automobile parts through the industrial depth camera; judging the assembly constraint relation of a plurality of parts in the retired automobile and the position posture data of the plurality of parts through an image processing algorithm; planning a disassembly sequence of a plurality of parts, and controlling the industrial robot to call a special disassembly tool according to the assembly constraint types among the parts; according to the assembly relation of a plurality of parts and the position posture data of the parts, the industrial robot is controlled to move to a proper position, direct or indirect disassembly action is executed, the assembly constraint relation of the parts is sequentially removed, the multi-degree-of-freedom mechanical arm is controlled to disassemble the parts, and automatic intelligent disassembly of retired automobiles can be achieved.
Description
Technical Field
The invention relates to the technical field of automobile disassembly, in particular to an automatic disassembly method and a disassembly device for hands and eyes integrated retired automobile parts.
Background
With the development of the automobile industry in China, the automobile holding capacity is continuously increased, and the number of retired and scrapped automobiles is rapidly increased. As a typical electromechanical product, the automobile has huge recycling value after being scrapped. The method is an important ring for constructing an industrial green development mode by opening a resource-product-scrap-remanufactured product circulation type industrial chain and continuously loading after disassembling the retired automobile parts and performing surface repair and performance improvement.
The common connection types of the automobile parts include welding, riveting, buckling connection, threaded connection and the like. In the disassembly process of the retired automobile parts, the sizes of all bolts are not uniform, the threaded connection joint of the parts can be corroded, and the buckle connecting piece is deformed. At present, retired automobile parts in China are mainly realized by manual disassembly, the manual disassembly efficiency is low, the disassembly effect is unstable, the labor cost is high, residues, dust and noise generated in the disassembly process can cause harm to operators, and the retired automobile parts are neither environment-friendly nor safe.
Disclosure of Invention
According to the defects of the prior art, the invention aims to provide an automatic disassembly method and a disassembly device for parts of a retired automobile integrated with hands and eyes.
In order to solve the technical problems, the invention adopts the technical scheme that:
a hand-eye integrated automatic disassembly method for retired automobile parts comprises the following steps:
and 5, controlling the industrial robot to move to a proper position according to the assembly relation of the parts and the position posture data of the parts, executing direct or indirect disassembly action, and sequentially removing the assembly constraint relation of the parts.
Further, in the step 1, the terminal disassembling device includes a base, a telescopic part, a gripper and a quick-change tool, the base is disposed at the terminal of the multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm can drive the base to move up and down, back and forth, and left and right, the base is driven to rotate by a rotating motor disposed on the mechanical arm, the telescopic part is disposed at the bottom of the base, an industrial depth camera is disposed at the bottom of the telescopic part, the three grippers are disposed on the side surface of the telescopic part and are centrosymmetric with respect to the industrial depth camera, the quick-change tool is of a regular hexagonal prism structure, a groove is disposed at the bottom of the quick-change tool, each quick-change tool is matched with a bolt of one size, and a plurality of the quick-change tools are regularly disposed on the rack;
the step 3 comprises the following steps: step 31, taking a picture by the industrial depth camera, acquiring an image in a target area, transmitting the image into a computer through internet access communication, and rotating a lens of the industrial depth camera according to the acquired image to enable one paw to be just positioned in the middle of the image;
step 32, processing the image acquired in the step 31, identifying according to a contour recognition algorithm, judging an assembly constraint relation between parts, determining the type of a target part, if only one regular hexagonal contour appears, indicating that the part is connected by an outer hexagonal bolt, jumping to the step 33, if the outer contour appears to be circular and the inner contour appears to be regular hexagonal, indicating that the part is connected by an inner hexagonal bolt, jumping to the step 13, if only one circular contour appears, indicating that the part is connected by a buckle, jumping to the step 18, and meanwhile, obtaining the height H between the part and the target part by the industrial depth camera;
step 33, identifying six sides of the outer hexagon bolt according to a contour recognition algorithm, extracting one side of the six sides, calculating a bolt center position coordinate A, extracting two end points of the side, obtaining a midpoint coordinate B of the two end points, and obtaining a vertical distance S from the bolt center position coordinate A to the extracted side according to the bolt center position coordinate A and the midpoint coordinate B;
step 34, judging whether the vertical distance S is within the range of the open or close travel of the paw according to the vertical distance S obtained in the step 33, if so, turning to the step 35, otherwise, turning to the step 312;
step 35, calculating a relative distance M from the midpoint position of the industrial depth camera to the bolt center position coordinate A according to the bolt center position coordinate A obtained in the step 33, planning a movement route of the multi-degree-of-freedom mechanical arm horizontally moving from the initial position to the bolt center position coordinate A on the two-dimensional plane, and controlling the tail end resolver to horizontally move from the initial position to the bolt center on the two-dimensional plane by the multi-degree-of-freedom mechanical arm;
step 36, calculating the angle of rotation required by the mechanical arm from the current position to the extracted side two-endpoint midpoint position B of one of the paws according to the two-endpoint midpoint coordinates B obtained in the step 3, controlling the rotation of the rotating motor, and further driving the tail end disassembling device to rotate, so that the paw is coincided with a connecting line of the bolt center position coordinate a and the two-endpoint midpoint coordinates B;
step 37, according to the height H obtained in the step 3, calculating a transverse distance M and a longitudinal distance N of the multi-degree-of-freedom mechanical arm vertically moving from the current position to a bolt center position coordinate A, and controlling the tail end disassembling device to vertically move to reach the bolt center position coordinate A by the multi-degree-of-freedom mechanical arm;
step 38, controlling the three claws to be closed, wherein each claw is respectively contacted with three sides of the outer hexagon bolt which are not adjacent to each other, and rotating the motor control base anticlockwise by 180-240 degrees, stopping the rotation of the motor, repeating the steps for multiple times, if the motor control base cannot rotate, turning to the step 9, and if the motor control base normally rotates, turning to the step 310;
step 39, checking the working state of the whole device by an operator;
step 310, the telescopic piece controls the three claws to be completely opened, the rotating motor control base rotates clockwise 180-240 degrees, if the torque of the rotating motor is detected to be not 0, the step 38 is carried out, and if the torque of the rotating motor is 0, the step 311 is carried out;
step 311, the multi-degree-of-freedom mechanical arm controls the tail end disassembling device to move vertically and then move horizontally to an initial position, and three paws controlled by the telescopic piece are completely opened, so that the outer hexagon bolt falls into the cargo box;
step 312, judging a quick-change tool to be grabbed according to the vertical distance S from the center position coordinate A of the bolt to the extraction edge obtained in the step 33, and controlling the three claws to close and grab the required quick-change tool by the telescopic piece;
313, identifying the target part as the hexagon socket head cap screw by the system, identifying the inner hexagon of the hexagon socket head cap screw according to an identification algorithm, extracting one side of the hexagon socket head cap screw, calculating a central position coordinate A of the bolt, extracting two end points of the side, acquiring a midpoint coordinate B of the two end points, and obtaining a vertical distance S from the central position coordinate A of the bolt to the extracted side;
step 314, according to the vertical distance S from the central position A of the bolt to the extraction edge obtained in the step 13, judging a hexagon socket head quick-change disassembling tool required to be grabbed, controlling the mechanical arm to move above the rack, grabbing a target quick-change tool by the disassembling device, then calculating the relative distance N from the current position to the coordinate A of the central position of the bolt, planning a motion route of the multi-degree-of-freedom mechanical arm horizontally moving from the current position to the coordinate A of the central position of the bolt on a two-dimensional plane, and controlling the tail end disassembling device to horizontally move from the current position to the central position of the bolt on the two-dimensional plane by the multi-degree-of-freedom mechanical arm;
315, according to the height H obtained in the step 3, calculating a longitudinal distance N of the multi-degree-of-freedom mechanical arm vertically moving from the current position to a bolt center position coordinate A, and controlling the tail end disassembling device to vertically move to reach the bolt center position coordinate A by the multi-degree-of-freedom mechanical arm;
step 316, controlling the base to rotate anticlockwise by 180-240 degrees by rotating the motor, stopping the rotation of the motor, if the motor control base cannot rotate, turning to step 10, and if the motor control base rotates normally, turning to step 17;
step 317, controlling the mechanical arm to move upwards for a certain distance along the longitudinal direction, rotating the motor control base clockwise for 180-240 degrees, if the torque of the rotating motor is detected to be not 0, then turning to step 16, if the torque of the rotating motor is 0, controlling the multi-degree-of-freedom mechanical arm to do vertical movement firstly, then controlling the multi-degree-of-freedom mechanical arm to do horizontal movement and move to the quick-change tool rack, controlling the three claws to be completely opened by the telescopic piece, and placing the quick-change disassembling tool on the rack;
step 318, recognizing that the target part is a round buckle type part by the system, recognizing the excircle of the buckle according to a recognition algorithm, and calculating a buckle center position coordinate A and a vertical distance S from the buckle center position A to the excircle of the buckle;
319, calculating a relative distance M from the midpoint position of the industrial depth camera to the coordinate A according to the coordinate A obtained in the step 18, planning a motion route of the mechanical arm horizontally moving from the initial position to the coordinate A on the two-dimensional plane, and controlling the multi-degree-of-freedom mechanical arm to horizontally move from the initial position to the buckle center position on the two-dimensional plane;
step 320, calculating a distance L from the current position to the buckling position along the longitudinal vertical movement of the multi-degree-of-freedom mechanical arm according to the height H obtained in the step 3, and controlling the multi-degree-of-freedom mechanical arm to carry the disassembling device to vertically move along the longitudinal direction to reach the buckling position;
step 321, controlling the three claws to be closed according to the set clamping force, controlling each claw to be in contact with the edge of the buckle, and controlling the mechanical arm to do vertical motion along the longitudinal vertical direction to pull out the buckle, if the buckle can be pulled out smoothly, turning to step 322, and if the buckle cannot be pulled out smoothly, turning to step 310;
322, controlling the multi-degree-of-freedom mechanical arm to move horizontally to an initial position, and controlling the three paws to be completely opened to finish disassembly;
and 323, if all parts are completely disassembled, ending the work.
Further, in step 310 and step 316, a torque sensor is disposed on the rotating electric machine, and whether the rotating electric machine is completely disassembled is determined by the torque sensor.
Further, the extensible member stretches out and draws back through pneumatic control and then controls the hand claw to open and fold, when realizing the motion that the hand claw opened and folded, judges the clamping state of target part according to the operating pressure value, and when centre gripping target part, the condition that makes target part not drop is:
under the condition of certain safety factor:
wherein: n-number of jaws; f-required clamping force; μ -coefficient of friction; m-the mass of the target part; g-acceleration of gravity; a-safety factor.
A hand-eye integrated automatic disassembly device for retired automobile parts comprises a multi-degree-of-freedom mechanical arm and a tail end disassembly device, wherein the tail end disassembly device comprises a base, a telescopic piece, claws and quick change tools, the base is arranged at the tail end of the multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm can drive the base to move up and down, move back and forth and move left and right, the base is driven to rotate through a rotating motor arranged on the mechanical arm, the telescopic piece is arranged at the bottom of the base, an industrial depth camera is arranged at the bottom of the telescopic piece, the three claws are arranged on the side surface of the telescopic piece and are in central symmetry relative to the industrial depth camera, the telescopic piece can drive the three claws to open or close simultaneously, the quick change tools are of a regular hexagonal prism structure, grooves are arranged at the bottom of the quick change tools, and each quick change tool is matched with a bolt with one size, a plurality of quick change tool group is placed on the rack according to the arrangement rule, and the quick change tool can be grabbed by three paws.
Further, the base is a flange plate, the telescopic piece is a three-jaw cylinder, and the paw is installed on the three-jaw cylinder through a connecting block.
Furthermore, the paw is of an inverted L-shaped structure, and anti-skidding lines are arranged on the inner side of the bottom of the paw.
Further, the industrial depth camera is an RGB-D camera, and relevant wires of the industrial depth camera penetrate out of an opening in the side face of the tail end disassembling device.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the automatic disassembly method and the automatic disassembly device for the hand-eye integrated retired automobile parts, the tail end disassembly device carried by the multi-degree-of-freedom mechanical arm and the industrial depth camera horizontally move to a target area on a two-dimensional plane, the industrial depth camera shoots to obtain the relative distance between the camera and the target parts in the vertical direction, the target position and the contour recognition method is adopted to recognize the central position and the end point positions of all edges of the target parts, the relative distance between the center of the camera and the central position of the target parts in the horizontal direction is calculated, and the multi-degree-of-freedom mechanical arm and the paw are controlled to move in a matched mode to complete direct or indirect disassembly work.
2. According to the automatic disassembly method and the automatic disassembly device for the hand-eye integrated retired automobile parts, the device is hand-eye integrated, and different from other vision guide systems, the system does not need to perform complex coordinate conversion on a camera coordinate system, a ground coordinate system and a workpiece coordinate system after hand-eye calibration, and is high in operation efficiency and fault tolerance rate.
3. The automatic disassembly method and the automatic disassembly device for the hand-eye integrated retired automobile parts can be used for self-adaptive disassembly, are accurate in positioning and identification, are simple and reliable in structure, are low in use cost and high in disassembly efficiency, and can be used for disassembling various target parts.
Drawings
FIG. 1 is a schematic diagram of a method for disassembling parts of an auto-retired automobile with integrated hand-eye function according to the invention.
FIG. 2 is a flow chart of the disassembly process of the components of the retired automobile integrated with the hands and eyes.
Fig. 3 is a schematic structural diagram of the terminal disassembling device of the present invention.
Fig. 4 is a schematic diagram of the regular placement of the quick-change tool on the rack.
Fig. 5 is a schematic structural view of a quick-change tool according to the present invention.
Fig. 6 is a schematic structural view of another quick-change tool of the invention.
Fig. 7 is a schematic structural view of the direct bolt disassembly of the end detacher of the present invention.
Fig. 8 is a schematic structural view of the indirect bolt disassembly by the end detacher of the present invention.
Fig. 9 is a schematic structural view of the end detacher of the present invention for directly detaching the buckle.
In the figure: 1. a base; 2. a telescoping member; 3. a tracheal tube interface; 4. connecting blocks; 5. an electromagnetic valve; 6. an industrial depth camera; 7. a paw; 8. anti-skid lines; 9. a rack; 10. a tool is quickly replaced; 11. and (5) buckling.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. 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 otherwise specified.
An automatic disassembly method for retired automobile parts integrated with hands and eyes is disclosed, and shown in fig. 1-9, and comprises the following steps:
and 5, controlling the industrial robot to move to a proper position according to the assembly relation of the parts and the position posture data of the parts, executing direct or indirect disassembly action, and sequentially removing the assembly constraint relation of the parts.
In step 1, the terminal disassembling device comprises a base 1, a telescopic part 2, a paw 7 and quick-change tools 10, wherein the base 1 is arranged at the terminal of a multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm can drive the base 1 to move up and down, back and forth, and left and right, the base 1 is driven to rotate by a rotating motor arranged on the mechanical arm, the telescopic part 2 is arranged at the bottom of the base 1, an industrial depth camera 6 is arranged at the bottom of the telescopic part 2, three paws 7 are arranged on the side surface of the telescopic part 2 and are in central symmetry relative to the industrial depth camera 6, three paws 7 can be used for grabbing and releasing target parts, the quick-change tools 10 are in a regular hexagonal prism structure, grooves are arranged at the bottom of the quick-change tools 10, each quick-change tool 10 is matched with a bolt with one size, a plurality of quick-change tools 10 are arranged on a rack 9 according to an arrangement rule, English letters are adhered to the plurality of quick-change tools 10, and different letters correspond to the quick-change tools 10 with different specifications, the telescopic part 2 can drive three grippers 7 to open or close simultaneously, and the three grippers 7 can be used to grip and release the quick-change tool 10.
The step 3 comprises the following steps: step 31, the industrial depth camera 6 takes a picture, obtains an image in a target area, transmits the image into a computer through internet access communication, and rotates a lens of the industrial depth camera 6 according to the obtained image so that one of the claws 7 is right in the middle of the image;
step 32, processing the image acquired in the step 31, identifying according to a contour recognition algorithm, judging an assembly constraint relation between parts, determining the type of a target part, if only one regular hexagonal contour appears, indicating that the part is connected by an outer hexagonal bolt, jumping to the step 33, if the outer contour appears to be circular and the inner contour appears to be regular hexagonal, indicating that the part is connected by an inner hexagonal bolt, jumping to the step 13, if only one circular contour appears, indicating that the part is connected by a buckle 11, jumping to the step 18, and meanwhile, obtaining the height H between the industrial depth camera 6 and the target part;
step 33, identifying six sides of the outer hexagon bolt according to a contour recognition algorithm, extracting one side of the six sides, calculating a bolt center position coordinate A, extracting two end points of the side, obtaining a midpoint coordinate B of the two end points, and obtaining a vertical distance S from the bolt center position coordinate A to the extracted side according to the bolt center position coordinate A and the midpoint coordinate B;
step 34, judging whether the vertical distance S is within the range of the opening or closing stroke of the paw 7 according to the vertical distance S obtained in the step 33, if so, turning to the step 35, otherwise, turning to the step 312;
step 35, calculating a relative distance M from the midpoint position of the industrial depth camera 6 to the bolt center position coordinate A according to the bolt center position coordinate A obtained in the step 33, planning a movement route of the multi-degree-of-freedom mechanical arm horizontally moving from the initial position to the bolt center position coordinate A on the two-dimensional plane, and controlling the tail end resolver to horizontally move from the initial position to the bolt center on the two-dimensional plane by the multi-degree-of-freedom mechanical arm;
step 36, calculating the angle of rotation required by the mechanical arm from the current position to the extracted side two-endpoint midpoint position B of one of the paws 7 according to the two-endpoint midpoint coordinates B obtained in the step 3, controlling the rotation of the rotating motor, and further driving the tail end detacher to rotate, so that the paw 7 coincides with a connecting line of the bolt center position coordinate a and the two-endpoint midpoint coordinates B;
step 37, according to the height H obtained in the step 3, calculating a transverse distance M and a longitudinal distance N of the multi-degree-of-freedom mechanical arm vertically moving from the current position to a bolt center position coordinate A, and controlling the tail end disassembling device to vertically move to reach the bolt center position coordinate A by the multi-degree-of-freedom mechanical arm;
step 38, controlling the three claws 7 to be closed, wherein each claw 7 is respectively contacted with three sides of the outer hexagon bolt which are not adjacent to each other, and rotating the motor control base 1 anticlockwise by 180-240 degrees, stopping the rotation of the rotating motor, repeating for multiple times, if the rotating motor control base 1 cannot rotate, turning to the step 9, and if the rotating motor control base 1 normally rotates, turning to the step 310;
step 39, checking the working state of the whole device by an operator;
step 310, the telescopic piece 2 controls the three claws 7 to be completely opened, the motor control base 1 is rotated clockwise by 180 degrees to 240 degrees, if the torque of the rotating motor is detected to be not 0, the step 38 is carried out, and if the torque of the rotating motor is 0, the step 311 is carried out;
step 311, the multi-degree-of-freedom mechanical arm controls the tail end disassembling device to move vertically and then move horizontally to an initial position, and three paws 7 controlled by the telescopic piece 2 are completely opened, so that the outer hexagon bolts fall into a cargo box;
step 312, judging the quick-change tool 10 to be grabbed according to the vertical distance S from the center position coordinate A of the bolt to the extraction edge obtained in the step 33, and controlling the three claws 7 to close and grab the required quick-change tool 10 by the telescopic piece 2;
313, identifying the connecting piece as the hexagon socket head cap screw by the system, identifying the inner hexagon of the hexagon socket head cap screw according to an identification algorithm, extracting one side of the hexagon socket head cap screw, calculating a central position coordinate A of the bolt, extracting two end points of the side, obtaining a midpoint coordinate B of the two end points, and obtaining a vertical distance S from the central position coordinate A of the bolt to the extracted side;
step 314, according to the vertical distance S from the central position A of the bolt to the extraction edge obtained in the step 13, judging a hexagon socket head quick-change disassembling tool required to be grabbed, controlling the mechanical arm to move to the position above the rack 9, grabbing the target quick-change tool 10 by the disassembling device, then calculating the relative distance N from the current position to the coordinate A of the central position of the bolt, planning a movement route of the multi-degree-of-freedom mechanical arm horizontally moving from the current position to the coordinate A of the central position of the bolt on a two-dimensional plane, and controlling the tail end disassembling device to horizontally move from the current position to the central position of the bolt on the two-dimensional plane by the multi-degree-of-freedom mechanical arm;
315, according to the height H obtained in the step 3, calculating a longitudinal distance N of the multi-degree-of-freedom mechanical arm vertically moving from the current position to a bolt center position coordinate A, and controlling the tail end disassembling device to vertically move to reach the bolt center position coordinate A by the multi-degree-of-freedom mechanical arm;
step 316, rotating the motor control base 1 counterclockwise by 180-240 degrees, stopping the rotation of the motor, if the motor control base 1 cannot rotate, turning to step 10, and if the motor control base 1 rotates normally, turning to step 17;
step 317, controlling the mechanical arm to move upwards for a certain distance along the longitudinal direction, rotating the motor control base 1 clockwise for 180-240 degrees, if the torque of the rotating motor is detected to be not 0, then turning to step 16, if the torque of the rotating motor is 0, controlling the multi-degree-of-freedom mechanical arm to do vertical motion firstly, then controlling the multi-degree-of-freedom mechanical arm to do horizontal motion and move to the rack 9 of the quick-change tool 10, and controlling the three claws to be completely opened by the telescopic part 2, and placing the quick-change disassembling tool on the rack 9;
step 318, recognizing that the connecting piece is a circular buckle 11-type part by the system, recognizing the excircle of the buckle 11 according to a recognition algorithm, and calculating a coordinate A of the central position of the buckle 11 and a vertical distance S from the central position A of the buckle 11 to the excircle of the buckle 11;
319, calculating a relative distance M from the midpoint position of the industrial depth camera 6 to the coordinate A according to the coordinate A obtained in the step 18, planning a motion route of the mechanical arm horizontally moving from the initial position to the coordinate A on the two-dimensional plane, and controlling the multi-degree-of-freedom mechanical arm to horizontally move from the initial position to the central position of the buckle 11 on the two-dimensional plane;
step 320, calculating the distance L from the current position to the buckle 11 position along the longitudinal vertical movement of the multi-degree-of-freedom mechanical arm according to the height H obtained in the step 3, and controlling the multi-degree-of-freedom mechanical arm to carry the disassembling device to vertically move along the longitudinal direction to reach the buckle 11 position;
step 321, controlling the three claws 7 to be closed according to the set clamping force, enabling each claw 7 to be in contact with the edge of the buckle 11, controlling the mechanical arm to do vertical motion along the longitudinal vertical direction to pull out the buckle 11, if the mechanical arm can be pulled out smoothly, turning to step 322, and if the mechanical arm cannot be pulled out smoothly, turning to step 310;
322, controlling the multi-degree-of-freedom mechanical arm to move horizontally to an initial position, and controlling the three paws 7 to be completely opened to finish disassembly;
and 323, if all parts are completely disassembled, ending the work.
The invention provides a hand-eye integrated bolt automatic disassembling method, which comprises the steps that a multi-degree-of-freedom mechanical arm carries a tail end disassembling device and an industrial depth camera 6 to horizontally move to a target area on a two-dimensional plane, the industrial depth camera 6 shoots to obtain the relative distance between the camera and a target part in the vertical direction, the target position and the outline recognition method is adopted to recognize the central position and the end point positions of all sides of the target part, the relative distance between the center of the camera and the central position of the target part in the horizontal direction is calculated, and the mechanical arm and a pneumatic paw 7 are controlled to move in a matched mode to complete disassembling work; the device is integrated with hands and eyes, and is different from other vision guide systems, the system does not need to perform complex coordinate conversion on a camera coordinate system, a ground coordinate system and a workpiece coordinate system after the hands and eyes are calibrated, and the operation efficiency and the fault tolerance rate are high; the automobile spare part disassembly tool has the advantages of self-adaptive disassembly, accurate positioning and identification, simple and reliable structure, low use cost, high disassembly efficiency and capability of disassembling various retired automobile parts.
According to the invention, the bionic principle is utilized, the process that a tool is used by hands to disassemble the connecting piece is simulated, the disassembling tool can be selected according to the constraint condition of the connecting piece, and the quick-change grabbing tool 10 is used as the disassembling tool to disassemble bolts and other connecting pieces with different sizes in a self-adaptive manner. The present invention can provide two methods of disassembly, either directly through the grabbing bolt or other connector, or indirectly through the grabbing quick-change tool 10.
According to the invention, in the process of disassembling the outer hexagon bolt and the inner hexagon bolt, the motor control base 1 is rotated to repeatedly rotate clockwise for 180-240 degrees for multiple times, the action of a human hand is simulated, the condition that the rotation degree is too low and the disassembly can be completed by repeating for multiple times is prevented, the efficiency is low, the rotation degree is also prevented from being too high, and the service life of the telescopic part 2 is reduced after the multiple rotations.
In step 310 and step 316, a torque sensor is disposed on the rotating motor, and whether the target part is completely disassembled is determined by the torque sensor. The rotary motor is a servo motor, the base 1 is driven in a servo motor torque control mode to further drive the three claws 7 to rotate, and the disassembly state of the bolt and the buckle 11 is judged according to a torque value while the rotation is realized.
The extensible member 2 is flexible through pneumatic control and then controls the paw 7 to open and fold, when realizing the motion that the paw 7 opened and folded, judges the clamping state of target part according to the operating pressure value, and when centre gripping target part, the condition that makes the target part not drop is:
under the condition of certain safety factor:
wherein: n-number of jaws; f-required clamping force; μ -coefficient of friction; m-the mass of the target part; g-acceleration of gravity; a-safety factor.
An automatic disassembly device for parts of an retired automobile integrated with hands and eyes is shown in figures 2-9 and comprises a multi-degree-of-freedom mechanical arm, a tail end disassembly device and a plurality of quick change tools 10, wherein the tail end disassembly device comprises a base 1, extensible member 2 and hand claw 7, base 1 is established at multi freedom arm end, multi freedom arm can drive base 1 up-and-down motion, seesaw and side-to-side motion, base 1 rotates through establishing the rotation motor drive on the arm, extensible member 2 is established in base 1 bottom, 2 bottoms of extensible member are equipped with industry degree of depth camera 6, three hand claw 7 are established in 2 sides of extensible member and are central symmetry for industry degree of depth camera 6, extensible member 2 can drive three hand claw 7 and open or fold simultaneously, quick change instrument 10 is regular hexagonal prism structure, quick change instrument 10 bottom is equipped with the hexagon recess, each quick change instrument 10 matches the hexagon socket head cap screw of a size.
When the multi-freedom-degree mechanical arm is used, the industrial depth camera 6 which is arranged in the tail end disassembling device and carries the telescopic part 2 is moved to the position near a target through the multi-freedom-degree mechanical arm, the industrial depth camera 6 acquires images, the position information of the target is identified by adopting an image processing and edge contour extraction algorithm, the position information is output, the motion route of the multi-freedom-degree mechanical arm is planned, the base 1 can be moved through the multi-freedom-degree mechanical arm, the multi-freedom-degree mechanical arm at least comprises three degrees of freedom, the base 1 can be driven to move up and down, move back and forth and move left and right, the tail end disassembling device is further driven to move up and down, move back and forth and move left and right, the telescopic part 2 can drive the three hand claws 7 to be opened or closed simultaneously for grabbing and releasing the outer hexagon bolts, the buckles 11 or the quick-change tool 10, the quick-change tool 10 can be used for grabbing the inner hexagon bolts, the base 1 is driven to rotate through the rotating motor, and then the outer hexagon bolt or the quick-change tool 10 is rotated to disassemble the outer hexagon bolt or the inner hexagon bolt, in addition, the three claws 7 can be controlled to be closed, the claws 7 are in contact with the edge of the buckle 11, and the multi-degree-of-freedom mechanical arm is controlled to do vertical motion along the longitudinal vertical direction to pull out the buckle 11, so that automobile parts are disassembled.
The automatic disassembly device is matched with an industrial robot for use to realize automatic disassembly of retired automobile parts. The invention has the advantages of self-adaptive disassembly, accurate positioning and identification, simple and reliable structure, low use cost and high disassembly efficiency.
The base 1 is a flange plate, the telescopic part 2 is a three-jaw cylinder, and the paw 7 is arranged on the three-jaw cylinder through a connecting block 4. The cross-section of connecting block 4 is the cross, and connecting block 4 inlay card is on three-jaw cylinder, and hand claw 7 passes through threaded connection to be fixed on connecting block 4, is equipped with trachea interface 3 and solenoid valve 5 on the three-jaw cylinder, and trachea interface 3 is used for the air feed for three-jaw cylinder, and solenoid valve 5 is used for the air three-jaw cylinder to open and close, and the three-jaw cylinder passes through the ring flange and installs at multi freedom arm end.
In order to prevent the paw 7 from slipping during disassembly, the paw 7 is of an inverted L-shaped structure, and anti-slip threads 8 are arranged on the inner side of the bottom of the paw 7.
The industrial depth camera 6 is an RGB-D camera, and the relative distance between the industrial depth camera 6 and the target bolt in the vertical direction, namely the height H, can be directly obtained by enabling the relevant wire of the industrial depth camera 6 to penetrate out of the opening on the side face of the tail end disassembling device.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. A hand-eye integrated automatic disassembly method for retired automobile parts is characterized by comprising the following steps:
step 1, mounting a tail end disassembling device at the tail end of an industrial robot, wherein the industrial robot comprises a multi-degree-of-freedom mechanical arm, and the tail end disassembling device comprises an industrial depth camera;
step 2, carrying the tail end disassembling device through the multi-degree-of-freedom mechanical arm, and acquiring visual pictures of retired automobile parts through the industrial depth camera;
step 3, judging the assembly constraint relation of a plurality of parts in the retired automobile and the position posture data of the plurality of parts through an image processing algorithm;
step 4, planning the disassembly sequence of the plurality of parts, and controlling the industrial robot to call a special disassembly tool according to the assembly constraint types among the plurality of parts;
and 5, controlling the industrial robot to move to a proper position according to the assembly relation of the parts and the position posture data of the parts, executing direct or indirect disassembly action, and sequentially removing the assembly constraint relation of the parts.
2. The automatic disassembly method of parts of the hand-eye integrated retired automobile as claimed in claim 1, wherein: in the step 1, the tail end disassembling device comprises a base, a telescopic part, claws and quick-change tools, wherein the base is arranged at the tail end of the multi-freedom-degree mechanical arm, the multi-freedom-degree mechanical arm can drive the base to move up and down, back and forth and left and right, the base is driven to rotate by a rotating motor arranged on the mechanical arm, the telescopic part is arranged at the bottom of the base, an industrial depth camera is arranged at the bottom of the telescopic part, the three claws are arranged on the side surface of the telescopic part and are in central symmetry relative to the industrial depth camera, the quick-change tools are in a regular hexagonal prism structure, grooves are arranged at the bottom of the quick-change tools, each quick-change tool is matched with a bolt with one size, and a plurality of the quick-change tools are regularly arranged on a rack;
the step 3 comprises the following steps: step 31, taking a picture by the industrial depth camera, acquiring an image in a target area, transmitting the image into a computer through internet access communication, and rotating a lens of the industrial depth camera according to the acquired image to enable one paw to be just positioned in the middle of the image;
step 32, processing the image acquired in the step 31, identifying according to a contour recognition algorithm, judging an assembly constraint relation between parts, determining the type of a target part, if only one regular hexagonal contour appears, indicating that the part is connected by an outer hexagonal bolt, jumping to the step 33, if the outer contour appears to be circular and the inner contour appears to be regular hexagonal, indicating that the part is connected by an inner hexagonal bolt, jumping to the step 13, if only one circular contour appears, indicating that the part is connected by a buckle, jumping to the step 18, and meanwhile, obtaining the height H between the part and the target part by the industrial depth camera;
step 33, identifying six sides of the outer hexagon bolt according to a contour recognition algorithm, extracting one side of the six sides, calculating a bolt center position coordinate A, extracting two end points of the side, obtaining a midpoint coordinate B of the two end points, and obtaining a vertical distance S from the bolt center position coordinate A to the extracted side according to the bolt center position coordinate A and the midpoint coordinate B;
step 34, judging whether the vertical distance S is within the range of the open or close travel of the paw according to the vertical distance S obtained in the step 33, if so, turning to the step 35, otherwise, turning to the step 312;
step 35, calculating a relative distance M from the midpoint position of the industrial depth camera to the bolt center position coordinate A according to the bolt center position coordinate A obtained in the step 33, planning a movement route of the multi-degree-of-freedom mechanical arm horizontally moving from the initial position to the bolt center position coordinate A on the two-dimensional plane, and controlling the tail end resolver to horizontally move from the initial position to the bolt center on the two-dimensional plane by the multi-degree-of-freedom mechanical arm;
step 36, calculating the angle of rotation required by the mechanical arm from the current position to the extracted side two-endpoint midpoint position B of one of the paws according to the two-endpoint midpoint coordinates B obtained in the step 3, controlling the rotation of the rotating motor, and further driving the tail end disassembling device to rotate, so that the paw is coincided with a connecting line of the bolt center position coordinate a and the two-endpoint midpoint coordinates B;
step 37, according to the height H obtained in the step 3, calculating a transverse distance M and a longitudinal distance N of the multi-degree-of-freedom mechanical arm vertically moving from the current position to a bolt center position coordinate A, and controlling the tail end disassembling device to vertically move to reach the bolt center position coordinate A by the multi-degree-of-freedom mechanical arm;
step 38, controlling the three claws to be closed, wherein each claw is respectively contacted with three sides of the outer hexagon bolt which are not adjacent to each other, and rotating the motor control base anticlockwise by 180-240 degrees, stopping the rotation of the motor, repeating the steps for multiple times, if the motor control base cannot rotate, turning to the step 9, and if the motor control base normally rotates, turning to the step 310;
step 39, checking the working state of the whole device by an operator;
step 310, the telescopic piece controls the three claws to be completely opened, the rotating motor control base rotates clockwise 180-240 degrees, if the torque of the rotating motor is detected to be not 0, the step 38 is carried out, and if the torque of the rotating motor is 0, the step 311 is carried out;
step 311, the multi-degree-of-freedom mechanical arm controls the tail end disassembling device to move vertically and then move horizontally to an initial position, and three paws controlled by the telescopic piece are completely opened, so that the outer hexagon bolt falls into the cargo box;
step 312, judging a quick-change tool to be grabbed according to the vertical distance S from the center position coordinate A of the bolt to the extraction edge obtained in the step 33, and controlling the three claws to close and grab the required quick-change tool by the telescopic piece;
313, identifying the target part as the hexagon socket head cap screw by the system, identifying the inner hexagon of the hexagon socket head cap screw according to an identification algorithm, extracting one side of the hexagon socket head cap screw, calculating a central position coordinate A of the bolt, extracting two end points of the side, acquiring a midpoint coordinate B of the two end points, and obtaining a vertical distance S from the central position coordinate A of the bolt to the extracted side;
step 314, according to the vertical distance S from the central position A of the bolt to the extraction edge obtained in the step 13, judging a hexagon socket head quick-change disassembling tool required to be grabbed, controlling the mechanical arm to move above the rack, grabbing a target quick-change tool by the disassembling device, then calculating the relative distance N from the current position to the coordinate A of the central position of the bolt, planning a motion route of the multi-degree-of-freedom mechanical arm horizontally moving from the current position to the coordinate A of the central position of the bolt on a two-dimensional plane, and controlling the tail end disassembling device to horizontally move from the current position to the central position of the bolt on the two-dimensional plane by the multi-degree-of-freedom mechanical arm;
315, according to the height H obtained in the step 3, calculating a longitudinal distance N of the multi-degree-of-freedom mechanical arm vertically moving from the current position to a bolt center position coordinate A, and controlling the tail end disassembling device to vertically move to reach the bolt center position coordinate A by the multi-degree-of-freedom mechanical arm;
step 316, controlling the base to rotate anticlockwise by 180-240 degrees by rotating the motor, stopping the rotation of the motor, if the motor control base cannot rotate, turning to step 10, and if the motor control base rotates normally, turning to step 17;
step 317, controlling the mechanical arm to move upwards for a certain distance along the longitudinal direction, rotating the motor control base clockwise for 180-240 degrees, if the torque of the rotating motor is detected to be not 0, then turning to step 16, if the torque of the rotating motor is 0, controlling the multi-degree-of-freedom mechanical arm to do vertical movement firstly, then controlling the multi-degree-of-freedom mechanical arm to do horizontal movement and move to the quick-change tool rack, controlling the three claws to be completely opened by the telescopic piece, and placing the quick-change disassembling tool on the rack;
step 318, recognizing that the target part is a round buckle type part by the system, recognizing the excircle of the buckle according to a recognition algorithm, and calculating a buckle center position coordinate A and a vertical distance S from the buckle center position A to the excircle of the buckle;
319, calculating a relative distance M from the midpoint position of the industrial depth camera to the coordinate A according to the coordinate A obtained in the step 18, planning a motion route of the mechanical arm horizontally moving from the initial position to the coordinate A on the two-dimensional plane, and controlling the multi-degree-of-freedom mechanical arm to horizontally move from the initial position to the buckle center position on the two-dimensional plane;
step 320, calculating a distance L from the current position to the buckling position along the longitudinal vertical movement of the multi-degree-of-freedom mechanical arm according to the height H obtained in the step 3, and controlling the multi-degree-of-freedom mechanical arm to carry the disassembling device to vertically move along the longitudinal direction to reach the buckling position;
step 321, controlling the three claws to be closed according to the set clamping force, controlling each claw to be in contact with the edge of the buckle, and controlling the mechanical arm to do vertical motion along the longitudinal vertical direction to pull out the buckle, if the buckle can be pulled out smoothly, turning to step 322, and if the buckle cannot be pulled out smoothly, turning to step 310;
322, controlling the multi-degree-of-freedom mechanical arm to move horizontally to an initial position, and controlling the three paws to be completely opened to finish disassembly;
and 323, if all parts are completely disassembled, ending the work.
3. The automatic disassembly method of parts of the retired automobile with integrated hand and eye as claimed in claim 2, wherein: in steps 310 and 316, a torque sensor is provided on the rotating motor, and whether the motor is completely disassembled is determined by the torque sensor.
4. The automatic disassembly method of parts of the hand-eye integrated retired automobile as claimed in claim 3, wherein: the extensible member is flexible through pneumatic control and then controls the paw to open and fold, when realizing the motion that the paw opened and folded, judges the clamping state of target part according to the operating pressure value, and when centre gripping target part, the condition that makes target part not drop is:
under the condition of certain safety factor:
wherein: n-number of jaws; f-required clamping force; μ -coefficient of friction; m-the mass of the target part; g-acceleration of gravity; a-safety factor.
5. The utility model provides an automatic dismounting device of hand eye integration retired automobile spare part which characterized in that: the multi-degree-of-freedom mechanical arm comprises a multi-degree-of-freedom mechanical arm and a tail end disassembling device, the tail end disassembling device comprises a base, a telescopic piece, a paw and quick-change tools, the base is arranged at the tail end of the multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm can drive the base to move up and down, move back and forth and move left and right, the base is driven to rotate through a rotating motor arranged on the mechanical arm, the telescopic piece is arranged at the bottom of the base, an industrial depth camera is arranged at the bottom of the telescopic piece, the three paws are arranged on the side surface of the telescopic piece and are in central symmetry relative to the industrial depth camera, the telescopic piece can drive the three paws to be opened or closed simultaneously, the quick-change tools are of a regular hexagonal prism structure, grooves are formed in the bottom of each quick-change tool, each quick-change tool is matched with a bolt with one size, and a plurality of quick-change tool sets are arranged on a rack according to an arrangement rule, the quick-change tool can be grasped by three of the grippers.
6. The automatic disassembly device of hand-eye integrated retired automobile parts of claim 5, wherein: the base is the ring flange, the extensible member is three-jaw cylinder, the hand claw passes through the connecting block to be installed on the three-jaw cylinder.
7. The automatic disassembly device of hand-eye integrated retired automobile parts of claim 5, wherein: the paw is of an inverted L-shaped structure, and anti-skidding lines are arranged on the inner side of the bottom of the paw.
8. The automatic disassembly device of hand-eye integrated retired automobile parts of claim 5, wherein: the industrial depth camera is an RGB-D camera, and related wires of the industrial depth camera penetrate out of an opening on the side face of the tail end disassembling device.
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