CN113927265A - End effector and method for man-machine cooperation assembly - Google Patents
End effector and method for man-machine cooperation assembly Download PDFInfo
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- CN113927265A CN113927265A CN202111213218.1A CN202111213218A CN113927265A CN 113927265 A CN113927265 A CN 113927265A CN 202111213218 A CN202111213218 A CN 202111213218A CN 113927265 A CN113927265 A CN 113927265A
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- camera
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Automatic Assembly (AREA)
Abstract
The invention discloses an end effector and a method for man-machine cooperation assembly, wherein the end effector comprises an end component, a flange end connecting column, a laser indicator lamp component, a camera component and a protective cover; the camera assembly is arranged on one side in the connecting column at the tail end of the flange, so that the plugging condition of the cabinet after plugging is finished every time can be recorded, and the tracing is convenient to carry out in the later period; the laser indicator lamp is arranged on the other side of the connecting column at the tail end of the flange and used for achieving the pointing function of the corresponding hole position of the plug; the terminal component is arranged on the flange terminal connecting column, and can be manually dragged to contact the marking holes on the panel, so that the reference determination is realized. This end effector installs in cooperation robot end flange, can realize the pilot lamp to the instruction of required assembly hole site, and supplementary operating personnel obtains the accurate position with this rapidly and assembles, improves cable assembly efficiency, guarantees the assembly rate of correctness, can shoot the record after the cable installation is accomplished simultaneously, guarantees product assembly process traceability.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an end effector and a method.
Background
One communication control cabinet in a drone ground station typically contains 2 to 3 cabinets. When the cables of each cabinet are installed, corresponding jack positions are required to be searched according to serial numbers on the cable plugs and compared with process files, then jacks are carried out after manual confirmation, therefore, workers need to confirm serial numbers of each cable firstly when installing, the positions of the installation holes are searched, the steps are repeated when each cable is installed, a large amount of time for installing the cables is occupied, and the efficiency of the whole installation process is influenced. Because the cable belongs to flexible component, traditional industrial robot is difficult to carry out accurate operation to it to along with the increase of communication control cabinet function, the quantity of cable also can increase thereupon, this step is looked for to the hole site has restricted to use traditional industrial robot to carry out automatic upgrading transformation to cable installation work, and present cable installation task still relies on pure manual to accomplish. Although the quality of product can be guaranteed to a certain extent to pure manual assembly, workman's work load is big, production efficiency is low, and the probability that takes place the mistake and adorn when artifical installation simultaneously is also very big, need spend a large amount of time to revise when the mistake appears to after artifical installation is accomplished, do not have the data record to inquire every cable male hole site, the inconvenient later stage is traceed back.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an end effector for man-machine cooperation assembly and a method, wherein the end effector comprises an end component, a flange end connecting column, a laser indicator lamp component, a camera component and a protective cover; the camera assembly is arranged on one side in the connecting column at the tail end of the flange, so that the plugging condition of the cabinet after plugging is finished every time can be recorded, and the tracing is convenient to carry out in the later period; the laser indicator lamp is arranged on the other side of the connecting column at the tail end of the flange and used for achieving the pointing function of the corresponding hole position of the plug; the terminal component is arranged on the flange terminal connecting column, and can be manually dragged to contact the marking holes on the panel, so that the reference determination is realized. This end effector installs in cooperation robot end flange, can realize the pilot lamp to the instruction of required assembly hole site, and supplementary operating personnel obtains the accurate position with this rapidly and assembles, improves cable assembly efficiency, guarantees the assembly rate of correctness, can shoot the record after the cable installation is accomplished simultaneously, guarantees product assembly process traceability.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an end effector for man-machine cooperation assembly comprises an end component, a flange end connecting column, a laser indicator lamp component, a camera component and a protective cover;
the tail end component comprises a probe, a probe cylindrical base, a tail end and two buttons; the probe is matched with the inner thread and the outer thread of the probe cylindrical base, and the probe cylindrical base is matched with the inner thread and the outer thread of the tail end; two holes are formed in the side wall of the lower portion of the tail end, the two buttons are fixed in the two holes in the tail end through threaded sleeves respectively, the interior of the tail end is hollow, and a connecting line of the two buttons extends to the interior of a connecting column at the tail end of the flange through the interior of the tail end; the bottom of the tail end is fixed at the upper end of the flange tail end connecting column;
the laser indicator lamp assembly comprises a laser indicator lamp and an indicator lamp fixing plate; the laser indicator lamp is fixed on the indicator lamp fixing plate;
the camera component comprises a camera and a camera mounting rack; the camera is fixed on the camera mounting frame;
two sides of the flange tail end connecting column are respectively fixedly connected with the camera mounting frame and the indicator lamp fixing plate;
the protective cover is arranged on the periphery of the flange tail end connecting column, the laser indicator lamp assembly and the camera assembly, and plays a role in protection; the casing is equipped with two through-holes on the safety cover, the camera stretches out from a through-hole of safety cover and is used for shooing, the laser indicator stretches out from another through-hole of safety cover and is used for instructing the hole site.
Furthermore, the probe is arranged to be hemispherical, so that any sharp point can be conveniently contacted.
Further, the camera is fixed on the camera mounting bracket by guide bar and both sides threaded connection of camera below, the camera mounting bracket adopts four screw holes and flange end connection post cooperation.
Further, one of the two buttons is green, and is used for powering on the robot and locking the position of the robot; the other is red for the robot to pick up the probe sphere center TCP point.
A method of operating an end effector for cooperative human assembly, comprising the steps of:
step 1: mounting an end effector on an end flange of a robot arm;
step 2: selecting the size of a probe according to the size of the workpiece reference hole;
and step 3: dragging a mechanical arm of the robot to move, fitting the same datum hole on the tool from four different directions, and calculating a TCP point of the spherical center of the probe by using different flange positions;
and 4, step 4: calibrating a tool coordinate system by using a two-point world coordinate system method by taking a TCP point of the sphere center of the probe as an original point and an extension line of the robot arm as an X axis;
and 5: establishing a three-dimensional model of the workpiece, and establishing a workpiece coordinate system by taking any point on the workpiece as an origin;
step 6: an operator clicks a green button, the robot is electrified, the end effector is manually dragged, a hemispherical probe of the probe is attached to any reference hole of the workpiece, the green button is clicked again, the position of the robot is locked, then the red button is pressed for T seconds for a long time, and the current TCP point coordinate is recorded;
and 7: selecting reference holes which are not on the same straight line, repeating the step 6 for more than 3 times, and calibrating a workpiece coordinate system to obtain coordinates of the center point of each reference hole of the workpiece;
and 8: an operator scans the bar code of the plug label by using a code scanning gun to obtain the reference hole position information required to be inserted by the plug;
and step 9: the robot automatically identifies the corresponding datum hole position information, and obtains the coordinates of the corresponding datum holes according to the coordinates of the center points of the datum holes of the workpiece obtained in the step 7;
step 10: the laser indicator emits laser to the corresponding reference hole according to the coordinate of the corresponding reference hole, and indicates the specific position of the reference hole to be inserted;
step 11: the operator inserts the plug into the corresponding reference hole;
step 12: the camera is used by an operator to take a picture after the plug wire is finished, and the correctness of the plug wire is confirmed again in the shooting confirmation process, so that the auxiliary assembly process can be traced.
Further, the diameter of the probe is between 1 and 1.5 times the diameter of the reference hole.
Further, T ═ 3.
The invention has the following beneficial effects:
the invention provides an end effector for man-machine cooperation assembly, which is used for reducing the labor intensity of a worker in a ground station of an unmanned aerial vehicle for manually assembling a communication control cabinet by a cable and improving the efficiency and accuracy of cable assembly. The whole working process utilizes the convenience of people in wire plugging to prevent a plurality of wires from being wound, and utilizes a computer to find the accuracy and rapidity of each plug needing to be plugged into a hole site, so that the workload of workers can be effectively reduced, and the misloading probability is reduced.
Drawings
Fig. 1 is a general assembly schematic of the present invention.
FIG. 2 is a schematic view of the end flange connection column of the present invention.
FIG. 3 is a schematic view of the connection of the end flange connection post and the laser indicator light of the present invention.
Fig. 4 is a schematic view of the connection between the terminal flange connection post and the camera module according to the present invention.
FIG. 5 is a schematic view of the connection of the terminal flanged connection post to the terminal assembly of the present invention.
In the figure: the probe comprises a probe 1, a probe cylindrical base 2, a probe end 3, a laser indicator lamp 4, a camera 5, a protective cover 6, a flange connecting column 7, an indicator lamp fixing plate 8, a button mounting hole 9 and a camera mounting rack 10.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
In order to improve the assembly efficiency of workers, the working load is reduced, and the assembly precision is ensured. The invention provides an end effector for man-machine cooperation assembly. Through probe location work reference surface, by the position of laser pilot lamp suggestion mounting hole to use the camera to shoot the record after the plug wire is accomplished, make supplementary assembly process traceable, guarantee assembly quality.
As shown in fig. 1, an end effector for man-machine cooperation assembly comprises an end assembly, a flange end connection column 7, a laser indicator lamp assembly, a camera assembly and a protective cover 6; when the workman assembles the wiring of communication control cabinet, can realize the function that accurately finds the plug wire and corresponds the hole and take a picture the record fast.
As shown in fig. 5, the tip assembly comprises a probe 1, a probe cylinder base 2, a tip 3 and two buttons; the probe 1 is matched with the probe cylindrical base 2 through internal and external threads, and the probe cylindrical base 2 is matched with the tail end 3 through the internal and external threads; two holes are formed in the side wall of the lower part of the tail end 3, two buttons are respectively fixed in the two holes of the tail end 3 through threaded sleeves, the inside of the tail end 3 is hollow, and a connecting line of the two buttons extends to the inside of a flange tail end connecting column 7 through the inside of the tail end 3; the bottom of the tail end 3 is fixed at the upper end of a flange tail end connecting column 7;
the laser indicator lamp assembly comprises a laser indicator lamp 4 and an indicator lamp fixing plate 8; the laser indicator lamp 4 is fixed on the indicator lamp fixing plate 8;
the camera component comprises a camera 5 and a camera mounting rack 10; the camera 5 is fixed on the camera mounting frame 10;
as shown in fig. 2, 3 and 4, both sides of the flange tail end connecting column 7 are respectively and fixedly connected with a camera mounting frame 10 and an indicator lamp fixing plate 8;
the protective cover 6 is arranged on the periphery of the flange tail end connecting column 7, the laser indicator lamp assembly and the camera assembly, and plays a role in protection; the casing is equipped with two through-holes on the safety cover 6, camera 5 stretches out from a through-hole of safety cover 6 and is used for shooing, laser indicator 4 stretches out from another through-hole of safety cover 6 and is used for instructing the hole site.
Further, the probe 1 is arranged to be hemispherical, so that any sharp point can be conveniently contacted.
Further, camera 5 is fixed on camera mounting bracket 10 by guide bar and both sides threaded connection of camera 5 below, camera mounting bracket 10 adopts four screw holes and the cooperation of flange end connection post 7.
Further, one of the two buttons is green, and is used for powering on the robot and locking the position of the robot; the other is red for the robot to pick up the probe sphere center TCP point.
A method of operating an end effector for cooperative human assembly, comprising the steps of:
step 1: mounting an end effector on an end flange of a robot arm;
step 2: selecting the size of the probe 1 according to the size of the reference hole of the workpiece, wherein the diameter of the probe 1 is 1 to 1.5 times of the diameter of the reference hole;
and step 3: dragging a mechanical arm of the robot to move, fitting the same datum hole on the tool from four different directions, and calculating a spherical center TCP point of the probe 1 by using different flange positions;
and 4, step 4: calibrating a tool coordinate system by using a two-point world coordinate system method by taking a sphere center TCP point of the probe 1 as an origin and an extension line of a robot arm as an X axis;
and 5: establishing a three-dimensional model of the workpiece, and establishing a workpiece coordinate system by taking any point on the workpiece as an origin;
step 6: an operator clicks a green button, the robot is electrified, the end effector is manually dragged, a hemispherical probe of the probe is attached to any reference hole of the workpiece, the green button is clicked again, the position of the robot is locked, then the red button is pressed for T seconds for a long time, and the current TCP point coordinate is recorded;
and 7: selecting reference holes which are not on the same straight line, repeating the step 6 for more than 3 times, and calibrating a workpiece coordinate system to obtain coordinates of the center point of each reference hole of the workpiece;
and 8: an operator scans the bar code of the plug label by using a code scanning gun to obtain the reference hole position information required to be inserted by the plug;
and step 9: the robot automatically identifies the corresponding datum hole position information, and obtains the coordinates of the corresponding datum holes according to the coordinates of the center points of the datum holes of the workpiece obtained in the step 7;
step 10: the laser indicator emits laser to the corresponding reference hole according to the coordinate of the corresponding reference hole, and indicates the specific position of the reference hole to be inserted;
step 11: the operator inserts the plug into the corresponding reference hole;
step 12: the operating personnel uses camera 5 to shoot the record after the plug wire is accomplished, confirms the exactness of plug wire again at the in-process of confirming of shooing simultaneously for supplementary assembly process can be traceed back.
Claims (7)
1. An end effector for man-machine cooperation assembly is characterized by comprising an end component, a flange end connecting column, a laser indicator lamp component, a camera component and a protective cover;
the tail end component comprises a probe, a probe cylindrical base, a tail end and two buttons; the probe is matched with the inner thread and the outer thread of the probe cylindrical base, and the probe cylindrical base is matched with the inner thread and the outer thread of the tail end; two holes are formed in the side wall of the lower portion of the tail end, the two buttons are fixed in the two holes in the tail end through threaded sleeves respectively, the interior of the tail end is hollow, and a connecting line of the two buttons extends to the interior of a connecting column at the tail end of the flange through the interior of the tail end; the bottom of the tail end is fixed at the upper end of the flange tail end connecting column;
the laser indicator lamp assembly comprises a laser indicator lamp and an indicator lamp fixing plate; the laser indicator lamp is fixed on the indicator lamp fixing plate;
the camera component comprises a camera and a camera mounting rack; the camera is fixed on the camera mounting frame;
two sides of the flange tail end connecting column are respectively fixedly connected with the camera mounting frame and the indicator lamp fixing plate;
the protective cover is arranged on the periphery of the flange tail end connecting column, the laser indicator lamp assembly and the camera assembly, and plays a role in protection; the casing is equipped with two through-holes on the safety cover, the camera stretches out from a through-hole of safety cover and is used for shooing, the laser indicator stretches out from another through-hole of safety cover and is used for instructing the hole site.
2. An end effector for ergonomic assembly of claim 1 wherein said probe is configured as a hemisphere to facilitate any sharp point contact.
3. The end effector for man-machine cooperation assembly according to claim 1, wherein the camera is fixed on the camera mounting frame through a guide rod below the camera and two-side threaded connection, and the camera mounting frame adopts four threaded holes to be matched with the flange end connecting column.
4. An end effector for ergonomic fit of claim 1 wherein said two buttons are green one for powering the robot and locking the robot position; the other is red for the robot to pick up the probe sphere center TCP point.
5. A method of operating an end effector for cooperative human assembly, comprising the steps of:
step 1: mounting an end effector on an end flange of a robot arm;
step 2: selecting the size of a probe according to the size of the workpiece reference hole;
and step 3: dragging a mechanical arm of the robot to move, fitting the same datum hole on the tool from four different directions, and calculating a TCP point of the spherical center of the probe by using different flange positions;
and 4, step 4: calibrating a tool coordinate system by using a two-point world coordinate system method by taking a TCP point of the sphere center of the probe as an original point and an extension line of the robot arm as an X axis;
and 5: establishing a three-dimensional model of the workpiece, and establishing a workpiece coordinate system by taking any point on the workpiece as an origin;
step 6: an operator clicks a green button, the robot is electrified, the end effector is manually dragged, a hemispherical probe of the probe is attached to any reference hole of the workpiece, the green button is clicked again, the position of the robot is locked, then the red button is pressed for T seconds for a long time, and the current TCP point coordinate is recorded;
and 7: selecting reference holes which are not on the same straight line, repeating the step 6 for more than 3 times, and calibrating a workpiece coordinate system to obtain coordinates of the center point of each reference hole of the workpiece;
and 8: an operator scans the bar code of the plug label by using a code scanning gun to obtain the reference hole position information required to be inserted by the plug;
and step 9: the robot automatically identifies the corresponding datum hole position information, and obtains the coordinates of the corresponding datum holes according to the coordinates of the center points of the datum holes of the workpiece obtained in the step 7;
step 10: the laser indicator emits laser to the corresponding reference hole according to the coordinate of the corresponding reference hole, and indicates the specific position of the reference hole to be inserted;
step 11: the operator inserts the plug into the corresponding reference hole;
step 12: the camera is used by an operator to take a picture after the plug wire is finished, and the correctness of the plug wire is confirmed again in the shooting confirmation process, so that the auxiliary assembly process can be traced.
6. The method of claim 5, wherein the probe has a diameter between 1 and 1.5 times the diameter of the reference hole.
7. The method of claim 5, wherein T-3 is provided.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111213218.1A CN113927265B (en) | 2021-10-19 | 2021-10-19 | End effector and method for man-machine cooperation assembly |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111213218.1A CN113927265B (en) | 2021-10-19 | 2021-10-19 | End effector and method for man-machine cooperation assembly |
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| CN113927265A true CN113927265A (en) | 2022-01-14 |
| CN113927265B CN113927265B (en) | 2023-05-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115741780A (en) * | 2022-11-29 | 2023-03-07 | 中国电子科技集团公司第四十四研究所 | Multi-axis mechanical arm device capable of operating pulling mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2019119005A (en) * | 2018-01-05 | 2019-07-22 | 株式会社Ｆｄｋエンジニアリング | Calibration method of component assembly device |
| CN111571596A (en) * | 2020-05-26 | 2020-08-25 | 上海交通大学 | Method and system for correcting errors of metallurgical plug-in assembly operation robot by using vision |
| CN111791227A (en) * | 2019-12-31 | 2020-10-20 | 深圳市豪恩声学股份有限公司 | Robot hand-eye calibration method and device and robot |
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2021
- 2021-10-19 CN CN202111213218.1A patent/CN113927265B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2019119005A (en) * | 2018-01-05 | 2019-07-22 | 株式会社Ｆｄｋエンジニアリング | Calibration method of component assembly device |
| CN111791227A (en) * | 2019-12-31 | 2020-10-20 | 深圳市豪恩声学股份有限公司 | Robot hand-eye calibration method and device and robot |
| CN111571596A (en) * | 2020-05-26 | 2020-08-25 | 上海交通大学 | Method and system for correcting errors of metallurgical plug-in assembly operation robot by using vision |
Non-Patent Citations (1)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115741780A (en) * | 2022-11-29 | 2023-03-07 | 中国电子科技集团公司第四十四研究所 | Multi-axis mechanical arm device capable of operating pulling mechanism |
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| CN113927265B (en) | 2023-05-09 |
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