CN207326366U - A kind of narrow space bolt location and installation machine people - Google Patents
A kind of narrow space bolt location and installation machine people Download PDFInfo
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- CN207326366U CN207326366U CN201721053520.4U CN201721053520U CN207326366U CN 207326366 U CN207326366 U CN 207326366U CN 201721053520 U CN201721053520 U CN 201721053520U CN 207326366 U CN207326366 U CN 207326366U
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Abstract
The utility model discloses a kind of narrow space bolt location and installation machine people, including mounting platform, fixed plate, frock clamp, industrial robot, movement module and and controller.Bolt and gasket are moved to the axial location of driven gear first and are held by spring force by the utility model, then move down contiguous block, in installation bolt to driven gear and allow spring reset to fix bolt；Vision guide avoidance is made by video camera afterwards, fixture is sent to by robot arm can photograph threaded hole precalculated position.Robot is taken to be automatically positioned target threaded hole again, screw thread hole site is sent to robot arm and locks the position, rolling clamp makes bolt alignment threaded hole and starts to move down in the drive of gear again afterwards, when sensor contacts are to bottom plate, first bolts assemblies stops, module motor by robot automatic transporting to next threaded hole precalculated position, carries out next round assembling until all assembling finishes automatically.
Description
Technical field
It the utility model is related to industrial robot field, more particularly to a kind of narrow space bolt location and installation machine people.
Background technology
The problem that always annoying Automated assembly field is assembled in narrow interior volume, it is narrow at one
In small space, due to low visibility, the reason such as visible range is few, installation axial depth is big, it is necessary to by other assembly tools into
Row installation, but since assembly tool cannot get the cooperation of human eye so that manual operation instrument is extremely difficult.When axially mounted depth
When degree touches scope more than human hand, it basically can not be assembled by the installation of common installation tool.Therefore, the prior art needs
Further improve and perfect.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, there is provided it is a kind of it is simple in structure, efficiency of assembling is high
Narrow space bolt positions and mounting robot.
The purpose of this utility model is achieved through the following technical solutions：
A kind of narrow space bolt location and installation machine people, the robot be mainly used in narrow space to threaded hole into
Luggage is matched somebody with somebody, main in structure to include for the mounting platform that robot is fixedly mounted, the fixed plate being arranged on mounting platform, use
In tighten bolt frock clamp, for drive frock clamp reach designated position industrial robot, for driving industrial machine
Device people translation movement module and for handling view data and driving the controller of each execution unit.The mounting platform
Fixed setting, fixed plate are installed on mounting platform, and the movement module is installed in fixed plate, and the frock clamp is installed on
The end of industrial robot, the industrial robot are installed on movement module, and the controller is respectively with moving module, industry
Robot and frock clamp are electrically connected, and controlled motion module driving industrial robot translates in fixed plate, drives frock clamp
Bolt is threaded into hole.
Specifically, the frock clamp include being fixedly connected with industrial robot end connecting plate, installing plate, be connected simultaneously
The mounting rod of fixed mounting plate and connecting plate, the camera for obtaining threaded hole location drawing picture, for improving image quality
LED light source, the driving device for tightening bolt and the limiting device that depth is screwed into for controlling.The industrial robot
End and the middle part of connecting plate are fixed, and make connecting plate symmetrical on robot end.The both ends of the mounting rod are respectively with being connected
Plate is connected with one end of installing plate, specifically, one end of mounting rod and the bottom of connecting plate are fixed, the top of the other end and installing plate
Portion is fixed, and connecting plate, mounting rod and installing plate three is formed C character form structures.The other end of the installing plate, which is equipped with, to be used to put
The opening of bolt is put, needs to enter from the opening when placing bolt.The camera and LED light source are arranged at installing plate
On, and below mounting rod, and camera and bolt are symmetrical on industrial robot end shaft.The driving device and limit
Position device is installed on the other end of installing plate, and with camera on the substantially symmetrical about its central axis of installing plate.
Specifically, the driving device includes being screwed into motor, driving gear and driven gear.The motor that is screwed into is fixed on
On installing plate, its output shaft is upward through installing plate and is fixedly connected with driving gear, when being screwed into motor rotation, its output shaft
Rotated with driving gear.The side of the driven gear is installed on connecting plate by bearing, and is engaged with driving gear, from
The opposite side of moving gear is equipped with the Hexagon hole coordinated with bolt, when driving gear rotates, by gear teeth meshing with driven
Gear rotates, and since driven gear and bolt coordinate on hexagon ring, being screwed into when motor rotates will drive bolt to rotate,
So as to which bolt is threaded into hole.
Specifically, the limiting device include for the filler ring plate of support bolt, connecting rod, resetting spring, contiguous block, with
And limitation is screwed into the limit sensors of depth.The installing plate, which is equipped with, is used for the connecting hole that connecting rod passes through, the connecting rod
Through connecting hole, one end of connecting rod is fixedly connected with filler ring plate, and one end of the other end and contiguous block is fixed.The spacing sensing
Device is fixed on the other end of contiguous block；The resetting spring is set in connecting rod, and its one end props up installing plate, the other end with
Filler ring plate abuts.After bolt and gasket are put into from the opening of installing plate, the head of bolt is set to be inserted in interior the six of driven gear
In corner apertures, and filler ring plate is set to hold bolt under the elastic force effect of resetting spring, and gasket is then placed in installing plate and filler ring plate
Between；After bolt is threaded into hole, limit sensors moment detection bolt is screwed into depth, when the bottom of limit sensors and workpiece
After plate contact, it is screwed into depth and reaches setting value and be screwed into motor stalls, industrial robot driving frock clamp release bolt is simultaneously
Into the assembly manipulation of next threaded hole.
Further, in order to preferably drive industrial robot to translate in one direction, movement described in the utility model
Module includes guide rod, servomotor, guide rail, the first sliding block, the second sliding block and screw.The guide rod and guide rail are solid parallel to each other
It is scheduled in fixed plate, extends along the direction of screw thread pore size distribution, specific length should determines according to the quantity and whole story position of threaded hole
It is fixed.First sliding block is installed on guide rod, and second sliding block is installed on guide rail.The industrial robot is fixed on first
On sliding block and the second sliding block, bear the weight of industrial robot jointly by two sliding blocks, can so greatly improve industrial machine
The ride comfort that people moves back and forth.The screw both ends are fixed in fixed plate, and are sequentially connected with the second sliding block, are dragged by screw
Industrial robot slides on guide rail.The servomotor is connected with screw rod transmission and drives the second sliding block and industrial robot to exist
Slidably reciprocate on guide rail and guide rod.
As the preferred solution of the utility model, bolt is placed for convenience, and preferably held, the utility model
The filler ring plate uses loop configuration.The loop configuration includes connecting plate and the annular slab to play a supportive role.The connecting plate
One end is fixed in connecting rod, and the other end in the middle part of annular slab with being fixedly connected, so as to form the support to annular slab.The ring
Effective radian of shape plate is 240 degree.
Further, in order to enable industrial robot to be automatically stopped when running into obstacle or automatically bypass obstacle, so as to prevent
The damage of industrial robot, industrial robot inside described in the utility model, which is equipped with, to be used to detect between industrial robot and the external world
Pressure value pressure sensor, the pressure sensor is electrically connected with the controller, when the mechanical arm or work in industrial robot
When clamps touch barrier, pressure sensor will calculate current pressure value, and feed back to controller, when pressure value surpasses
When crossing setting value, controller will the mechanical arm of powered motion module or industrial robot stop or change the original direction of motion
To get around barrier, so as to avoid the damage of industrial robot and improve the efficiency of assembling of bolt.
As the preferred solution of the utility model, in order to which more preferably faster more efficiently frock clamp is moved on threaded hole
Side, industrial robot described in the utility model use the industrial robot of six joint cascaded structure of electric motor built-in, and industrial machine
It is 1500mm, most large arm diameter 100mm, most forearm diameter 60mm that each arm of device people, which is fully deployed length, maximum load 300Kg,
Working space is the narrow space of 200mm.
The invention also discloses a kind of control system of narrow space bolt location and installation machine people, including for twisting
The frock clamp of tight bolt, for driving frock clamp to reach the industrial robot of designated position, for driving industrial robot
The movement module of translation and for handling view data and driving the controller of each execution unit.
Wherein, the controller includes industrial personal computer, image processing module and robot off-line programming module；
Described image processing module includes software interface module, Processing Algorithm module and communication module；
The human-computer interface module includes parameter setting module, runs module, teaching operation module, I/O signal modes manually
Block, automatic running module, production management module；
The parameter setting module includes display axis name window, axis type windows；
The module of operation manually includes positive soft limiting window, bears soft limiting window；
The teaching operation module includes return reference point modal window and return reference point direction window；
The I/O signaling modules include encoder feedback amount of bias window and return reference point high speed window.
Preferably, the robot off-line programming module includes following function：
(1) knowledge of the course of work programmed；
(2) robot and working environment three-dimensional entity model；
(3) robot geometry, kinematics and dynamic (dynamical) knowledge；
(4) software systems based on graphical display, the graphical simulation of robot motion can be carried out；
(5) trajectory planning and algorithm is checked, as inspection machine person joint angle transfinites, detect and collides and planning robot exists
Movement locus of working space etc.；
(6) interface of sensor and emulation, to carry out decision-making and planning using the information of sensor；
(7) communication function, to complete movement code the leading to various robot control cabinets that off-line programing system is generated
Letter；
(8) user interface, to provide effective man-machine interface, easy to manual intervention and the operation of progress system.
The invention also discloses a kind of control method of narrow space bolt location and installation machine people, including following step
Suddenly：
Step S1:Bolt and gasket are put into frock clamp, and the position of fixing bolt and gasket, make the head of bolt
Coordinate in the Hexagon hole of embedded driven gear and with it, filler ring plate holds bolt under the elastic force effect of resetting spring and makes spiral shell
Bolt keeps coordinating with driven gear, while makes gasket between filler ring plate and installing plate.
Step S2:Frock clamp with bolt and gasket is moved to precalculated position, which holds for industrial robot
The origin position of row installation.
Step S3:Controller obtains the spiral shell of present image using camera shooting present image and by image processing method
Pit information, so as to control industrial robot that camera is moved to the surface of threaded hole.
Step S4:Since camera is symmetrical with bolt, when camera reaches the surface of threaded hole, industry
Robotically-driven frock clamp rotates 180 degree, makes the location swap of camera and bolt, so that bolt is being located at threaded hole just
Top.
Step S5:It is screwed into motor driving driven gear to rotate, and is screwed into bolt in threaded hole downwards.
Step S6:In order to determine that bolt is threaded into the depth in hole, after limit sensors touch bottom plate, electricity is screwed into
Machine stops operating, and completes the assembling of a bolt and enters the assembly manipulation of next bolt.
Further, step S3 described in the utility model further includes following steps：
Step S31:The location drawing picture of threaded hole is shot by camera and carries out identifying processing；
Step S32:Calculate the two-dimensional spatial location of threaded hole；
Step S33:Calculate the difference between physical location and desired locations；Concrete operations are：
The centre of form coordinate that image procossing is calculated is controlled with it is expected input value of the difference of coordinate as PID controller
Mechanical arm tail end processed, which moves to, it is expected at coordinate value, realizes that bolt to be installed is aligned with threaded hole.
Step S34:Control industrial robot driving frock clamp is moved to designated position, realizes bolt and screw thread to be installed
The alignment in hole.
The step S31 further includes following steps：
Step S311:The image of seizure is demarcated using flexible algorithm；Concrete operation step is：
Using camera calibration flexibility algorithm, the gridiron pattern calibrating template accurately measured, each blockage of calibrating template are used
The length of side be 25mm, by the position of stochastic transformation camera or calibrating template, make camera at least in two or more relative Calibration mould
The different azimuth imaging of plate, then obtains the image coordinate of angle point by Corner Detection, and then calculates camera parameter (fx,fy,u0,
v0), if the original image obtained from camera is f (x, y), the image after correction is q (u, v), is changed as follows：
So as to obtain the relation between image coordinate and world coordinates and imaging sensor distortion is corrected；
Step S312:Gray processing pretreatment and mean filter pretreatment are carried out to image；
Wherein, the concrete operation step of described image mean filter is：
By estimating that pixel asks difference to reach therewith for the pixel true value in (2n+1) × (2m+1) windows, then with original image
The purpose of noise reduction.
Above formula can be seen that after noise reduction several times, and picture noise is reduced to originalGeneration in formula
The gray value at the i-th width of table picture position (r, c) place.
Step S313:The edge of threaded hole is detected；
Step S314:Neighbouring environment and region are detected；
Step S315:Image is handled and obtains the position of form center of threaded hole and the view data of angle point.
In conclusion the utility model does vision guide using monocular vision, it is intended to calculates the two of target (threaded hole)
Dimension space position, by comparing physical location and desired locations, by control system control machinery hands movement to realize spiral shell to be installed
The alignment of bolt and threaded hole.Image procossing includes filtering, edge detection, and region detection and centre of form corner location calculate,
Finally obtain the subpixel coordinate of the position of form center and six angle points of target in the plane of delineation.Image procossing is calculated
Difference input value as PID controller of the centre of form coordinate with it is expected coordinate, and control machinery arm end movement is to expectation seat
At scale value, realize that bolt to be installed is aligned with threaded hole.After software identifies positioning spiro pit, robot is with industrial personal computer using string
Parallel port or TCP/IP communication, machine is sent to by the actual accurate location (relative displacement under robot global coordinate system) of screw hole
Device people.Robot, which sends information to corresponding motor, rotates fixture, and bolt is gone to accurate location realizes that vision guide positions.
The working process and principle of the utility model are：Bolt and gasket are moved to driven from outside by the opening of installing plate
The axial location of gear, bolt head is stretched into the driven gear with interior hexagonal and pass through bullet by bolt filler ring plate then up
Spring force is held, and the device then is moved to precalculated position, contiguous block is moved down, installation bolt to fixture driven tooth
On wheel, spring reset fixes bolt afterwards.Off-line programming technique is used afterwards, and vision guide avoidance, machine are made by video camera
Fixture is sent to by device human arm can photograph threaded hole precalculated position, and whole process realizes full-automation, without human intervention.Again
Take robot to be automatically positioned target threaded hole, screw thread hole site is sent to robot arm and locks the position, due to
Camera center is connected axial symmetry with bolt-center on robot arm, and rolling clamp makes bolt be directed at threaded hole again afterwards,
And it is a positive round by the circle diagram shape that graphic monitoring judges to photograph at this time, if oval, then vision continues to guide
Robot arm, it is positive round to make the circle that graphic monitoring photographs.Motor is tightened after above-mentioned a few step corrections to start to rotate, spiral shell
Bolt starts to move down in the drive of gear, and bolt also slowly pushes down on bolt filler ring plate at this time, when sensor contacts arrive
During bottom plate, transmit signal electric machine and stop operating, first bolts assemblies stop, and (module physical length is to be actually subjected to for module motor
Subject to asking) automatically by robot automatic transporting to next threaded hole precalculated position, the automatic guided robot of machine vision at this time
Simultaneously bolts assemblies are positioned, after treating all bolts assemblies, robot arm and fixture automatically reset at this time.Thus, it is whole dynamic
Work performs completion.
Compared with prior art, the utility model has further the advantage that：
(1) the degree of automation of narrow space bolt location and installation machine people provided by the utility model is high, security
It is good, without artificial breeding miscellaneous operation.
(2) man machine operation interface of narrow space bolt location and installation machine people provided by the utility model is simply easy to
Operation, can effectively monitor each operating state in real time.
(3) the introducing machine vision orientation direction of narrow space bolt location and installation machine people provided by the utility model
Technology, setting accuracy are high.
(4) narrow space bolt location and installation machine people provided by the utility model drives bolt to tighten dress using gear
Put, structure design is compact simple, and locus is small.
(5) narrow space bolt location and installation machine people provided by the utility model uses 6 axis robot arms, freely
Degree is high, and rotating range is big, adapts to small space.
(6) narrow space bolt location and installation machine people provided by the utility model does robot fortune with module guide rail
Defeated guiding, stability are high.
Brief description of the drawings
Fig. 1 is the structure diagram of narrow space bolt location and installation machine people provided by the utility model.
Fig. 2 is the profile of narrow space bolt location and installation machine people provided by the utility model.
Fig. 3 is narrow space bolt location and installation machine people's partial sectional view provided by the utility model.
Fig. 4 is the stereogram provided by the utility model for moving module, industrial robot and frock clamp.
Fig. 5 is the front view provided by the utility model for moving module, industrial robot and frock clamp.
Fig. 6 is the top view provided by the utility model for moving module, industrial robot and frock clamp.
Fig. 7 is the structure diagram of frock clamp provided by the utility model.
Fig. 8 is the stereogram of driven gear provided by the utility model.
Fig. 9 is the front view of driven gear provided by the utility model.
Figure 10 is the flow chart of image procossing provided by the utility model.
Figure 11 is the flow chart of the utility model PID control.
Label declaration in above-mentioned attached drawing：
1- mounting platforms, 2- movement modules, 3- industrial robots, 4- frock clamps；
41- connecting plates, 42- installing plates, 43- mounting rods, 44- cameras, 451- are screwed into motor, 452- driving gears,
453- driven gears, 461- filler rings plate, 462- connecting rods, 463- resetting springs, 464- contiguous blocks, 465- limit sensors；
21- guide rods, 22- servomotors, 23- guide rails, the first sliding blocks of 24-, the second sliding blocks of 25-, 26- screws；
Embodiment
To make the purpose of this utility model, technical solution and advantage clearer, clear and definite, develop simultaneously implementation referring to the drawings
The utility model is described in further detail for example.
Embodiment 1：
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the utility model discloses a kind of positioning of narrow space bolt to pacify
Machine people, the robot are mainly used in assembling threaded hole in narrow space, main in structure to include being used to fix
The mounting platform 1 of mounting robot, the fixed plate being arranged on mounting platform 1, the frock clamp 4 for tightening bolt, be used for
Driving frock clamp 4 reach designated position industrial robot 3, for drive industrial robot 3 translate movement module 2, with
And for handling view data and driving the controller of each execution unit.The mounting platform 1 is fixedly installed, and fixed plate is installed on
On mounting platform 1, the movement module 2 is installed in fixed plate, and the frock clamp 4 is installed on the end of industrial robot 3,
The industrial robot 3 is installed on movement module 2, and the controller is respectively with moving module 2, industrial robot 3 and frock
Fixture 4 is electrically connected, and controlled motion module 2 drives industrial robot 3 to be translated in fixed plate, and driving frock clamp 4 twists bolt
Enter in threaded hole.
Specifically, as shown in fig. 7, the frock clamp 4 includes the connecting plate being fixedly connected with 3 end of industrial robot
41st, installing plate 42, connection and fixed mounting plate 42 with the mounting rod 43 of connecting plate 41, for obtaining taking the photograph for threaded hole location drawing picture
LED light source as first 44, for improving image quality, the driving device for tightening bolt and for control be screwed into depth
Limiting device.3 end of industrial robot and the middle part of connecting plate 41 are fixed, and make connecting plate 41 on robot end couple
Claim.The one end of the both ends of the mounting rod 43 respectively with connecting plate 41 and installing plate 42 is connected, specifically, one end of mounting rod 43
Fixed with the bottom of connecting plate 41, the top of the other end and installing plate 42 is fixed, and makes connecting plate 41, mounting rod 43 and installing plate 42
Three forms C character form structures.The other end of the installing plate 42, which is equipped with, to be used to place the opening of bolt, needed when placing bolt from
The opening enters.The camera 44 and LED light source are arranged on installing plate 42, and positioned at the lower section of mounting rod 43, and take the photograph
Picture first 44 is symmetrical on 3 end shaft of industrial robot with bolt.The driving device and limiting device are installed on installing plate 42
The other end, and with camera 44 on the substantially symmetrical about its central axis of installing plate 42.
Specifically, as shown in Figure 7, Figure 8 and Figure 9, the driving device include being screwed into motor 451, driving gear 452 and from
Moving gear 453.The motor 451 that is screwed into is fixed on installing plate 42, its output shaft is upward through installing plate 42 and and driving tooth
Wheel 452 is fixedly connected, and when being screwed into the rotation of motor 451, its output shaft is rotated with driving gear 452.The driven gear 453
Side be installed on by bearing on connecting plate 41, and engaged with driving gear 452, the opposite side of driven gear 453 be equipped with
Bolt coordinate Hexagon hole, when driving gear 452 rotates, rotated by gear teeth meshing with driven gear 453, due to from
Moving gear 453 and bolt coordinate on hexagon ring, therefore being screwed into when motor 451 rotates will drive bolt to rotate, so that by spiral shell
Bolt is threaded into hole.
Specifically, the limiting device include for the filler ring plate 461 of support bolt, connecting rod 462, resetting spring 463,
Contiguous block 464 and limitation are screwed into the limit sensors 465 of depth.The installing plate 42 is equipped with and is passed through for connecting rod 462
Connecting hole, the connecting rod 462 passes through connecting hole, and one end of connecting rod 462 is fixedly connected with filler ring plate 461, the other end with
One end of contiguous block 464 is fixed.The limit sensors 465 are fixed on the other end of contiguous block 464；The resetting spring
463 are set in connecting rod 462, and its one end props up installing plate 42, and the other end is abutted with filler ring plate 461.When bolt and gasket from
After the opening of installing plate 42 is put into, the head of bolt is set to be inserted in the Hexagon hole of driven gear 453, and make filler ring plate 461
Bolt is held under the elastic force effect of resetting spring 463, and gasket is then placed between installing plate 42 and filler ring plate 461；Bolt
After being threaded into hole, 465 moment of limit sensors detection bolt is screwed into depth, when limit sensors 465 and the bottom plate of workpiece
After contact, it is screwed into depth and reaches setting value and be screwed into motor 451 and stop operating, industrial robot 3 drives frock clamp 4 to discharge bolt
And enter the assembly manipulation of next threaded hole.
Further, in order to preferably drive industrial robot 3 to translate in one direction, movement described in the utility model
Module 2 includes guide rod 21, servomotor 22, guide rail 23, the first sliding block 24, the second sliding block 25 and screw 26.21 He of guide rod
Guide rail 23 is fixed in fixed plate parallel to each other, is extended along the direction of screw thread pore size distribution, specific length should be according to threaded hole
Quantity and whole story position determine.First sliding block 24 is installed on guide rod 21, and second sliding block 25 is installed on guide rail 23
On.The industrial robot 3 is fixed on the first sliding block 24 and the second sliding block 25, and industrial robot is born jointly by two sliding blocks
3 weight, can so greatly improve the ride comfort that industrial robot 3 moves back and forth.26 both ends of screw are fixed on fixation
On plate, and it is sequentially connected with the second sliding block 25, dragging industrial robot 3 on guide rail 23 by screw 26 slides.The servo electricity
Machine 22 is sequentially connected with screw 26 and drives the second sliding block 25 and industrial robot 3 to slidably reciprocate on guide rail 23 and guide rod 21.
As the preferred solution of the utility model, bolt is placed for convenience, and preferably held, the utility model
The filler ring plate 461 uses loop configuration.The loop configuration includes connecting plate 41 and the annular slab to play a supportive role.The connection
One end of plate 41 is fixed in connecting rod 462, and the other end in the middle part of annular slab with being fixedly connected, so as to form the branch to annular slab
Support.Effective radian of the annular slab is 240 degree.
Further, in order to enable industrial robot 3 to be automatically stopped when running into obstacle or automatically bypass obstacle, so as to prevent
The damage of industrial robot 3, the inside of industrial robot 3 described in the utility model, which is equipped with, to be used to detect industrial robot 3 and the external world
Between pressure value pressure sensor, the pressure sensor is electrically connected with the controller, the mechanical arm in industrial robot 3
Or frock clamp 4, when touching barrier, pressure sensor will calculate current pressure value, and feed back to controller, work as pressure
When force value exceedes setting value, controller will powered motion module 2 or industrial robot 3 mechanical arm stop or change it is original
The direction of motion is to get around barrier, so as to avoid the damage of industrial robot 3 and improve the efficiency of assembling of bolt.
As the preferred solution of the utility model, in order to which frock clamp 4 more efficiently faster more preferably is moved to threaded hole
Top, industrial robot 3 described in the utility model use the industrial robot 3 of six joint cascaded structure of electric motor built-in, and work
It is 1500mm, most large arm diameter 100mm, most forearm diameter 60mm that each arm of industry robot 3, which is fully deployed length, maximum load
300Kg, working space are the narrow space of 200mm.
The invention also discloses a kind of control system of narrow space bolt location and installation machine people, including for twisting
The frock clamp 4 of tight bolt, for driving frock clamp 4 to reach the industrial robot 3 of designated position, for driving industrial machine
People 3 translate movement module 2 and for handling view data and driving the controller of each execution unit.
Wherein, the controller includes industrial personal computer, image processing module and robot off-line programming module；
Described image processing module includes software interface module, Processing Algorithm module and communication module；
The human-computer interface module includes parameter setting module, runs module, teaching operation module, I/O signal modes manually
Block, automatic running module, production management module；
The parameter setting module includes display axis name window, axis type windows；
The module of operation manually includes positive soft limiting window, bears soft limiting window；
The teaching operation module includes return reference point modal window and return reference point direction window；
The I/O signaling modules include encoder feedback amount of bias window and return reference point high speed window.
Preferably, the robot off-line programming module includes following function：
(1) knowledge of the course of work programmed；
(2) robot and working environment three-dimensional entity model；
(3) robot geometry, kinematics and dynamic (dynamical) knowledge；
(4) software systems based on graphical display, the graphical simulation of robot motion can be carried out；
(5) trajectory planning and algorithm is checked, as inspection machine person joint angle transfinites, detect and collides and planning robot exists
Movement locus of working space etc.；
(6) interface of sensor and emulation, to carry out decision-making and planning using the information of sensor；
(7) communication function, to complete movement code the leading to various robot control cabinets that off-line programing system is generated
Letter；
(8) user interface, to provide effective man-machine interface, easy to manual intervention and the operation of progress system.
The invention also discloses a kind of control method of narrow space bolt location and installation machine people, including following step
Suddenly：
Step S1:Bolt and gasket are put into frock clamp 4, and the position of fixing bolt and gasket, make the head of bolt
Coordinate in the Hexagon hole of portion's insertion driven gear 453 and with it, filler ring plate 461 acts on subiculum in the elastic force of resetting spring 463
Firmly bolt and make bolt and driven gear 453 keep coordinating, while make gasket between filler ring plate 461 and installing plate 42.
Step S2:Frock clamp 4 with bolt and gasket is moved to precalculated position, which is industrial robot 3
Perform the origin position of installation.
Step S3:Controller shoots present image using camera 44 and obtains present image by image processing method
Threaded hole information, so as to control industrial robot 3 that camera 44 is moved to the surface of threaded hole.
Step S4:Since camera 44 is symmetrical with bolt, when camera 44 reaches the surface of threaded hole,
Industrial robot 3 drives frock clamp 4 to rotate 180 degree, makes the location swap of camera 44 and bolt, so that bolt is located at spiral shell
The surface of pit.
Step S5:Being screwed into motor 451 drives driven gear 453 to rotate, and is screwed into bolt in threaded hole downwards.
Step S6:In order to determine that bolt is threaded into the depth in hole, after limit sensors 465 touch bottom plate, twist
Enter motor 451 to stop operating, complete the assembling of a bolt and enter the assembly manipulation of next bolt.
Further, step S3 described in the utility model further includes following steps：
Step S31:The location drawing picture of threaded hole is shot by camera 44 and carries out identifying processing；
Step S32:Calculate the two-dimensional spatial location of threaded hole；
Step S33:Calculate the difference between physical location and desired locations；Concrete operations are：
The centre of form coordinate that image procossing is calculated is controlled with it is expected input value of the difference of coordinate as PID controller
Mechanical arm tail end processed, which moves to, it is expected at coordinate value, realizes that bolt to be installed is aligned with threaded hole.
Step S34:Control industrial robot 3 drives frock clamp 4 to be moved to designated position, realizes bolt and spiral shell to be installed
The alignment of pit.
The step S31 further includes following steps：
Step S311:The image of seizure is demarcated using flexible algorithm；As shown in Figure 10, concrete operation step is：
Using camera calibration flexibility algorithm, the gridiron pattern calibrating template accurately measured, each blockage of calibrating template are used
The length of side be 25mm, by the position of stochastic transformation camera or calibrating template, make camera at least in two or more relative Calibration mould
The different azimuth imaging of plate, then obtains the image coordinate of angle point by Corner Detection, and then calculates camera parameter (fx,fy,u0,
v0), if the original image obtained from camera is f (x, y), the image after correction is q (u, v), is changed as follows：
So as to obtain the relation between image coordinate and world coordinates and imaging sensor distortion is corrected；
Step S312:Gray processing pretreatment and mean filter pretreatment are carried out to image；
Wherein, the concrete operation step of described image mean filter is：
By estimating that pixel asks difference to reach therewith for the pixel true value in (2n+1) × (2m+1) windows, then with original image
The purpose of noise reduction.
Above formula can be seen that after noise reduction several times, and picture noise is reduced to originalGeneration in formula
The gray value at the i-th width of table picture position (r, c) place.
Step S313:The edge of threaded hole is detected；
Step S314:Neighbouring environment and region are detected；
Step S315:Image is handled and obtains the position of form center of threaded hole and the view data of angle point.
In conclusion as shown in figure 11, the utility model does vision guide using monocular vision, it is intended to calculates target
The two-dimensional spatial location of (threaded hole), by comparing physical location and desired locations, by control system control machinery hands movement with
Realize the alignment of bolt and threaded hole to be installed.Image procossing includes filtering, edge detection, region detection and centre of form corner location
Calculate and etc., finally obtain the subpixel coordinate of the position of form center and six angle points of target in the plane of delineation.By image
The centre of form coordinate being calculated is handled with it is expected input value of the difference of coordinate as PID controller, and control machinery arm end
Move to and it is expected at coordinate value, realize that bolt to be installed is aligned with threaded hole.When software identify positioning spiro pit after, robot with
Industrial personal computer uses serial paralled interface or TCP/IP communication, and the actual accurate location of screw hole is (opposite under robot global coordinate system
Displacement) it is sent to robot.Robot, which sends information to corresponding motor, rotates fixture, and bolt is gone to accurate location realization regards
Feel guiding positioning.
The working process and principle of the utility model are：Bolt and gasket from outside by the opening of installing plate 42 move to from
The axial location of moving gear 453, then up stretches into bolt head in the driven gear 453 with interior hexagonal and by bolt filler ring
Plate 461 is held by spring force, and the device then is moved to precalculated position, and contiguous block 464 is moved down, and installs spiral shell
It is bolted on fixture driven gear 453, spring reset fixes bolt afterwards.Off-line programming technique is used afterwards, passes through video camera
Make vision guide avoidance, fixture is sent to by robot arm can photograph threaded hole precalculated position, and whole process is realized full-automatic
Change, without human intervention.Take robot to be automatically positioned target threaded hole again, screw thread hole site is sent to robot arm simultaneously
And the position is locked, and since 44 center of camera with bolt-center is connected axial symmetry on robot arm, rotating clamp again afterwards
Tool makes bolt be directed at threaded hole, and is a positive round by the circle diagram shape that graphic monitoring judges to photograph at this time, if
Ellipse, then vision continue guided robot arm, it is positive round to make the circle that graphic monitoring photographs.After above-mentioned a few step corrections
Motor is tightened to start to rotate, bolt starts to move down in the drive of gear, at this time bolt also by bolt filler ring plate 461 slowly to
Lower promotion, when sensor contacts are to bottom plate, transmit signal electric machine and stops operating, first bolts assemblies stops, module motor
(module physical length be subject to actual requirement) is automatically by robot automatic transporting to next threaded hole precalculated position, this opportunity
The positioning of device vision automatic guided robot and bolts assemblies, after treating all bolts assemblies, robot arm and fixture at this time
Automatically reset.Thus, whole action executing is completed.
Embodiment 2：
The utility model provides a kind of narrow space bolt location and installation machine people, specifically includes machine assembly, control
Unit, driving unit, visual unit, display operation unit
Preferably, the machine assembly includes 6 joint popular industrial machine people 3, and Special tooling clamp 4, moves module 2.
Preferably, the 6 joint popular industrial machine people 3 uses six joint cascaded structure of electric motor built-in, wherein, each arm
It is 1500mm, most large arm diameter 100mm, most forearm diameter 60mm to be fully deployed length, and maximum load 300Kg can be 200mm's
Work in narrow space.
Preferably, the 6 joint popular industrial machine people 3, using materials such as aluminium alloy, steel part, ABS plastic, weight reaches
To 35kg or so
Preferably, the 6 joint popular industrial machine people 3 is provided with pressure sensor, run into obstacle can be automatically stopped it is anti-
Stop loss bad.
Preferably, the 6 joint popular industrial machine people 3, spindle motor are 0.4m away from bolt hole distance, whole robot
Main shaft output torque power is 6250N, uses fast ratio as 1：25 import RV gear reducers.
Preferably, the 6 joint popular industrial machine people 3, end use the motor with speed reducer device, can be greatly reduced
Motor torque power
Preferably, the Special tooling clamp 4 is fixed on the end of robot, and function includes three aspects：
(1) bolt and gasket random device people for carrying some specifications are moved and not fallen off,
(2) bolt can be threaded into hole,
(3) realize that bolt tightens
Preferably, the Special tooling clamp 4 carries camera 44, it can be achieved that vision is aligned automatically.
Preferably, the Special tooling clamp 4, structural principle are：Bolt and gasket are existed by 463 power clamping of resetting spring
In frock clamp 4, conduct oneself with dignity after being screwed into 451 bolt of motor and rotating by bolt and screw in threaded hole
Preferably, the bolt and gasket by the driven gear 453 with interior hexagonal and bolt filler ring plate 461 by resetting bullet
463 power clamping of spring bolts in frock clamp 4 are rotated moves realization by driving gear 452 and 453 subband of driven gear.
Preferably, the depth that is screwed into of the bolt ensures by limit sensors 465
Preferably, the movement module 2 is fixed on mounting platform 1, it can be achieved that X-direction translates
Preferably, described control unit includes industrial personal computer, image processing software, servomotor 22.
Preferably, described image processing software package includes software interface module, Processing Algorithm module and communication module.
Preferably, the driving unit includes decelerating motor, and driving gear 452, driven gear 453, is screwed into motor 451.
Preferably, the visual unit includes camera 44, LED light source.
Preferably, the visual unit, workflow are：
(1) location drawing picture of camera shooting threaded hole；
(2) two-dimensional spatial location of threaded hole is calculated；
(3) physical location and desired locations difference are calculated；
(4) control system control machinery hands movement, realizes the alignment of bolt and threaded hole to be installed
Preferably, described image processing Processing Algorithm module, operating procedure are：
(1) camera calibration
(2) image preprocessing；
(3) edge detection；
(4) region detection；
(5) row heart angle point calculates；
Preferably, the camera calibration, concrete operation step are：
Using camera calibration flexibility algorithm, the gridiron pattern calibrating template accurately measured, each blockage of calibrating template are used
The length of side be 25mm, by the position of stochastic transformation camera or calibrating template, make camera at least in two or more relative Calibration mould
The different azimuth imaging of plate, then obtains the image coordinate of angle point by Corner Detection, and then calculates camera parameter (fx,fy,u0,
v0), if the original image obtained from camera is f (x, y), the image after correction is q (u, v), is changed as follows：
So as to obtain the relation between image coordinate and world coordinates and imaging sensor distortion is corrected；
Preferably, described image pretreatment includes gray processing and Image Mean Filtering.
Preferably, described image mean filter, concrete operation step are：
By estimating that pixel asks difference to reach therewith for the pixel true value in (2n+1) × (2m+1) windows, then with original image
The purpose of noise reduction.
Above formula can be seen that after noise reduction several times, and picture noise is reduced to originalRepresented in formula
The gray value at i-th width picture position (r, c) place.
Preferably, the sub- picture of the position of form center and six angle points of target in the plane of delineation is calculated in the row heart angle point
Plain level coordinate.
Preferably, the calculating physical location is with desired locations difference, concrete operations：The shape that image procossing is calculated
Heart coordinate and input value of the difference as PID controller for it is expected coordinate, and control machinery arm end movement is to expectation coordinate value
Place, realizes that bolt to be installed is aligned with threaded hole.
Preferably, the communication module, using TCP/IP communication, machine is sent to by the actual accurate location of screw hole
People
Preferably, after software identification positioning spiro pit, robot uses serial paralled interface or TCP/IP communication with industrial personal computer, by spiral shell
The actual accurate location (relative displacement under robot global coordinate system) of wire hole is sent to robot.Robot is sent information to
Corresponding motor rotates fixture, and bolt is gone to accurate location realizes that vision guide positions.
Preferably, the display operation unit includes system software module and robot off-line programming module.
Preferably, the system software module includes human-computer interface module.
Preferably, the human-computer interface module includes parameter setting module, runs module, teaching operation module, I/O manually
Signaling module, automatic running module, production management module.
Preferably, the parameter setting module includes display axis name window, axis type windows.The operation module bag manually
Positive soft limiting window is included, bears soft limiting window；The teaching operation module includes return reference point modal window and can reference point side
To window.The I/O signaling modules include encoder feedback amount of bias window and return reference point high speed window.
Preferably, the display operation unit is based on being Integrated Development on robot control system
Preferably, the display operation unit not only shows including robot teaching box and contains and other industrial machines above
Identical complete of people 3 uses menu, further includes single product menu function.
Preferably, the individually product menu function, is embodied in：When selection stubborn bolt automatically, it is necessary to touch
Touch and click on automatic running this button on screen teaching box, product option can be ejected, select stubborn bolt automatically, can eject it is corresponding from
Dynamic stubborn bolt man-machine interface, then start button is clicked on, automated system operation, the machine in the case of vision guide and online programming
Fixture is smoothly driven camera 44 to shoot in threaded hole angular field of view by human arm, guides positioning automatically by video camera afterwards.
Preferably, the display operation unit is based on doing track optimizing in robot control system itself, and automatic guiding is adopted
With the technology such as data information exchange
Preferably, the off-line programing module, specifically includes following functions：
(1) knowledge of the course of work programmed；
(2) robot and working environment three-dimensional entity model；
(3) robot geometry, kinematics and dynamic (dynamical) knowledge；
(4) software systems based on graphical display, the graphical simulation of robot motion can be carried out；
(5) trajectory planning and algorithm is checked, as inspection machine person joint angle transfinites, detect and collides and planning robot exists
Movement locus of working space etc.；
(6) interface of sensor and emulation, to carry out decision-making and planning using the information of sensor；
(7) communication function, to complete movement code the leading to various robot control cabinets that off-line programing system is generated
Letter；
(8) user interface, to provide effective man-machine interface, easy to manual intervention and the operation of progress system.
The utility model does vision guide using monocular vision, it is intended to calculates the two-dimensional space position of target (threaded hole)
Put, by comparing physical location and desired locations, by control system control machinery hands movement to realize bolt and screw thread to be installed
The alignment in hole.Image processing flow figure after camera calibration.Image procossing include filtering, edge detection, region detection and
The calculating of centre of form corner location and etc., finally obtain the sub-pixel of the position of form center and six angle points of target in the plane of delineation
Coordinate.The centre of form coordinate that image procossing is calculated and input value of the difference as PID controller for it is expected coordinate, and control
Mechanical arm tail end, which moves to, it is expected at coordinate value, realizes that bolt to be installed is aligned with threaded hole.When software identifies positioning spiro pit
Afterwards, robot uses serial paralled interface or TCP/IP communication with industrial personal computer, by actual accurate location (the robot global coordinate of screw hole
Relative displacement under system) it is sent to robot.Robot, which sends information to corresponding motor, rotates fixture, and bolt is gone to accurately
Realize that vision guide positions in position.
The utility model is that Integrated Development is done on robot control system, robot teaching box show above contain with
Identical complete of other industrial robots 3 uses menu, in addition also contains single product menu function.When spiral shell is twisted in selection automatically
, it is necessary to click on automatic running this button on touch-screen teaching box during bolt, product option can be ejected, selects stubborn bolt automatically,
Corresponding automatically stubborn bolt man-machine interface can be ejected, then clicks on start button, automated system operation, is compiled in vision guide with online
Fixture is smoothly driven camera 44 to shoot in threaded hole angular field of view by robot arm in the case of journey, afterwards by video camera
Automatic guiding positioning.Whole system is to do track optimizing in robot control system itself, and automatic guiding uses data message
The technologies such as exchange.The utility model embodiment is exactly to carry out three-dimensional graphical modelling by measuring actual working environment, is utilized
Fixture is sent to screw thread hole location by graph simulation dummy robot arm, since working environment is narrow, robot arm
Also need to analyze come avoidance by the camera acquisition data message on fixture in specific movement, it is ensured that robot arm can be suitable
Profit reaches precalculated position.
The sequence of movement of the utility model is specially：Bolt and gasket move to axis shown position from outside by notch,
Then up by bolt head stretch into the driven gear 453 with interior hexagonal and by bolt filler ring plate 461 by spring force by its
Hold.The device is moved to precalculated position first, contiguous block 464 is moved down, installation bolt to fixture driven gear 453
On, spring reset fixes bolt afterwards.Off-line programming technique is used afterwards, and vision guide avoidance, machine are made by video camera
Fixture is sent to by human arm can photograph threaded hole precalculated position, and whole process realizes full-automation, without human intervention.Adopt again
Take robot to be automatically positioned target threaded hole, screw thread hole site is sent to robot arm and locks the position, due to taking the photograph
First 44 center of picture is connected axial symmetry with bolt-center on robot arm, and rolling clamp makes bolt be directed at threaded hole again afterwards,
And it is a positive round by the circle diagram shape that graphic monitoring judges to photograph at this time, if oval, then vision continues to guide
Robot arm, it is positive round to make the circle that graphic monitoring photographs.Motor is tightened after above-mentioned a few step corrections to start to rotate, spiral shell
Bolt starts to move down in the drive of gear, and bolt also slowly pushes down on bolt filler ring plate 461 at this time, works as sensor contacts
During to bottom plate, transmit signal electric machine and stop operating, first bolts assemblies stops, and (module physical length is with reality for module motor
Subject to it is required that) automatically by robot automatic transporting to next threaded hole precalculated position, machine vision guides machine automatically at this time
People's positioning and bolts assemblies, after treating all bolts assemblies, robot arm and fixture automatically reset at this time.Thus, entirely
Action executing is completed.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiment of the utility model and from above-mentioned
The limitation of embodiment, the change made under other any Spirit Essences and principle without departing from the utility model, modify, replace
Generation, combination, simplify, and should be equivalent substitute mode, is included within the scope of protection of the utility model.
Claims (6)
1. a kind of narrow space bolt location and installation machine people, it is characterised in that including the installation for robot to be fixedly mounted
Platform, the fixed plate being arranged on mounting platform, the frock clamp for tightening bolt, for drive frock clamp reach specify
The industrial robot of position, for drive industrial robot translate movement module and for handling view data and driving
The controller of each execution unit；The mounting platform fixed setting, the movement module are installed in fixed plate, the frock folder
Tool installed in industrial robot end, the industrial robot be installed on movement module on, the controller respectively with movement
Module, industrial robot and frock clamp are electrically connected, and controlled motion module driving industrial robot translates in fixed plate, drives
Bolt is threaded into hole by frock clamp；
Connecting plate that the frock clamp includes being fixedly connected with industrial robot end, installing plate, connection plate and be connected
The mounting rod of plate, the camera for obtaining threaded hole location drawing picture, the LED light source for improving image quality, for tightening
The driving device of bolt and the limiting device that depth is screwed into for controlling；In the industrial robot end and connecting plate
Portion is fixed；The one end of the both ends of the mounting rod respectively with connecting plate and installing plate is connected；The other end of the installing plate is equipped with
For placing the opening of bolt；The camera and LED light source are respectively provided with a mounting board, below mounting rod；The drive
Dynamic device and limiting device are installed on the other end of installing plate, and with camera on the substantially symmetrical about its central axis of installing plate；
The driving device includes being screwed into motor, driving gear and driven gear；The motor that is screwed into is fixed on a mounting board, its
Output shaft is upward through installing plate and is fixedly connected with driving gear；The side of the driven gear is installed on connection by bearing
On plate, and engaged with driving gear, the opposite side of driven gear is equipped with the Hexagon hole coordinated with bolt；
The limiting device includes the filler ring plate for support bolt, connecting rod, resetting spring, contiguous block and limitation and is screwed into
The limit sensors of depth；The installing plate is equipped with connecting hole, and the connecting rod passes through connecting hole, one end of connecting rod and support
Ring flat-plate is fixedly connected, and one end of the other end and contiguous block is fixed；The limit sensors are fixed on the other end of contiguous block；Institute
State resetting spring to be set in connecting rod, its one end props up installing plate, and the other end is abutted with filler ring plate.
2. narrow space bolt location and installation machine people according to claim 1, it is characterised in that the movement module bag
Include guide rod, servomotor, guide rail, the first sliding block, the second sliding block and screw；The guide rod and guide rail are fixed on parallel to each other
On fixed board, first sliding block is installed on guide rod, and second sliding block is installed on guide rail；The industrial robot is fixed on
On first sliding block and the second sliding block；The screw both ends are fixed in fixed plate, and are sequentially connected with the second sliding block；The servo
Motor is connected with screw rod transmission and drives the second sliding block and industrial robot to slidably reciprocate on guide rail and guide rod.
3. narrow space bolt location and installation machine people according to claim 1, it is characterised in that the filler ring plate uses
Loop configuration, including connecting plate and annular slab；One end of the connecting plate is fixed in connecting rod, in the other end and annular slab
Portion is fixedly connected；The radian of the annular slab is 240 degree.
4. narrow space bolt location and installation machine people according to claim 1, it is characterised in that the industrial robot
Inside is equipped with the pressure sensor for being used for detecting the pressure value between industrial robot and the external world, the pressure sensor and control
Device is electrically connected.
5. narrow space bolt location and installation machine people according to claim 1, it is characterised in that the industrial robot
Using the industrial robot of six joint cascaded structure of electric motor built-in, it is 1500mm, most large arm diameter that each arm, which is fully deployed length,
100mm, most forearm diameter 60mm, maximum load 300Kg, working space are the narrow space of 200mm.
6. narrow space bolt location and installation machine people according to claim 5, it is characterised in that the industrial robot
Spindle motor away from.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721053520.4U CN207326366U (en) | 2017-08-22 | 2017-08-22 | A kind of narrow space bolt location and installation machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721053520.4U CN207326366U (en) | 2017-08-22 | 2017-08-22 | A kind of narrow space bolt location and installation machine people |
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| Publication Number | Publication Date |
|---|---|
| CN207326366U true CN207326366U (en) | 2018-05-08 |
Family
ID=62373390
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721053520.4U Withdrawn - After Issue CN207326366U (en) | 2017-08-22 | 2017-08-22 | A kind of narrow space bolt location and installation machine people |
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| Country | Link |
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| CN (1) | CN207326366U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414474A (en) * | 2017-08-22 | 2017-12-01 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of narrow space bolt location and installation machine people and control method |
| CN112595232A (en) * | 2020-12-11 | 2021-04-02 | 上海电气集团股份有限公司 | Bolt positioning device and method for wind turbine generator |
| CN112720353A (en) * | 2020-12-30 | 2021-04-30 | 中核武汉核电运行技术股份有限公司 | Walking positioning device based on bolt crawling |
-
2017
- 2017-08-22 CN CN201721053520.4U patent/CN207326366U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414474A (en) * | 2017-08-22 | 2017-12-01 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of narrow space bolt location and installation machine people and control method |
| CN112595232A (en) * | 2020-12-11 | 2021-04-02 | 上海电气集团股份有限公司 | Bolt positioning device and method for wind turbine generator |
| CN112720353A (en) * | 2020-12-30 | 2021-04-30 | 中核武汉核电运行技术股份有限公司 | Walking positioning device based on bolt crawling |
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