CN114486517A - Servo loading device and method based on industrial robot system - Google Patents
Servo loading device and method based on industrial robot system Download PDFInfo
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Abstract
The invention discloses a servo loading device and a method based on an industrial robot system, wherein the servo loading device at least comprises a control end, a servo loading end effector and a normal measurement sensor; the servo loading end effector is arranged on an industrial robot system; the normal measurement sensor is used for acquiring distance information between the loading end and a loaded point; the control end is used for: calculating the normal deviation value of the loaded point based on the distance information between the loading end and the loaded point; based on the normal deviation value of the loaded point, the loading direction of the follow-up loading end effector is controlled by the industrial robot system to be adjusted, so that the loading direction is overlapped with the normal direction of the loaded point, and the problems that the loaded point is not perpendicular to the airfoil chord plane and the loading direction changes due to large deformation, the deformation is larger, and the angular deviation of the load is larger are solved.
Description
Technical Field
The invention relates to the technical field of test and test, in particular to a follow-up loading device and a follow-up loading method based on an industrial robot system.
Background
Unmanned aerial vehicle will obtain extensive application in future military field and civilian field during high long voyage, and this kind of unmanned aerial vehicle takes the first place in order to investigation and collect the aspect to compromise the strike function, need have high altitude long voyage big load capacity, this just requires that the unmanned aerial vehicle wing has fairly big aspect ratio, but because combined material is in unmanned aerial vehicle's use in a large number, has aggravated the deformation of this kind of wing. The surface of the wing is mainly acted by aerodynamic load in the flying process, and the load direction is always the normal direction of the surface of the wing, so that in order to better simulate the loading condition of the wing in the wing structural strength test, the most accurate method is that the loading direction can be adjusted and changed along with the deformation of the wing, and the aim of always keeping the loading direction vertical to the plane of the wing chord is achieved.
According to the requirement that static tests must be carried out on important parts of an airplane for research and development, which is provided by the national military standard, the wing test is the most effective, reliable and direct method for acquiring the mechanical system of the wing. The wing test needs to simplify the loads (pneumatic loads, inertial loads and concentrated loads) borne by the airplane during flying into concentrated loads with limited quantity, and then the loading points are combined in multiple stages through a loading system to realize loading of all stages of loads. However, the main problems existing in the static force test of the wing currently are as follows: because the wing deformation is very big, there is certain deviation in experimental data and theoretical calculation, and the deformation is bigger, and the deviation is more obvious. The research shows that the loading error is mainly caused by that the loading point is not perpendicular to the chord plane of the airfoil surface due to large deformation, the loading direction is changed, and the larger the deformation is, the larger the angular deviation of the load is. Therefore, it is necessary to ensure load application accuracy under large deformation conditions of the wing.
Disclosure of Invention
The invention aims to provide a follow-up loading device and a follow-up loading method based on an industrial robot system, which can ensure the accuracy of load application.
In order to achieve the purpose, the invention provides the following scheme:
a servo loading device based on an industrial robot system at least comprises a control end, a servo loading end effector and a normal measurement sensor;
the servo loading end effector is mounted on the industrial robot system;
the normal measurement sensors include a first set of ranging sensors and a second set of ranging sensors; the first group of ranging sensors and the second group of ranging sensors both comprise two ranging sensors which are symmetrically distributed on the loading end of the follow-up loading end effector, and the relation between a connecting line between the two ranging sensors in the first group of ranging sensors and a connecting line between the two ranging sensors in the second group of ranging sensors is a vertical relation;
the normal measurement sensor is used for acquiring distance information between the loading end and a loaded point; the loaded point is any point in the loading area; the loading area is an area in the loaded workpiece;
the control end is used for:
calculating a normal deviation value of the loaded point based on the distance information between the loading end and the loaded point;
controlling the industrial robot system to execute a first operation based on the normal deviation value of the loaded point; the first operation is to adjust a loading direction of the follow-up loading end effector such that the loading direction coincides with a normal to the loaded point.
Optionally, the industrial robot system at least comprises a robot body and a robot control cabinet for controlling the robot body to move;
the follow-up loading end effector is arranged on the robot body through a flange plate;
the control end is used for sending the normal deviation value of the loaded point to the robot control cabinet;
the robot control cabinet is used for adjusting the motion direction of the robot body based on the normal deviation value of the loaded point, and further adjusting the loading direction of the follow-up loading end effector so that the loading direction is overlapped with the normal direction of the loaded point.
Optionally, in the aspect of calculating the normal deviation value of the loaded point based on the distance information between the loading end and the loaded point, the control end is further configured to:
calculating a rotation angle on the follower loading end effector about an X-axis based on the first distance and the second distance; the first distance is a distance between a loading end and a loaded point, which are acquired by one distance sensor in the first group of distance measuring sensors, and the second distance is a distance between a loading end and a loaded point, which are acquired by the other distance sensor in the first group of distance measuring sensors;
calculating a rotation angle on the follow-up loading end effector about the Y axis based on the third distance and the fourth distance; the third distance is a distance between a loading end and a loaded point, which are acquired by one distance sensor in the second group of distance measuring sensors, and the fourth distance is a distance between a loading end and a loaded point, which are acquired by the other distance sensor in the second group of distance measuring sensors;
the normal offset value for the loaded point includes a rotation angle on the follower loading end-effector about an X-axis and a rotation angle on the follower loading end-effector about a Y-axis.
Optionally, the control end is further configured to:
controlling the servo loading end effector to output loading force matched with a loading mode;
the loading mode is a constant loading force mode or a loading curve mode.
Optionally, the follow-up loading end effector at least comprises a mounting flange, an electric cylinder, a buffering guide mechanism and a loading end; a tension pressure sensor is arranged in the loading end;
the mounting flange is arranged on one side of the electric cylinder; the mounting flange is used for connecting a flange plate; the flange plate is used for connecting the follow-up loading end effector and the industrial robot system;
the loading end is connected with an output shaft of the electric cylinder through the buffering guide mechanism;
the tension and pressure sensor is used for acquiring the loading load acted on the loaded point by the loading end;
the control end is used for controlling the electric cylinder to work according to the obtained loading load, so that the loading end outputs a loading force matched with a loading mode.
Optionally, the servo loading end effector is connected to the loaded workpiece by an articulated manner.
Optionally, the method further includes:
and the ball hinge mechanism is arranged on the loading end of the follow-up loading end effector and is used for connecting the loaded workpiece and the follow-up loading end effector.
Optionally, the method further includes:
and the moving support system is used for moving the control end, the follow-up loading end effector, the normal measurement sensor and the industrial robot system to a specified position.
A random loading method applied to a follow-up loading device based on an industrial robot system, wherein the follow-up loading device at least comprises a follow-up loading end effector and a normal measurement sensor, and the follow-up loading end effector is installed on the industrial robot system; the normal measurement sensors include a first set of ranging sensors and a second set of ranging sensors; the first group of ranging sensors and the second group of ranging sensors both comprise two ranging sensors which are symmetrically distributed on the loading end of the follow-up loading end effector, and the relation between a connecting line between the two ranging sensors in the first group of ranging sensors and a connecting line between the two ranging sensors in the second group of ranging sensors is a vertical relation;
the random loading method comprises the following steps:
acquiring distance information between the loading end and a loaded point acquired by the normal measurement sensor; the loaded point is any point in the loading area; the loading area is an area in the loaded workpiece;
calculating a normal deviation value of the loaded point based on the distance information between the loading end and the loaded point;
controlling the industrial robot system to execute a first operation based on the normal deviation value of the loaded point; the first operation is to adjust a loading direction of the follow-up loading end effector such that the loading direction coincides with a normal to the loaded point.
Optionally, the calculating a normal deviation value of the loaded point based on the distance information between the loading end and the loaded point specifically includes:
calculating a rotation angle on the follower loading end effector about an X-axis based on the first distance and the second distance; the first distance is a distance between a loading end and a loaded point, which are acquired by one distance sensor in the first group of distance measuring sensors, and the second distance is a distance between a loading end and a loaded point, which are acquired by the other distance sensor in the first group of distance measuring sensors;
calculating a rotation angle on the follow-up loading end effector about the Y axis based on the third distance and the fourth distance; the third distance is a distance between a loading end and a loaded point acquired by one distance sensor in the second group of distance measuring sensors, and the fourth distance is a distance between a loading end and a loaded point acquired by the other distance sensor in the second group of distance measuring sensors;
the normal offset value for the loaded point includes a rotation angle on the follower loading end effector about an X-axis and a rotation angle on the follower loading end effector about a Y-axis.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a servo loading device and method based on an industrial robot system; the loading direction of the follow-up loading end effector is adjusted through the information acquired by the plurality of distance measuring sensors, the adjustment and change of the loading direction along with the deformation of a loaded workpiece, namely the wing can be ensured, the loading direction is always kept to be vertical to the chord plane of the wing, and the problems that the loaded point is not vertical to the chord plane of the wing surface, the loading direction changes, the deformation is larger, and the angular deviation of the load is larger due to large deformation are solved. In addition, the invention also fully utilizes the characteristics of flexibility and convenience of an industrial robot system, adjusts the loading direction of the follow-up loading end effector in real time and realizes the follow-up loading of the airfoil under the condition of large deformation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a servo loading device based on an industrial robot system;
FIG. 2 is an overall flow chart of the industrial robot system based follow-up loading method of the present invention;
FIG. 3 is a schematic structural view of a follow-up loading end effector of the present invention;
FIG. 4 is a schematic view of the installation location of the normal measurement sensor of the present invention;
FIG. 5 is a schematic view of the normal measurement sensor measurement principle of the servo-loading end effector of the present invention;
fig. 6 is a schematic flow chart of the servo loading method based on the industrial robot system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to increase the load application accuracy of the wing under the condition of large deformation, the invention provides the follow-up loading device and method based on the industrial robot system, which fully utilize the characteristics of flexibility and convenience of the industrial robot system, adjust the loading direction of the loading device in real time, ensure the load application accuracy and realize the follow-up loading of the wing surface under the condition of large deformation of the wing.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides a follow-up loading device and a follow-up loading method based on an industrial robot system, wherein a follow-up loading end effector is arranged on a robot body through a flange plate and is connected with a loaded workpiece (such as a wing and the like) through hinging, a distance measuring sensor (namely a laser distance measuring sensor) arranged on the follow-up loading end effector measures the distance and calculates a normal deviation value of a loaded point and feeds the normal deviation value back to the industrial robot system, the industrial robot system adjusts the loading direction of the follow-up loading end effector according to the normal deviation value of the loaded point, and the follow-up loading end effector provides a loading load loaded along the normal direction, so that the follow-up loading based on the industrial robot system is realized.
Example one
Referring to fig. 1, the present embodiment provides a follower loading device based on an industrial robot system, which comprises at least a control terminal 4, a follower loading end effector 3 and a normal measurement sensor.
The follow-up loading end-effector 3 is mounted on an industrial robot system.
The normal measurement sensors comprise a first group of ranging sensors and a second group of ranging sensors; the first group of ranging sensors and the second group of ranging sensors both comprise two ranging sensors which are symmetrically distributed on the loading end of the follow-up loading end effector 3, and the relation between a connecting line between the two ranging sensors in the first group of ranging sensors and a connecting line between the two ranging sensors in the second group of ranging sensors is a vertical relation.
The normal measurement sensor is used for acquiring distance information between the loading end and a loaded point; the loaded point is any point in the loading area; the loading area is an area in which the workpiece 6 is loaded.
The control terminal 4 is used for:
calculating the normal deviation value of the loaded point based on the distance information between the loading end and the loaded point;
controlling the industrial robot system to execute a first operation based on the normal deviation value of the loaded point; the first operation is to adjust a loading direction of the slave loading end-effector such that the loading direction coincides with a normal to the loaded point.
As a preferred embodiment, the present embodiment provides an industrial robot system including at least a robot body 1 and a robot control cabinet 2.
The robot control cabinet 2 is used to control the movement of the robot body 1.
The follow-up loading end effector 3 is arranged on a six-axis flange of the robot body 1 through a flange, so that synchronous motion of the follow-up loading end effector 3 and the robot body 1 is realized.
And the control terminal 4 is used for sending the normal deviation value of the loaded point to the robot control cabinet.
The robot control cabinet 2 is used for adjusting the motion direction of the robot body based on the normal deviation value of the loaded point, and further adjusting the loading direction of the follow-up loading end effector so that the loading direction is overlapped with the normal direction of the loaded point.
As a preferred embodiment, the control terminal 4 is further configured to: controlling the servo loading end effector to output loading force matched with the loading mode; the loading mode is a constant loading force mode or a loading curve mode.
Further, referring to fig. 3 and 4, the follow-up loading end effector 3 at least includes a mounting flange 7, an electric cylinder 8, a buffering guide mechanism 10 and a loading end; a tension and pressure sensor 9 is arranged in the loading end.
The mounting flange 7 is arranged on one side of the electric cylinder 8; the mounting flange 7 is used for connecting a flange plate; the flange is used to connect the follow-up loading end effector 3 with the industrial robot system.
The loading end is connected with the output shaft of the electric cylinder 8 through a buffering guide mechanism 10.
The normal ranging sensor 11 is arranged on the side of the loading end.
The tension and pressure sensor 9 is used for acquiring the loading load acted on the loaded point by the loading end.
And the control end 4 is used for controlling the electric cylinder to work according to the obtained loading load so as to enable the loading end to output a loading force matched with the loading mode.
During operation, the electric cylinder 8 completes the pressurization action after being started, the tension pressure sensor 9 measures the size of a loading load acting on a loaded point by the loading end in real time, then the loading load is fed back to the control end 4, and then the control end 4 controls the electric cylinder 8 to work to keep the corresponding loading load.
Still further, the follow-up loading end effector 3 is connected to the loaded workpiece 6 in an articulated manner.
Specifically, the loading device of the present embodiment further includes a ball hinge mechanism 12, which is installed on the loading end of the follow-up loading end effector 3, and is used for connecting the loaded workpiece and the follow-up loading end effector.
The ball hinge mechanism 12 realizes connection between the loaded workpiece 6 and the follow-up loading end effector 3, the ball hinge mechanism 12 can flexibly rotate, the angle deviation between the loaded workpiece 6 and the loading end is compensated, and the loading end of the follow-up loading end effector 3 is always attached to the surface of the loaded workpiece 6.
Since the placement position and the loaded area of the loaded workpiece 6 are different, in order to increase the application range of the embodiment, a movable support system is added.
As a preferred implementation manner, the servo loading device according to this embodiment further includes: the support system 5 is moved.
And the moving support system 5 is used for moving the control end, the follow-up loading end effector, the normal measurement sensor and the industrial robot system to a specified position. The designated position is where the workpiece is loaded.
The mobile support system 5 operates only as a slave loader based on an industrial robot system, and the presence or absence of the mobile support system 5 has no direct relation to the implementation of the present embodiment. The mobile support system 5 can also be a guide rail, or a servo loading device based on an industrial robot system is fixed on the ground and is loaded with a workpiece through motion.
The control end 4 is responsible for coordinating the coordination control of the industrial robot system, the normal direction measuring sensor 11, the electric cylinder 8 and the like, so that the follow-up loading based on the industrial robot system is realized.
Referring to fig. 5, the normal ranging sensor 11 is composed of two pairs of laser ranging sensors 13, each pair of laser ranging sensors 13 includes two laser ranging sensors symmetrically distributed on the loading end of the follow-up loading end effector 3, and a connection line between two laser ranging sensors of the first pair of laser ranging sensors is in a perpendicular relationship with a connection line between two laser ranging sensors of the second pair of laser ranging sensors.
Principle of load direction adjustment of a follow-up loading end effector:
2 pairs (4) of laser ranging sensors symmetrically distributed on the follow-up loading end effector are used for respectively measuring the distance between the follow-up loading end effector and a loaded workpiece, the central connecting line of one pair of laser ranging sensors is marked as the X-axis direction, and the central connecting line of the other pair of laser ranging sensors is marked as the Y-axis direction.
Taking a pair of laser ranging sensors as an example, the distance collected by the two laser ranging sensors is L1、L2If the installation distance of the two laser ranging sensors is W, the rotation angle required by the servo loading end effector around the X axis is α, and the calculation formula is α ═ (L)1-L2)/W。
And similarly, calculating the rotation angle of the follow-up loading end effector around the Y axis.
That is, in said calculating the normal deviation value of the loaded point based on the distance information between the loading end and the loaded point, the control end 4 is further configured to:
calculating a rotation angle on the follower loading end effector about an X-axis based on the first distance and the second distance; the first distance is a distance between a loading end and a loaded point, which are acquired by one distance sensor in the first group of distance measuring sensors, and the second distance is a distance between a loading end and a loaded point, which are acquired by the other distance sensor in the first group of distance measuring sensors.
Calculating a rotation angle on the follow-up loading end effector about the Y axis based on the third distance and the fourth distance; the third distance is a distance between a loading end and a loaded point acquired by one distance sensor in the second group of distance measuring sensors, and the fourth distance is a distance between a loading end and a loaded point acquired by another distance sensor in the second group of distance measuring sensors.
The normal offset value for the loaded point includes a rotation angle on the follower loading end effector about an X-axis and a rotation angle on the follower loading end effector about a Y-axis.
And transmitting the two calculated rotation angles to an industrial robot system, and adjusting the normal direction of the follow-up loading end effector by the industrial robot system according to the normal direction deviation value.
Example two
According to the servo loading method based on the industrial robot system, a normal deviation value of a loaded point is calculated through data measured by a normal measuring sensor 11, and then the data is transmitted to a robot control cabinet 2 through a control end 4, the robot control cabinet 2 controls a robot body 1 and a servo loading end effector 3 to adjust the posture according to the normal deviation value, and meanwhile an electric cylinder 8 on the servo loading end effector 3 adjusts the loading force output by the electric cylinder 8 according to the force measured by a tension pressure sensor 9 in real time, so that the loading force is kept constant.
Referring to fig. 2, the follow-up loading method specifically includes the following steps:
step 1: the mobile support system drives the robot body, the robot control cabinet, the control end and the like to be transported to a station where a workpiece is to be loaded. The mobile support system can be moved to the station where the workpiece is to be loaded, either automatically or manually.
Step 2: the industrial robot system moves to a loaded point of a workpiece to be loaded, and the workpiece to be loaded is connected with the follow-up loading end effector through the ball hinge mechanism.
And step 3: and the normal measurement sensor measures the distance between the loading point area of the workpiece to be loaded and the follow-up loading end effector in real time, and calculates the normal deviation value of the loaded point based on the distance.
And 4, step 4: and the industrial robot system adjusts the posture according to the normal deviation value of the loaded point, and ensures that the follow-up loading direction is coincided with the normal direction of the loaded point.
And 5: the electric cylinder of the follow-up loading end effector is started and loaded, the follow-up loading end effector can load according to a constant loading force or a loading curve, the electric cylinder adjusts the loading force output by the electric cylinder according to the force measured by the tension pressure sensor in real time, and the loading force is matched with the curve or the loading force is kept constant. Meanwhile, the normal measurement sensor measures the distance between the follow-up loading end effector and the loaded point in real time, the normal deviation value of the loaded point is calculated based on the distance, and then the distance is fed back to the industrial robot system, the industrial robot system adjusts the posture according to the normal deviation value of the loaded point, the follow-up loading direction is enabled to be coincident with the normal direction of the loaded point, and therefore the loading direction can be guaranteed to be perpendicular to the loaded workpiece all the time.
Step 6: after loading is finished, the follow-up loading end effector is unloaded, the follow-up loading end effector is separated from the loaded workpiece, and the industrial robot system moves to a safety point.
Principle of load direction adjustment of a follow-up loading end effector:
the distance between the follow-up loading end effector and a loaded workpiece is measured respectively through 2 pairs (4) of laser ranging sensors symmetrically distributed on the follow-up loading end effector, distance information is transmitted to the control end, the control end calculates a normal deviation value, then data are transmitted to the industrial robot system, and the industrial robot system adjusts the loading direction of the follow-up loading end effector according to the normal deviation value to ensure that the loading direction is vertical. Meanwhile, in order to ensure the mounting precision of normal measurement, the mounting seats of the sensors are milled by adopting an aluminum alloy material and subjected to aging treatment, so that the overall strength is ensured.
EXAMPLE III
The embodiment provides a random loading method applied to a follow-up loading device based on an industrial robot system, wherein the follow-up loading device at least comprises a follow-up loading end effector and a normal measurement sensor, and the follow-up loading end effector is installed on the industrial robot system; the normal measurement sensors include a first set of ranging sensors and a second set of ranging sensors; the first group of ranging sensors and the second group of ranging sensors both comprise two ranging sensors which are symmetrically distributed on the loading end of the follow-up loading end effector, and the relation between a connecting line between the two ranging sensors in the first group of ranging sensors and a connecting line between the two ranging sensors in the second group of ranging sensors is a vertical relation;
as shown in fig. 6, the random loading method includes:
step 100: taking the distance information between the loading end and the loaded point acquired by the normal measurement sensor; the loaded point is any point in the loading area; the loading area is an area in the loaded workpiece;
step 200: calculating a normal deviation value of the loaded point based on the distance information between the loading end and the loaded point;
step 300: controlling the industrial robot system to execute a first operation based on the normal deviation value of the loaded point; the first operation is to adjust a loading direction of the follow-up loading end effector such that the loading direction coincides with a normal to the loaded point.
Wherein, step 200 specifically includes:
calculating a rotation angle on the follower loading end effector about an X-axis based on the first distance and the second distance; the first distance is a distance between a loading end and a loaded point, which are acquired by one distance sensor in the first group of distance measuring sensors, and the second distance is a distance between a loading end and a loaded point, which are acquired by the other distance sensor in the first group of distance measuring sensors.
Calculating a rotation angle on the follow-up loading end effector about the Y axis based on the third distance and the fourth distance; the third distance is a distance between a loading end and a loaded point acquired by one distance sensor in the second group of distance measuring sensors, and the fourth distance is a distance between a loading end and a loaded point acquired by another distance sensor in the second group of distance measuring sensors.
The normal offset value for the loaded point includes a rotation angle on the follower loading end effector about an X-axis and a rotation angle on the follower loading end effector about a Y-axis.
According to the follow-up loading method based on the industrial robot system, the follow-up loading end effector is installed on the robot body through a flange plate, the follow-up loading end effector is connected with a workpiece to be loaded (other types such as a wing) through hinging, a distance measuring sensor installed on the follow-up loading end effector measures the distance between a loading end and the loaded workpiece, a normal deviation value of a loaded point is calculated based on the distance information, the normal deviation value is fed back to the industrial robot system, the industrial robot system adjusts the loading direction of the follow-up loading end effector according to the normal deviation value of the loaded point, and meanwhile the follow-up loading end effector provides a loading load loaded in the normal direction, so that follow-up loading based on the industrial robot system is achieved. The method ensures that the loading direction can be adjusted and changed along with the deformation of the wing, and always keeps the loading direction vertical to the chord plane of the wing, thereby solving the problems that the loading point is not vertical to the chord plane of the wing surface, the loading direction is changed, the deformation is larger, and the angular deviation of the load is larger.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The servo loading device based on the industrial robot system is characterized by at least comprising a control end, a servo loading end effector and a normal measurement sensor;
the servo loading end effector is mounted on the industrial robot system;
the normal measurement sensors include a first set of ranging sensors and a second set of ranging sensors; the first group of ranging sensors and the second group of ranging sensors both comprise two ranging sensors which are symmetrically distributed on the loading end of the follow-up loading end effector, and the relation between a connecting line between the two ranging sensors in the first group of ranging sensors and a connecting line between the two ranging sensors in the second group of ranging sensors is a vertical relation;
the normal measurement sensor is used for acquiring distance information between the loading end and a loaded point; the loaded point is any point in the loading area; the loading area is an area in the loaded workpiece;
the control end is used for:
calculating a normal deviation value of the loaded point based on the distance information between the loading end and the loaded point;
controlling the industrial robot system to execute a first operation based on the normal deviation value of the loaded point; the first operation is to adjust a loading direction of the follow-up loading end effector such that the loading direction coincides with a normal to the loaded point.
2. The industrial robot system-based follower loading device according to claim 1, wherein the industrial robot system comprises at least a robot body and a robot control cabinet for controlling the movement of the robot body;
the follow-up loading end effector is arranged on the robot body through a flange plate;
the control end is used for sending the normal deviation value of the loaded point to the robot control cabinet;
the robot control cabinet is used for adjusting the motion direction of the robot body based on the normal deviation value of the loaded point, and further adjusting the loading direction of the follow-up loading end effector so that the loading direction is overlapped with the normal direction of the loaded point.
3. The industrial robot system-based follower loading device according to claim 1, wherein in the calculating of the normal deviation value of the loaded point based on the distance information between the loading terminal and the loaded point, the control terminal is further configured to:
calculating a rotation angle on the follower loading end effector about an X-axis based on the first distance and the second distance; the first distance is a distance between a loading end and a loaded point, which are acquired by one distance sensor in the first group of distance measuring sensors, and the second distance is a distance between a loading end and a loaded point, which are acquired by the other distance sensor in the first group of distance measuring sensors;
calculating a rotation angle on the follow-up loading end effector about the Y axis based on the third distance and the fourth distance; the third distance is a distance between a loading end and a loaded point, which are acquired by one distance sensor in the second group of distance measuring sensors, and the fourth distance is a distance between a loading end and a loaded point, which are acquired by the other distance sensor in the second group of distance measuring sensors;
the normal offset value for the loaded point includes a rotation angle on the follower loading end effector about an X-axis and a rotation angle on the follower loading end effector about a Y-axis.
4. An industrial robot system based slave loading device according to claim 1, characterized in that the control terminal is further adapted to:
controlling the servo loading end effector to output loading force matched with a loading mode;
the loading mode is a constant loading force mode or a loading curve mode.
5. The industrial robot system-based follow-up loading device according to claim 1, wherein the follow-up loading end effector at least comprises a mounting flange, an electric cylinder, a buffer guide mechanism and a loading end; a tension pressure sensor is arranged in the loading end;
the mounting flange is arranged on one side of the electric cylinder; the mounting flange is used for connecting a flange plate; the flange plate is used for connecting the follow-up loading end effector and the industrial robot system;
the loading end is connected with an output shaft of the electric cylinder through the buffering guide mechanism;
the tension and pressure sensor is used for acquiring the loading load acted on the loaded point by the loading end;
the control end is used for controlling the electric cylinder to work according to the obtained loading load, so that the loading end outputs a loading force matched with a loading mode.
6. An industrial robot system based follower loading device according to claim 1, characterized in that the follower loading end effector is connected with the loaded work piece by means of an articulation.
7. The industrial robot system-based follower loading device as claimed in claim 1, further comprising:
and the ball hinge mechanism is arranged on the loading end of the follow-up loading end effector and is used for connecting the loaded workpiece and the follow-up loading end effector.
8. The industrial robot system-based follower loading device according to claim 1, further comprising:
a mobile support system for moving the control end, the slave loading end effector, the normal measurement sensor and the industrial robot system to a specified position.
9. A random loading method applied to a follow-up loading device based on an industrial robot system is characterized in that the follow-up loading device at least comprises a follow-up loading end effector and a normal direction measuring sensor, and the follow-up loading end effector is installed on the industrial robot system; the normal measurement sensors include a first set of ranging sensors and a second set of ranging sensors; the first group of ranging sensors and the second group of ranging sensors both comprise two ranging sensors which are symmetrically distributed on the loading end of the follow-up loading end effector, and the relation between a connecting line between the two ranging sensors in the first group of ranging sensors and a connecting line between the two ranging sensors in the second group of ranging sensors is a vertical relation;
the random loading method comprises the following steps:
acquiring distance information between the loading end and a loaded point acquired by the normal measurement sensor; the loaded point is any point in the loading area; the loading area is an area in the loaded workpiece;
calculating a normal deviation value of the loaded point based on the distance information between the loading end and the loaded point;
controlling the industrial robot system to execute a first operation based on the normal deviation value of the loaded point; the first operation is to adjust a loading direction of the follow-up loading end effector such that the loading direction coincides with a normal to the loaded point.
10. The random loading method according to claim 9, wherein the calculating the normal deviation value of the loaded point based on the distance information between the loading end and the loaded point specifically comprises:
calculating a rotation angle on the follower loading end effector about an X-axis based on the first distance and the second distance; the first distance is a distance between a loading end and a loaded point, which are acquired by one distance sensor in the first group of distance measuring sensors, and the second distance is a distance between a loading end and a loaded point, which are acquired by the other distance sensor in the first group of distance measuring sensors;
calculating a rotation angle on the follow-up loading end effector about the Y axis based on the third distance and the fourth distance; the third distance is a distance between a loading end and a loaded point, which are acquired by one distance sensor in the second group of distance measuring sensors, and the fourth distance is a distance between a loading end and a loaded point, which are acquired by the other distance sensor in the second group of distance measuring sensors;
the normal offset value for the loaded point includes a rotation angle on the follower loading end effector about an X-axis and a rotation angle on the follower loading end effector about a Y-axis.
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