CN113927265B - 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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- CN113927265B CN113927265B CN202111213218.1A CN202111213218A CN113927265B CN 113927265 B CN113927265 B CN 113927265B CN 202111213218 A CN202111213218 A CN 202111213218A CN 113927265 B CN113927265 B CN 113927265B
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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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Abstract
The invention discloses an end effector and a method for man-machine cooperation assembly, wherein the end effector comprises an end assembly, a flange end connecting column, a laser indicator lamp assembly, a camera assembly and a protective cover; the camera component is arranged on one side in the flange tail end connecting column, so that the wire plugging condition of the cabinet after each wire plugging is completed can be recorded, and the later tracing is facilitated; the laser indicator lamp is arranged on the other side of the flange tail end connecting column and is used for realizing the pointing function of the corresponding hole position of the plug; the tail end component is arranged on the flange tail end connecting column, and can be manually dragged to contact with the marking hole on the panel, so that the determination of the reference is realized. The end effector is arranged on the end flange of the cooperative robot, the indication of the indicator lamp on the hole site to be assembled can be realized, an auxiliary operator can rapidly acquire the accurate position to assemble the cable, the assembly efficiency is improved, the assembly accuracy is ensured, meanwhile, the photographing record can be carried out after the cable is arranged, and the traceability of the assembly process of the product is ensured.
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 installing the cables of each cabinet, the corresponding jack positions are required to be searched according to the serial numbers on the cable plugs and the process files, and then the jacks are carried out after manual confirmation, so that workers need to confirm the serial numbers of each cable during installation, the positions of the installation holes are required to be searched, the steps are required to be repeated for installing each cable, 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 part, 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, and this step of hole site searching has restricted to use traditional industrial robot to carry out automatic upgrading transformation to cable installation work, and cable installation task still relies on pure manual to accomplish at present. The quality of products can be guaranteed to a certain extent in the manual assembly, but the workload of workers is large, the production efficiency is low, meanwhile, the probability of false installation is also high in the manual assembly, a large amount of time is required to be spent for correction when errors occur, and after the manual assembly is completed, no data record is needed to inquire the inserted hole position of each cable, so that the later tracing is inconvenient.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an end effector and a method for man-machine cooperation assembly, wherein the end effector comprises an end assembly, a flange end connecting column, a laser indicator lamp assembly, a camera assembly and a protective cover; the camera component is arranged on one side in the flange tail end connecting column, so that the wire plugging condition of the cabinet after each wire plugging is completed can be recorded, and the later tracing is facilitated; the laser indicator lamp is arranged on the other side of the flange tail end connecting column and is used for realizing the pointing function of the corresponding hole position of the plug; the tail end component is arranged on the flange tail end connecting column, and can be manually dragged to contact with the marking hole on the panel, so that the determination of the reference is realized. The end effector is arranged on the end flange of the cooperative robot, the indication of the indicator lamp on the hole site to be assembled can be realized, an auxiliary operator can rapidly acquire the accurate position to assemble the cable, the assembly efficiency is improved, the assembly accuracy is ensured, meanwhile, the photographing record can be carried out after the cable is arranged, and the traceability of the assembly process of the product is ensured.
The technical scheme adopted for solving the technical problems is as follows:
an end effector for man-machine cooperation assembly comprises an end assembly, a flange end connecting column, a laser indicator lamp assembly, a camera assembly and a protective cover;
the tail end assembly comprises a probe, a probe cylinder base, a tail end and two buttons; the probe is matched with the internal and external threads of the probe cylinder base, and the probe cylinder base is matched with the internal and external threads of the tail end; the lower side wall of the tail end is provided with two holes, two buttons are respectively fixed in the two holes of the tail end through threaded sleeves, the inside of the tail end is hollow, and connecting wires of the two buttons extend into a flange tail end connecting column through the inside 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 assembly comprises a camera and a camera mounting frame; the camera is fixed on the camera mounting frame;
two sides of the flange tail end connecting column are fixedly connected with the camera mounting rack and the indicator light fixing plate respectively;
the protective cover is arranged on the periphery of the flange tail end connecting column, the laser indicator lamp assembly and the camera assembly, so that the protective cover plays a role in protection; the upper shell of the protective cover is provided with two through holes, the camera extends out of one through hole of the protective cover for photographing, and the laser indicator lamp extends out of the other through hole of the protective cover for indicating a hole site.
Further, the probe is arranged in a hemispherical shape, so that any sharp point contact is facilitated.
Further, the camera is fixed on the camera mounting frame by the guide bar and the two sides threaded connection of camera below, the camera mounting frame adopts four screw holes and the cooperation of flange terminal connection post.
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, used for the robot to pick up the probe sphere center TCP point.
A method of operating an end effector for human-machine cooperative 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 a workpiece reference hole;
step 3: dragging a mechanical arm of the robot to move, attaching the same reference hole on the tool from four different directions, and calculating a probe sphere center TCP point by using different flange positions;
step 4: the method comprises the steps of (1) calibrating a tool coordinate system by using a probe sphere center TCP point as an origin, an extension line of a robot arm as an X axis and a two-point world coordinate system method;
step 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: the operator clicks the green button, electrifies the robot, and manually drags the end effector to enable the hemispherical probe of the probe to be attached to any reference hole of the workpiece, clicks the green button again, locks the position of the robot, then presses the red button for T seconds for a long time, and records the current TCP point coordinates;
step 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 the coordinates of the center point of each reference hole of the workpiece;
step 8: an operator scans the plug label bar code by using a code scanning gun to obtain the information of the reference hole site into which the plug needs to be inserted;
step 9: the robot automatically recognizes the corresponding reference hole position information, and obtains the coordinates of the corresponding reference holes according to the coordinates of the center points of the reference holes of the workpiece obtained in the step 7;
step 10: the laser indicator emits laser to the corresponding reference hole according to the coordinates 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 of the indication;
step 12: the operating personnel uses the camera to take a picture the record after the plug wire is accomplished, confirms the correctness of plug wire again at the in-process of taking a picture the confirmation simultaneously for supplementary assembly process can trace back.
Further, the probe has a diameter between 1 and 1.5 times the diameter of the reference hole.
Further, the t=3.
The beneficial effects of the invention are as follows:
the end effector for man-machine cooperation assembly is used for reducing the labor intensity of workers in an unmanned aerial vehicle ground station for manual cable assembly operation of a communication control cabinet, improving the efficiency and accuracy of cable assembly, the end effector is arranged at the tail end of an industrial robot when the end effector is used, after the tool coordinate system and the workpiece coordinate system of the robot are calibrated, a code scanning gun is used for scanning a plug label bar code, a computer reads the position information of the plug, the coordinate position of an inserting hole is obtained by calling a workpiece hole coordinate set, after the industrial robot moves the end effector to the corresponding coordinate position, a laser indicator indicates the accurate position of the inserting hole, the workers insert the cable into the corresponding hole, and after the insertion is completed, a camera is used for photographing and recording, so that later tracing is facilitated. The whole working process not only utilizes the convenience of people when plugging wires to prevent a plurality of wires from being intertwined, but also utilizes a computer to find the accuracy and the rapidity of each plug to be plugged into a hole site, thereby effectively reducing the work load of workers and reducing the probability of false installation.
Drawings
Fig. 1 is a general assembly schematic of the present invention.
FIG. 2 is a schematic view of an 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 lamp of the present invention.
FIG. 4 is a schematic view of the connection of the end flange connection post to the camera module of the present invention.
FIG. 5 is a schematic view of the connection of the end flange connection post to the end assembly of the present invention.
In the figure: the device comprises a 1-probe, a 2-probe cylindrical base, a 3-terminal, a 4-laser indicator lamp, a 5-camera, a 6-protective cover, a 7-terminal flange connection column, an 8-indicator lamp fixing plate, a 9-button mounting hole and a 10-camera mounting frame.
Detailed Description
The invention will be further described with reference to the drawings and examples.
In order to improve the assembly efficiency of workers, the work 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, the position of mounting hole is suggested by the laser pilot lamp to use the camera to take a picture 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 connecting column 7, a laser indicator lamp assembly, a camera assembly and a protective cover 6; when the wiring of communication control cabinet is assembled to the workman, can realize finding fast and accurately that the plug wire corresponds the hole and shoot the function of record.
As shown in fig. 5, the tip assembly includes a probe 1, a probe cylinder base 2, a tip 3, and two buttons; the probe 1 is matched with the internal and external threads of the probe cylinder base 2, and the probe cylinder base 2 is matched with the internal and external threads of the tail end 3; 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 connecting wires of the two buttons extend into 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 assembly comprises a camera 5 and a camera mounting frame 10; the camera 5 is fixed on the camera mounting frame 10;
as shown in fig. 2, 3 and 4, two sides of the flange end connecting column 7 are respectively fixedly connected with the camera mounting frame 10 and the 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 upper shell of the protective cover 6 is provided with two through holes, the camera 5 extends out of one through hole of the protective cover 6 for photographing, and the laser indicator lamp 4 extends out of the other through hole of the protective cover 6 for indicating hole positions.
Further, the probe 1 is arranged in a hemispherical shape, so that any sharp point contact is facilitated.
Further, the camera 5 is fixed on the camera mounting frame 10 by a guide rod below the camera 5 and two side screw threads, and the camera mounting frame 10 is matched with the flange tail end connecting column 7 by adopting four screw holes.
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, used for the robot to pick up the probe sphere center TCP point.
A method of operating an end effector for human-machine cooperative 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 workpiece reference hole, wherein the diameter of the probe 1 is 1 to 1.5 times of the diameter of the reference hole;
step 3: dragging a mechanical arm of the robot to move, attaching the same reference hole on the tool from four different directions, and calculating a spherical center TCP point of the probe 1 by using different flange positions;
step 4: the method comprises the steps of (1) calibrating a tool coordinate system by using a spherical center TCP point of a probe 1 as an origin, an extension line of a robot arm as an X axis and a two-point world coordinate system method;
step 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: the operator clicks the green button, electrifies the robot, and manually drags the end effector to enable the hemispherical probe of the probe to be attached to any reference hole of the workpiece, clicks the green button again, locks the position of the robot, then presses the red button for T seconds for a long time, and records the current TCP point coordinates;
step 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 the coordinates of the center point of each reference hole of the workpiece;
step 8: an operator scans the plug label bar code by using a code scanning gun to obtain the information of the reference hole site into which the plug needs to be inserted;
step 9: the robot automatically recognizes the corresponding reference hole position information, and obtains the coordinates of the corresponding reference holes according to the coordinates of the center points of the reference holes of the workpiece obtained in the step 7;
step 10: the laser indicator emits laser to the corresponding reference hole according to the coordinates 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 of the indication;
step 12: the operating personnel uses camera 5 to take a photograph the record after the plug wire is accomplished, confirms the correctness of plug wire again at the in-process of taking a photograph the confirmation simultaneously for supplementary assembly process can trace back.
Claims (7)
1. The end effector for man-machine cooperation assembly is characterized by comprising an end assembly, a flange end connecting column, a laser indicator lamp assembly, a camera assembly and a protective cover;
the tail end assembly comprises a probe, a probe cylinder base, a tail end and two buttons; the probe is matched with the internal and external threads of the probe cylinder base, and the probe cylinder base is matched with the internal and external threads of the tail end; the lower side wall of the tail end is provided with two holes, two buttons are respectively fixed in the two holes of the tail end through threaded sleeves, the inside of the tail end is hollow, and connecting wires of the two buttons extend into a flange tail end connecting column through the inside 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 assembly comprises a camera and a camera mounting frame; the camera is fixed on the camera mounting frame;
two sides of the flange tail end connecting column are fixedly connected with the camera mounting rack and the indicator light fixing plate respectively;
the protective cover is arranged on the periphery of the flange tail end connecting column, the laser indicator lamp assembly and the camera assembly, so that the protective cover plays a role in protection; the upper shell of the protective cover is provided with two through holes, the camera extends out of one through hole of the protective cover for photographing, and the laser indicator lamp extends out of the other through hole of the protective cover for indicating a hole site.
2. An end effector for use in a human-computer cooperative assembly according to claim 1, wherein the probe is configured in a hemispherical shape to facilitate any sharp point contact.
3. The end effector for man-machine cooperative assembly according to claim 1, wherein the camera is fixed on a camera mounting frame by a guide rod below the camera and two side screw threads, and the camera mounting frame is matched with the flange end connecting column by adopting four screw holes.
4. An end effector for use in a human-machine cooperative assembly as claimed in claim 1, wherein one of the two buttons is green for powering on the robot and locking the robot position; the other is red, used for the robot to pick up the probe sphere center TCP point.
5. A method of operating an end effector as claimed in claim 1, 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 a workpiece reference hole;
step 3: dragging a mechanical arm of the robot to move, attaching the same reference hole on the tool from four different directions, and calculating a probe sphere center TCP point by using different flange positions;
step 4: the method comprises the steps of (1) calibrating a tool coordinate system by using a probe sphere center TCP point as an origin, an extension line of a robot arm as an X axis and a two-point world coordinate system method;
step 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: the operator clicks the green button, electrifies the robot, and manually drags the end effector to enable the hemispherical probe of the probe to be attached to any reference hole of the workpiece, clicks the green button again, locks the position of the robot, then presses the red button for T seconds for a long time, and records the current TCP point coordinates;
step 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 the coordinates of the center point of each reference hole of the workpiece;
step 8: an operator scans the plug label bar code by using a code scanning gun to obtain the information of the reference hole site into which the plug needs to be inserted;
step 9: the robot automatically recognizes the corresponding reference hole position information, and obtains the coordinates of the corresponding reference holes according to the coordinates of the center points of the reference holes of the workpiece obtained in the step 7;
step 10: the laser indicator emits laser to the corresponding reference hole according to the coordinates 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 of the indication;
step 12: the operating personnel uses the camera to take a picture the record after the plug wire is accomplished, confirms the correctness of plug wire again at the in-process of taking a picture the confirmation simultaneously for supplementary assembly process can trace back.
6. The method of operating an end effector as recited in 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
|---|---|---|---|
| CN202111213218.1A CN113927265B (en) | 2021-10-19 | 2021-10-19 | End effector and method for man-machine cooperation assembly |
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| Publication Number | Publication Date |
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| CN113927265A CN113927265A (en) | 2022-01-14 |
| CN113927265B true CN113927265B (en) | 2023-05-09 |
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| JP7064884B2 (en) * | 2018-01-05 | 2022-05-11 | 株式会社Ｆｄｋエンジニアリング | Calibration method of parts assembly device |
| CN111791227B (en) * | 2019-12-31 | 2022-03-11 | 深圳市豪恩声学股份有限公司 | Robot hand-eye calibration method and device and robot |
| CN111571596B (en) * | 2020-05-26 | 2022-11-11 | 上海交通大学 | Method and system for correcting errors of metallurgical plug-in assembly operation robot by using vision |
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