CN113635308B - Method and device for disassembling parts of manual-ocular integrated retired automobile - Google Patents
Method and device for disassembling parts of manual-ocular integrated retired automobile Download PDFInfo
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- CN113635308B CN113635308B CN202111001784.6A CN202111001784A CN113635308B CN 113635308 B CN113635308 B CN 113635308B CN 202111001784 A CN202111001784 A CN 202111001784A CN 113635308 B CN113635308 B CN 113635308B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000012545 processing Methods 0.000 claims abstract description 8
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 210000000078 claw Anatomy 0.000 claims description 52
- 238000000605 extraction Methods 0.000 claims description 10
- 230000009191 jumping Effects 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 description 11
- 230000008569 process Effects 0.000 description 5
- 230000010354 integration Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
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- 230000009471 action Effects 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
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- 238000004064 recycling Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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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
- 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
- Y02W30/56—Reuse, recycling or recovery technologies of vehicles
Abstract
The invention discloses a method and a device for automatically disassembling parts of a hand-eye integrated retired automobile, wherein the method 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 obtaining 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 and posture data of the parts through an image processing algorithm; planning the disassembly sequence of a plurality of parts, and controlling the industrial robot to call a special disassembly tool according to the assembly constraint type among the parts; according to the assembly relation of the parts and the position and posture data of the parts, the industrial robot is controlled to move to a proper position, direct or indirect disassembly is executed, the assembly constraint relation of the parts is sequentially relieved, the multi-degree-of-freedom mechanical arm is controlled to disassemble the parts, and automatic intelligent disassembly of the retired automobile can be realized.
Description
Technical Field
The invention relates to the technical field of automobile disassembly, in particular to a method and a device for disassembling parts of a hand-eye integrated retired automobile.
Background
With the development of the automobile industry in China, the quantity of the reserved automobiles continuously increases, and the quantity of retired and scrapped automobiles also rapidly increases. The automobile is used as a typical electromechanical product, and has huge recycling value after scrapping. The method is an important ring for constructing an industrial green development mode by disassembling retired automobile parts, then carrying out surface repair and performance improvement, and then continuously loading and using, and is a circulating industrial chain for opening resources, products, scrapping and remanufacturing products.
The common types of connection for automotive parts are welding, riveting, snap-on connection, threaded connection, and the like. In the disassembly process of retired automobile parts, the sizes of the bolts are not uniform, rust may exist at the joints of the threaded connection of the parts, 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 possibly cause harm to operators, and the method is neither environment-friendly nor safe.
Disclosure of Invention
According to the defects of the prior art, the invention aims to provide a method and a device for disassembling parts of a retired automobile with integrated eyes and hands, which are used for identifying the positions of target parts such as bolts, buckles and the like in a mode of guiding the eyes and hands in an integrated vision manner, controlling a multi-degree-of-freedom mechanical arm and a tail end disassembling device to directly or indirectly disassemble the target parts, realizing automatic intelligent disassembly of the retired automobile, and remarkably improving the manual operation environment and the disassembly efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme:
A method for disassembling parts of a hand-eye integrated retired automobile comprises the following steps:
step 1, installing an 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 end disassembling device comprises an industrial depth camera;
Step 2, carrying the tail end disassembling device by a multi-degree-of-freedom mechanical arm, and acquiring visual pictures of retired automobile parts by the industrial depth camera;
step3, judging the assembly constraint relation of a plurality of parts in the retired automobile through an image processing algorithm, and position and posture data of the parts;
step 4, 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 type among the parts;
and 5, controlling the industrial robot to move to a proper position according to the assembly relation of the parts and the position and posture data of the parts, executing direct or indirect disassembly, and sequentially releasing the assembly constraint relation of the parts.
Further, in the step 1, the end disassembling device includes a base, a telescopic member, a gripper and quick-change tools, the base is arranged at the 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 by a rotating motor arranged on the mechanical arm, the telescopic member is arranged at the bottom of the base, an industrial depth camera is arranged at the bottom of the telescopic member, three grippers are arranged on the side surface of the telescopic member and are centrally symmetrical relative to the industrial depth camera, 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 of one size, and a plurality of quick-change tools are regularly placed on a rack;
The step 3 comprises the following steps: step 31, the industrial depth camera takes a picture, an image is acquired in a target area, the image is transmitted into a computer through network port communication, and a lens of the industrial depth camera is rotated according to the acquired image, so that a paw of the industrial depth camera is exactly positioned in the center of the image;
Step 32, processing the image obtained in the step 31, identifying according to a contour identification algorithm, judging the assembly constraint relation among parts, determining the type of a target part, if only one regular hexagon contour appears, indicating that the outer contour is in hexagonal bolt connection, jumping to the step 33, if the outer contour appears to be circular, indicating that the inner contour is in hexagonal bolt connection, jumping to the step 313, if only one circular contour appears, indicating that the inner contour is in buckle connection, jumping to the step 318, and simultaneously obtaining the height H between the industrial depth camera and the target part;
step 33, recognizing six sides of the outer hexagon bolt according to a contour recognition algorithm, extracting one side, 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 travel of the paw according to the obtained vertical distance S in step 33, if yes, turning to step 35, otherwise turning to 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, and 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 in the two-dimensional plane, wherein the multi-degree-of-freedom mechanical arm controls the tail end disassembler to horizontally move from the initial position to reach the bolt center in the two-dimensional plane;
Step 36, calculating the angle required by the mechanical arm to rotate from the current position to the midpoint position B of the two end points of the extraction edge according to the midpoint coordinates B of the two end points obtained in the step 33, controlling the rotation of a rotating motor, and further driving the tail end disassembling device to rotate, so that the paw coincides with the connecting line of the center position coordinates A of the bolts and the midpoint coordinates B of the two end points;
Step 37, calculating a transverse distance M and a longitudinal distance N of the multi-degree-of-freedom mechanical arm which vertically moves from the current position to a bolt center position coordinate A according to the height H obtained in the step 32, wherein the multi-degree-of-freedom mechanical arm controls the vertical movement of the tail end disassembling device to reach the bolt center position coordinate A;
step 38, controlling three claws to be closed, wherein each claw is respectively contacted with three non-adjacent sides of the outer hexagon bolt, and the rotating motor is controlled to rotate anticlockwise by 180-240 degrees according to the fact that the rotating motor is controlled to stop rotating, and the rotating motor is repeated for a plurality of times, if the rotating motor is controlled to control the base to be unable to rotate, the step 39 is executed, and if the rotating motor is controlled to control the base to rotate normally, the step 310 is executed;
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 controls the base to rotate 180-240 degrees clockwise, if the torque of the rotating motor is detected to be not 0, the step 38 is carried out, if the torque of the rotating motor is detected to be 0, the step 311 is carried out;
Step 311, the multi-degree-of-freedom mechanical arm controls the tail end disassembling device to vertically move firstly, then horizontally move to an initial position, and three claws controlled by the telescopic piece are completely opened, so that an outer hexagon bolt falls into a container;
step 312, according to the vertical distance S from the central position coordinate A of the obtained bolt in step 33 to the extraction edge, judging the quick-change tool to be grasped, and controlling the three claws to be folded by the telescopic piece to grasp the quick-change tool;
step 313, identifying the target part as an inner hexagon bolt by the system, identifying the inner hexagon of the inner hexagon bolt according to an identification algorithm, extracting one side of the inner hexagon, calculating the center position coordinate A of the bolt, extracting two end points of the side, and obtaining the center point coordinate B of the two end points to obtain the vertical distance S from the center position coordinate A of the bolt to the extracted side;
step 314, judging the required to-be-grabbed hexagon quick-change disassembly tool according to the vertical distance S from the central position A of the bolt to the extraction edge obtained in step 313, controlling the mechanical arm to move to the upper part of the rack, grabbing the target quick-change tool by the disassembler, then calculating the relative distance N from the current position to the central position coordinate A of the bolt, planning the movement route of the mechanical arm with multiple degrees of freedom in a two-dimensional plane from the current position to the central position coordinate A of the bolt, and controlling the mechanical arm with multiple degrees of freedom to move horizontally from the current position to the central position of the bolt in the two-dimensional plane;
Step 315, calculating a longitudinal distance N from the current position to the bolt center position coordinate A of the multi-degree-of-freedom mechanical arm according to the height H obtained in the step 32, wherein the multi-degree-of-freedom mechanical arm controls the tail end disassembling device to vertically move to reach the bolt center position coordinate A;
step 316, the rotating motor controls the base to rotate 180-240 degrees anticlockwise, if the rotating motor controls the base to rotate, the step 310 is shifted to if the rotating motor controls the base to rotate, and if the rotating motor controls the base to rotate normally, the step 317 is shifted to;
Step 317, controlling the mechanical arm to move upwards for a certain distance along the longitudinal direction, controlling the base to rotate 180-240 degrees clockwise by the rotating motor, if the torque of the rotating motor is detected to be not 0, turning to step 316, if the torque of the rotating motor is detected to be 0, controlling the mechanical arm with multiple degrees of freedom to move vertically and then move horizontally to a quick-change tool rack, controlling the three claws to be fully opened by the telescopic piece, and placing the quick-change disassembling tool on the rack;
Step 318, the system identifies the target part as a round buckle type part, identifies the outer circle of the buckle according to an identification algorithm, and calculates the center position coordinate A of the buckle and the vertical distance S from the center position A of the buckle to the outer circle of the buckle;
Step 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 318, planning a movement route of the mechanical arm horizontally moving from the initial position to the coordinate A on the two-dimensional plane, and controlling the mechanical arm with multiple degrees of freedom to horizontally move from the initial position to the center position of the buckle on the two-dimensional plane;
step 320, calculating the distance L from the current position to the buckling position along the longitudinal direction of the multi-degree-of-freedom mechanical arm according to the height H obtained in the step 32, and controlling the multi-degree-of-freedom mechanical arm to carry the disassembling device to move along the longitudinal direction to reach the buckling position;
Step 321, controlling three claws to be closed according to the set clamping force, wherein each claw is contacted with the edge of the buckle, and controlling the mechanical arm to vertically move along the longitudinal vertical direction to pull out the buckle, if the mechanical arm can be smoothly pulled out, the step 322 is reached, and if the mechanical arm cannot be reached, the step 310 is reached;
step 322, controlling the mechanical arm with multiple degrees of freedom to do horizontal movement to move to an initial position, controlling the three claws to be completely opened, and completing the disassembly;
Step 323, if all the parts have been completely disassembled, the operation is finished.
Further, in step 310 and step 316, a torque sensor is provided on the rotating electric machine, and it is determined whether the rotating electric machine is completely disassembled or not by the torque sensor.
Further, the telescopic piece is controlled to stretch and retract through air pressure so as to control the opening and closing of the hand claw, when the opening and closing movement of the hand claw is realized, the clamping state of the target part is judged according to the working pressure value, and when the target part is clamped, the condition that the target part does not fall is that:
Under the condition of a certain safety coefficient:
Wherein: n-number of clamping jaws; f-required clamping force; μ -coefficient of friction; m-mass of the target part; g-gravitational acceleration; a-safety factor.
The utility model provides an retired car spare part dismounting device of hand-eye integration, includes multi freedom arm and terminal dismantlers, terminal dismantlers includes base, extensible member, paw and quick change instrument, the base is established multi freedom arm is terminal, multi freedom arm can drive the base up-and-down motion, back-and-forth motion and side-to-side motion, the base is through establishing rotation motor drive on the arm rotates, the extensible member is established the base bottom, the extensible member bottom is equipped with industry depth camera, three the paw is established the extensible member side and for industry depth camera is central symmetry, the extensible member can drive three the paw opens simultaneously or folds, the quick change instrument is regular hexagonal prism structure, quick change instrument bottom is equipped with the recess, every quick change instrument matches the bolt of a size, and a plurality of quick change instrument group is placed on the rack according to the range law, the quick change instrument can be grabbed by three the paw.
Further, the base is a flange plate, the telescopic piece is a three-jaw cylinder, and the claws are arranged on the three-jaw cylinder through the connecting blocks.
Further, the hand claw is of an inverted L-shaped structure, and anti-skid patterns are arranged on the inner side of the bottom of the hand claw.
Further, 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.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. According to the method and the device for disassembling the parts of the hand-eye integrated retired automobile, the multi-degree-of-freedom mechanical arm carries the tail end disassembling device and the industrial depth camera horizontally moves to the target area on the two-dimensional plane, the relative distance between the camera and the vertical direction of the target part is obtained through photographing by the industrial depth camera, the center position and the end point positions of each side of the target part are identified by adopting the target position and the contour identification method, the relative distance between the center of the camera and the center position of the target part in the horizontal direction is calculated, and the multi-degree-of-freedom mechanical arm and the paw are controlled to perform the direct or indirect disassembling work in a matched mode.
2. The method and the device for disassembling the parts of the retired automobile with the integrated hand and eye function are characterized in that the device is integrated with the hand and eye function, and different from other vision guiding systems, the system does not need to carry out complex coordinate conversion on a camera coordinate system, a ground coordinate system and a workpiece coordinate system after the hand and eye calibration, and the operation efficiency and the fault tolerance are high.
3. The method and the device for disassembling the parts of the hand-eye integrated retired automobile can adaptively disassemble, accurately position and identify, have simple and reliable structure, low use cost and high disassembly efficiency, and can disassemble various target parts.
Drawings
Fig. 1 is a schematic diagram of a method for disassembling parts of a retired automobile with hand and eye integration according to the present invention.
Fig. 2 is a flowchart of a process for disassembling a part of a retired automobile with hand and eye integration according to the present invention.
FIG. 3 is a schematic view of the end-to-end detacher of the present invention.
Fig. 4 is a schematic view of the quick-change tool of the present invention regularly placed on a stand.
Fig. 5 is a schematic structural diagram of a quick-change tool according to the present invention.
Fig. 6 is a schematic structural diagram of another quick-change tool according to the present invention.
Fig. 7 is a schematic view of a structure in which the end-dismantling device of the present invention directly breaks down bolts.
Fig. 8 is a schematic view of an indirect bolt disassembling structure of the end disassembling device of the invention.
Fig. 9 is a schematic structural view of the end disassembling device of the present invention for directly disassembling the buckle.
In the figure: 1. a base; 2. a telescoping member; 3. a tracheal interface; 4. a connecting block; 5. an electromagnetic valve; 6. an industrial depth camera; 7. a paw; 8. anti-skid lines; 9. a stand; 10. a quick-change tool; 11. and (5) a buckle.
Detailed Description
The technical solutions 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 should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
A method for disassembling parts of a hand-eye integrated retired automobile, as shown in fig. 1-9, comprising:
step1, installing 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 6;
step 2, carrying a tail end disassembling device by a multi-degree-of-freedom mechanical arm, and acquiring visual pictures of retired automobile parts by an industrial depth camera 6;
step3, judging the assembly constraint relation of a plurality of parts in the retired automobile through an image processing algorithm, and position and posture data of the parts;
step 4, 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 type among the parts;
And 5, controlling the industrial robot to move to a proper position according to the assembly relation of the parts and the position and posture data of the parts, executing direct or indirect disassembly, and sequentially releasing the assembly constraint relation of the parts.
In step 1, the end disassembling device comprises a base 1, a telescopic piece 2, claws 7 and quick-change tools 10, wherein the base 1 is arranged at the end 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, move back and forth and move left and right, the base 1 is driven to rotate by a rotating motor arranged on the mechanical arm, the telescopic piece 2 is arranged at the bottom of the base 1, an industrial depth camera 6 is arranged at the bottom of the telescopic piece 2, three claws 7 are arranged on the side face of the telescopic piece 2 and are centrally symmetrical relative to the industrial depth camera 6, the three claws 7 can be used for grabbing and releasing target parts, the quick-change tools 10 are of regular hexagonal prism structures, grooves are formed in the bottom of the quick-change tools 10, each quick-change tool 10 is matched with bolts of one size, a plurality of quick-change tools 10 are arranged on a bench 9 according to an arrangement rule, english letters are pasted on the quick-change tools 10 of different specifications, the telescopic piece 2 can drive the three claws 7 to be simultaneously unfolded or unfolded.
The step 3 comprises the following steps: step 31, the industrial depth camera 6 shoots, an image is acquired in a target area, the image is transmitted into a computer through internet access communication, and a lens of the industrial depth camera 6 is rotated according to the acquired image, so that a paw 7 of the industrial depth camera is exactly positioned in the middle position of the image;
Step 32, processing the image obtained in the step 31, identifying according to a contour identification algorithm, judging the assembly constraint relation among parts, determining the type of a target part, if only one regular hexagon contour appears, the outer hexagon is indicated to be connected through a hexagon bolt, jumping to the step 33, if the outer contour appears to be round, the inner contour appears to be connected through a hexagon bolt, jumping to the step 313, if only one round contour appears, the buckle 11 is indicated to be connected, jumping to the step 318, and meanwhile, the industrial depth camera 6 obtains the height H between the industrial depth camera and the target part;
step 33, recognizing six sides of the outer hexagon bolt according to a contour recognition algorithm, extracting one side, 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 travel of the paw 7 according to the obtained vertical distance S in step 33, if yes, turning to step 35, otherwise turning to step 312;
Step 35, calculating a relative distance M from a 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, and 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 in the two-dimensional plane, wherein the multi-degree-of-freedom mechanical arm controls the tail end disassembling device to horizontally move from the initial position to reach the bolt center in the two-dimensional plane;
Step 36, calculating an angle required by the mechanical arm to rotate from the current position to the midpoint position B of the two end points of the extraction edge of one hand claw 7 according to the midpoint coordinates B of the two end points obtained in the step 33, controlling the rotation of a rotating motor to further drive the tail end disassembling device to rotate, and enabling the hand claw 7 to coincide with a connecting line of the midpoint coordinates A of the two end points of the bolt;
Step 37, calculating a transverse distance M and a longitudinal distance N of the multi-degree-of-freedom mechanical arm which vertically moves from the current position to a bolt center position coordinate A according to the height H obtained in the step 32, wherein the multi-degree-of-freedom mechanical arm controls the vertical movement of the tail end disassembling device to reach the bolt center position coordinate A;
Step 38, controlling the three claws 7 to be closed, wherein each claw 7 is respectively contacted with three non-adjacent sides of the outer hexagon bolt, and the rotating motor is controlled to rotate 180-240 degrees anticlockwise according to the condition that the base 1 is controlled by the rotating motor, the rotating motor stops rotating and is repeated for a plurality of times, if the base 1 is controlled by the rotating motor to not rotate, the step 39 is performed, and if the base 1 is controlled by the rotating motor to rotate normally, the step 310 is performed;
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 rotating motor controls the base 1 to rotate 180-240 degrees clockwise, if the rotating motor torque is detected to be not 0, the step 38 is carried out, if the rotating motor torque is detected to be 0, the step 311 is carried out;
step 311, the multi-degree-of-freedom mechanical arm controls the tail end disassembling device to vertically move firstly, then horizontally move to an initial position, and three claws 7 controlled by the telescopic piece 2 are completely opened, so that an outer hexagon bolt falls into a container;
Step 312, according to the vertical distance S from the central position coordinate A of the obtained bolt in step 33 to the extraction edge, judging the quick-change tool 10 to be grasped, and controlling the three claws 7 to fold and grasp the quick-change tool 10 by the telescopic piece 2;
Step 313, identifying the connecting piece as an inner hexagon bolt by the system, identifying the inner hexagon of the inner hexagon bolt according to an identification algorithm, extracting one side of the inner hexagon, calculating the central position coordinate A of the bolt, extracting two end points of the side, and obtaining the midpoint coordinate B of the two end points to obtain the vertical distance S from the central position coordinate A of the bolt to the extracted side;
Step 314, judging the required to-be-grabbed hexagon quick-change disassembly tool according to the vertical distance S from the central position A of the bolt to the extraction edge obtained in step 313, controlling the mechanical arm to move to the position above the rack 9, grabbing the target quick-change tool 10 by the disassembler, calculating the relative distance N from the current position to the central position coordinate A of the bolt, planning the movement route of the mechanical arm with multiple degrees of freedom from the current position to the central position coordinate A of the bolt in the two-dimensional plane, and controlling the mechanical arm with multiple degrees of freedom to move horizontally from the current position to the central position of the bolt in the two-dimensional plane;
Step 315, calculating a longitudinal distance N from the current position to the bolt center position coordinate A of the multi-degree-of-freedom mechanical arm according to the height H obtained in the step 32, wherein the multi-degree-of-freedom mechanical arm controls the tail end disassembling device to vertically move to reach the bolt center position coordinate A;
Step 316, the rotating motor controls the base 1 to rotate 180-240 degrees anticlockwise, if the rotating motor controls the base 1 to rotate, the step 310 is shifted to if the rotating motor controls the base 1 to rotate, and if the rotating motor controls the base 1 to rotate normally, the step 317 is shifted to;
Step 317, controlling the mechanical arm to move upwards for a certain distance along the longitudinal direction, controlling the base 1 to rotate 180-240 degrees clockwise by the rotating motor, if the torque of the rotating motor is detected to be not 0, turning to step 316, if the torque of the rotating motor is detected to be 0, controlling the mechanical arm with multiple degrees of freedom to move vertically and then move horizontally to the rack 9 of the quick-change tool 10, controlling the three claws of the telescopic part 2 to be fully opened, and placing the quick-change dismounting tool on the rack 9;
step 318, the system recognizes that the connecting piece is a circular buckle 11 type part, recognizes the outer circle of the buckle 11 according to a recognition algorithm, and calculates the center position coordinate A of the buckle 11 and the vertical distance S from the center position A of the buckle 11 to the outer circle of the buckle 11;
Step 319, calculating a relative distance M from a midpoint position of the industrial depth camera 6 to the coordinate A according to the coordinate A obtained in the step 318, planning a movement route of the mechanical arm horizontally moving from an initial position to the coordinate A on a two-dimensional plane, and controlling the mechanical arm with multiple degrees of freedom to horizontally move from the initial position to reach the central position of the buckle 11 on the two-dimensional plane;
step 320, calculating the distance L from the current position to the position of the buckle 11 by the multi-degree-of-freedom mechanical arm according to the height H obtained in the step 32, and controlling the multi-degree-of-freedom mechanical arm to carry the disassembling device to move vertically along the longitudinal direction to reach the position of the buckle 11;
step 321, controlling the three claws 7 to be closed according to the set clamping force, wherein each claw 7 is contacted with the edge of the buckle 11, and controlling the mechanical arm to vertically move along the longitudinal vertical direction to pull out the buckle 11, if the mechanical arm can be smoothly pulled out, the step 322 is carried out, and if the mechanical arm cannot be carried out, the step 310 is carried out;
Step 322, controlling the mechanical arm with multiple degrees of freedom to horizontally move to an initial position, controlling the three claws 7 to be completely opened, and completing the disassembly;
Step 323, if all the parts have been completely disassembled, the operation is finished.
According to the automatic disassembling method for the hand-eye integrated bolt, the multi-degree-of-freedom mechanical arm carries the tail end disassembling device and the industrial depth camera 6 horizontally moves to a target area on a two-dimensional plane, the industrial depth camera 6 photographs to obtain the relative distance between the camera and the vertical direction of a target part, the center position and the end point positions of each side of the target part are identified by adopting a target position and contour identification method, the relative distance between the center of the camera and the horizontal direction of the center position of the target part is calculated, and the mechanical arm and the pneumatic gripper 7 are controlled to move in a matching mode to finish the disassembling work; the device is hand-eye integrated, and different from other visual guiding systems, the system does not need to carry out complex coordinate conversion on a camera coordinate system, a ground coordinate system and a workpiece coordinate system after hand-eye calibration, and has high operation efficiency and fault tolerance; the self-adaptive dismounting device has the advantages of self-adaptive dismounting, accurate positioning and identification, simple and reliable structure, low use cost and high dismounting efficiency, and can disassemble various retired automobile parts.
The invention utilizes the bionics principle to simulate the process of using a tool to disassemble the connecting piece by hands, and can select the disassembling tool according to the constraint condition of the connecting piece, and the quick-change tool 10 is used as the disassembling tool to adaptively disassemble bolts and other connecting pieces with different sizes. The present invention can provide two methods of disassembly, either directly by grabbing bolts or other connectors, or indirectly by grabbing the quick change tool 10.
According to the invention, in the process of disassembling the outer hexagon bolt and the inner hexagon bolt, the rotating motor controls the base 1 to repeatedly rotate clockwise for 180-240 degrees for many times, the manual action is simulated, the degree of rotation is prevented from being too low, the disassembly can be completed only by repeated times, the efficiency is low, the degree of rotation is also prevented from being too high, and the service life of the telescopic part 2 is prevented from being reduced after the telescopic part rotates for many times.
In step 310 and step 316, a torque sensor is provided on the rotating electric machine, and it is determined whether the target part is completely disassembled by the torque sensor. The rotating motor is a servo motor, the base 1 is driven by adopting a servo motor torque control mode, and then the three claws 7 are driven to do rotary motion, and the dismounting state of the bolts and the buckles 11 is judged according to the torque value while the rotary motion is realized.
The telescopic piece 2 is controlled to stretch through air pressure so as to control the opening and closing of the paw 7, when the movement of opening and closing of the paw 7 is realized, the clamping state of the target part is judged according to the working pressure value, and when the target part is clamped, the condition that the target part does not fall is that:
Under the condition of a certain safety coefficient:
Wherein: n-number of clamping jaws; f-required clamping force; μ -coefficient of friction; m-mass of the target part; g-gravitational acceleration; a-safety factor.
The utility model provides an retired car spare part dismounting device of hand-eye integration, refer to the fig. 2-9 and show, including multi freedom arm, terminal disassemble ware and a plurality of quick change tool 10, terminal disassemble the ware and include base 1, extensible member 2 and hand claw 7, base 1 establishes at multi freedom arm end, multi freedom arm can drive base 1 up-and-down motion, back-and-forth motion and left-right motion, base 1 is through establishing the rotation motor drive rotation on the arm, extensible member 2 establishes in base 1 bottom, extensible member 2 bottom is equipped with industry depth camera 6, three hand claw 7 are established in extensible member 2 side and be central symmetry for industry depth camera 6, extensible member 2 can drive three hand claw 7 and open or close simultaneously, quick change tool 10 is regular hexagonal prism structure, quick change tool 10 bottom is equipped with the hexagon recess, every quick change tool 10 matches the hexagon socket head cap screw of a size.
When the multi-degree-of-freedom mechanical arm is used, the industrial depth camera 6 of the telescopic piece 2 mounted in the tail end disassembling device is carried and moved to the vicinity of a target, an image is acquired through the industrial depth camera 6, the position information of the target is identified through image processing and edge profile extraction algorithms, the position information is output, the movement route of the multi-degree-of-freedom mechanical arm is planned, the base 1 can be moved through the multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom 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 driven to move up and down, move back and forth and move left and right, the telescopic piece 2 can drive the three claws 7 to open or close simultaneously, the outer hexagonal bolt, the buckle 11 or the quick-change tool 10 can be used for grabbing the inner hexagonal bolt, the outer hexagonal bolt or the quick-change tool 10 is rotated through the rotation motor driving the base 1, in addition, the outer hexagonal bolt or the inner hexagonal bolt is disassembled, in addition, the three claws 7 can be controlled to be closed, each claw 7 is contacted with the edge of the buckle 11, the multi-degree-of-freedom mechanical arm is controlled to move vertically along the longitudinal vertical direction, the automobile, and the buckle 11 is disassembled, and accordingly the parts are disassembled.
The invention is matched with an industrial robot to realize the 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 piece 2 is a three-jaw cylinder, and the claw 7 is arranged on the three-jaw cylinder through the connecting block 4. The cross-section of connecting block 4 is the cross, and connecting block 4 block is fixed on connecting block 4 through threaded connection, and three claw cylinder is last to be equipped with air pipe interface 3 and solenoid valve 5, and air pipe interface 3 is used for three claw cylinder air feed, and solenoid valve 5 is used for air three claw cylinder to open and close, and three claw cylinder passes through the ring flange and installs at the multi freedom arm end.
In order to prevent the claw 7 from slipping during disassembly, the claw 7 is of an inverted L-shaped structure, and anti-slip patterns 8 are arranged on the inner side of the bottom of the claw 7.
The industrial depth camera 6 is an RGB-D camera, and the relative distance between the industrial depth camera 6 and the vertical direction of the target bolt, namely the height H, can be directly obtained by penetrating the relevant wire of the industrial depth camera 6 from the opening on the side surface of the end disassembling device.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (3)
1. A method for disassembling a manual-visual integrated retired automobile part is characterized by comprising the following steps:
Step 1, installing 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, the tail end disassembling device comprises an industrial depth camera, 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 by a rotating motor arranged on the mechanical arm, the telescopic piece is arranged at the bottom of the base, the bottom of the telescopic piece is provided with an industrial depth camera, the three paws are arranged on the side face of the telescopic piece and are centrally symmetrical relative to the industrial depth camera, the quick-change tools are of a regular hexagonal prism structure, the bottom of each quick-change tool is provided with a groove, each quick-change tool is matched with a bolt of a size, and a plurality of quick-change tools are regularly placed on a rack;
Step 2, carrying the tail end disassembling device by a multi-degree-of-freedom mechanical arm, and acquiring visual pictures of retired automobile parts by the industrial depth camera;
step3, judging the assembly constraint relation of a plurality of parts in the retired automobile through an image processing algorithm, and position and posture data of the parts;
The step 3 comprises the following steps: step 31, the industrial depth camera takes a picture, an image is acquired in a target area, the image is transmitted into a computer through network port communication, and a lens of the industrial depth camera is rotated according to the acquired image, so that a paw of the industrial depth camera is exactly positioned in the center of the image;
Step 32, processing the image obtained in the step 31, identifying according to a contour identification algorithm, judging the assembly constraint relation among parts, determining the type of a target part, if only one regular hexagon contour appears, indicating that the outer contour is in hexagonal bolt connection, jumping to the step 33, if the outer contour appears to be circular, indicating that the inner contour is in hexagonal bolt connection, jumping to the step 313, if only one circular contour appears, indicating that the inner contour is in buckle connection, jumping to the step 318, and simultaneously obtaining the height H between the industrial depth camera and the target part;
step 33, recognizing six sides of the outer hexagon bolt according to a contour recognition algorithm, extracting one side, 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 travel of the paw according to the obtained vertical distance S in step 33, if yes, turning to step 35, otherwise turning to 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, and 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 in the two-dimensional plane, wherein the multi-degree-of-freedom mechanical arm controls the tail end disassembler to horizontally move from the initial position to reach the bolt center in the two-dimensional plane;
Step 36, calculating the angle required by the mechanical arm to rotate from the current position to the midpoint position B of the two end points of the extraction edge according to the midpoint coordinates B of the two end points obtained in the step 33, controlling the rotation of a rotating motor, and further driving the tail end disassembling device to rotate, so that the paw coincides with the connecting line of the center position coordinates A of the bolts and the midpoint coordinates B of the two end points;
Step 37, calculating a transverse distance M and a longitudinal distance N of the multi-degree-of-freedom mechanical arm which vertically moves from the current position to a bolt center position coordinate A according to the height H obtained in the step 32, wherein the multi-degree-of-freedom mechanical arm controls the vertical movement of the tail end disassembling device to reach the bolt center position coordinate A;
step 38, controlling three claws to be closed, wherein each claw is respectively contacted with three non-adjacent sides of the outer hexagon bolt, and the rotating motor is controlled to rotate anticlockwise by 180-240 degrees according to the fact that the rotating motor is controlled to stop rotating, and the rotating motor is repeated for a plurality of times, if the rotating motor is controlled to control the base to be unable to rotate, the step 39 is executed, and if the rotating motor is controlled to control the base to rotate normally, the step 310 is executed;
Step 39, checking the working state of the whole device by an operator;
Step 310, the rotating motor controls the base to rotate 180-240 degrees clockwise, if the torque of the rotating motor is detected to be not 0, the step 38 is carried out, if the torque of the rotating motor is detected to be 0, the step 311 is carried out;
Step 311, the multi-degree-of-freedom mechanical arm controls the tail end disassembling device to vertically move firstly, then horizontally move to an initial position, and three claws controlled by the telescopic piece are completely opened, so that an outer hexagon bolt falls into a container;
step 312, according to the vertical distance S from the central position coordinate A of the obtained bolt in step 33 to the extraction edge, judging the quick-change tool to be grasped, and controlling the three claws to be folded by the telescopic piece to grasp the quick-change tool;
step 313, identifying the target part as an inner hexagon bolt by the system, identifying the inner hexagon of the inner hexagon bolt according to an identification algorithm, extracting one side of the inner hexagon, calculating the center position coordinate A of the bolt, extracting two end points of the side, and obtaining the center point coordinate B of the two end points to obtain the vertical distance S from the center position coordinate A of the bolt to the extracted side;
step 314, judging the required to-be-grabbed hexagon quick-change disassembly tool according to the vertical distance S from the central position A of the bolt to the extraction edge obtained in step 313, controlling the mechanical arm to move to the upper part of the rack, grabbing the target quick-change tool by the disassembler, then calculating the relative distance N from the current position to the central position coordinate A of the bolt, planning the movement route of the mechanical arm with multiple degrees of freedom in a two-dimensional plane from the current position to the central position coordinate A of the bolt, and controlling the mechanical arm with multiple degrees of freedom to move horizontally from the current position to the central position of the bolt in the two-dimensional plane;
Step 315, calculating a longitudinal distance N from the current position to the bolt center position coordinate A of the multi-degree-of-freedom mechanical arm according to the height H obtained in the step 32, wherein the multi-degree-of-freedom mechanical arm controls the tail end disassembling device to vertically move to reach the bolt center position coordinate A;
Step 316, the rotating motor controls the base to rotate 180-240 degrees anticlockwise, if the rotating motor controls the base to rotate, the step 39 is turned to, if the rotating motor controls the base to rotate normally, the step 317 is turned to;
Step 317, controlling the mechanical arm to move upwards for a certain distance along the longitudinal direction, controlling the base to rotate 180-240 degrees clockwise by the rotating motor, if the torque of the rotating motor is detected to be not 0, turning to step 316, if the torque of the rotating motor is detected to be 0, controlling the mechanical arm with multiple degrees of freedom to move vertically and then move horizontally to a quick-change tool rack, controlling the three claws to be fully opened by the telescopic piece, and placing the quick-change disassembling tool on the rack;
Step 318, the system identifies the target part as a round buckle type part, identifies the outer circle of the buckle according to an identification algorithm, and calculates the center position coordinate A of the buckle and the vertical distance S from the center position A of the buckle to the outer circle of the buckle;
Step 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 318, planning a movement route of the mechanical arm horizontally moving from the initial position to the coordinate A on the two-dimensional plane, and controlling the mechanical arm with multiple degrees of freedom to horizontally move from the initial position to the center position of the buckle on the two-dimensional plane;
step 320, calculating the distance L from the current position to the buckling position along the longitudinal direction of the multi-degree-of-freedom mechanical arm according to the height H obtained in the step 32, and controlling the multi-degree-of-freedom mechanical arm to carry the disassembling device to move along the longitudinal direction to reach the buckling position;
Step 321, controlling three claws to be closed according to the set clamping force, wherein each claw is contacted with the edge of the buckle, and controlling the mechanical arm to vertically move along the longitudinal vertical direction to pull out the buckle, if the mechanical arm can be smoothly pulled out, the step 322 is carried out, and if the mechanical arm cannot be carried out, the step 39 is carried out;
step 322, controlling the mechanical arm with multiple degrees of freedom to do horizontal movement to move to an initial position, controlling the three claws to be completely opened, and completing the disassembly;
step 323, if all the parts are completely disassembled, ending the work;
step 4, 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 type among the parts;
and 5, controlling the industrial robot to move to a proper position according to the assembly relation of the parts and the position and posture data of the parts, executing direct or indirect disassembly, and sequentially releasing the assembly constraint relation of the parts.
2. The method for disassembling the parts of the hand-eye integrated retired automobile according to claim 1, wherein the method comprises the following steps: in step 310 and step 317, a torque sensor is provided on the rotating electric machine, and it is determined whether the motor is completely disassembled by the torque sensor.
3. The method for disassembling the parts of the hand-eye integrated retired automobile according to claim 2, wherein the method comprises the following steps: the telescopic piece is controlled to stretch through air pressure so as to control the opening and closing of the paw, when the movement of the opening and closing of the paw is realized, the clamping state of the target part is judged according to the working pressure value, and when the target part is clamped, the condition that the target part does not fall down is that:
Under the condition of a certain safety coefficient:
Wherein: n-number of clamping jaws; f-required clamping force; μ -coefficient of friction; m-mass of the target part; g-gravitational acceleration; a-safety factor.
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| CN114273747B (en) * | 2022-01-13 | 2023-04-25 | 华东交通大学 | Disassembling and cutting method and system for parts of auxiliary brake device of freight train |
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