CN214025724U - Aircraft component assembly system based on robot force and position hybrid control - Google Patents
Aircraft component assembly system based on robot force and position hybrid control Download PDFInfo
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- CN214025724U CN214025724U CN202022440936.XU CN202022440936U CN214025724U CN 214025724 U CN214025724 U CN 214025724U CN 202022440936 U CN202022440936 U CN 202022440936U CN 214025724 U CN214025724 U CN 214025724U
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Abstract
The utility model discloses an aircraft component assembly system based on robot force position hybrid control, which comprises a flexible gripper (1), a joint robot (2), an AGV trolley (3), a product clamp (4), a six-dimensional force sensor (5) and a controller; the utility model has the advantages that: the assembly efficiency is improved by 50%; the assembly precision is improved; meanwhile, the damage to the workpiece and the airplane caused by overlarge contact force in the assembly process is avoided; the labor is reduced by 40%; reducing the risk of worker injury during assembly; the process parameters of the assembly operation are visualized and controllable.
Description
Technical Field
The utility model relates to a robot assembly technique, it is specific relates to an aircraft part assembly system based on robot power position hybrid control.
Background
Conventional industrial robots are of the position-controlled type. Such a robot based on a position control type may be adequate for certain tasks such as welding, painting, handling. It has been proved that a position-controlled robot can be competent for tasks in which the robot does not come into contact with the external environment or tasks in which the robot needs to come into contact with the environment but the control of the contact force is not highly required. The characteristic of a task determines that the robot needs to meet the requirements of accuracy, compliance and man-machine cooperation in the assembling process, contact force between an aircraft and the part needs to be monitored and controlled in real time, the position of the robot is far from enough to be controlled, and the contact force and compliance are controlled well and often determine whether a docking task can be successfully completed.
Disclosure of Invention
An object of the utility model is to the above-mentioned problem, provide an aircraft parts assembly system based on robot power position hybrid control.
An aircraft component assembly system based on robot force and position hybrid control comprises a flexible gripper (1), a joint robot (2), an AGV (automatic guided vehicle) cart (3), a product clamp (4), a six-dimensional force sensor (5) and a controller; wherein:
the flexible gripper (1) is fixed on the product clamp (4) to realize the gripping action of the large part (4) of the airplane;
the base of the joint robot (2) is fixed on an AGV trolley (3) and is connected with a controller through a bus to transmit data, a six-dimensional force sensor (5) is installed at a flange at the tail end, meanwhile, a product clamp (4) and a flexible gripper (1) are fixed at the tail end of a mechanical arm of the joint robot, and the controller issues an instruction to realize grabbing and assembling of an airplane component;
the AGV trolley (3) is a maneuvering device of the system and carries accessories to a specific station;
the data output end of the six-dimensional force sensor (5) is connected with the data input end of the controller, and the contact force between the airplane and the component is monitored in real time;
the controller is internally provided with a multi-processing system, and a remote control robot grabs the workpiece and monitors the assembly process of the workpiece.
Preferably, the flexible grip (1) comprises four gripping grips with different directions.
Preferably, the joint robot (2) is a six-axis robot, and the robot load is 150kg-300 kg.
Preferably, the surface of the AGV trolley (3) is provided with an operation panel, the working route of the AGV trolley is set, and the running state of the AGV trolley is monitored at the same time
Preferably, the joint robot (2) adopts an admittance algorithm and a force position hybrid control algorithm to combine and assemble the workpiece.
Preferably, the controller also comprises a PCI bus, a large-capacity flash disk, a USB storage interface and a demonstrator.
The utility model has the advantages that: a six-dimensional force sensor is arranged in a flange at the tail end of the robot to collect contact force, and algorithm control is performed to realize compliance by using the obtained force information in the component assembling process, so that the assembling efficiency is improved by 50%; the assembly precision is improved; meanwhile, the damage to the workpiece and the airplane caused by overlarge contact force in the assembly process is avoided; the labor is reduced by 40%; reducing the risk of worker injury during assembly; the process parameters of the assembly operation are visualized and controllable.
Drawings
Fig. 1 is a diagram of a system device according to the present invention.
Fig. 2 is a partial device diagram of the present invention.
Fig. 3 is a force system control diagram of the present invention.
Fig. 4 is a force analysis diagram of the spindle of the utility model.
In the figure: (1) flexible grippers, (2) -articulated robots, (3) -AGV carts, (4) -product grippers, (5) -six-dimensional force sensors.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, an aircraft component assembly system based on robot force position hybrid control comprises a flexible gripper (1), a joint robot (2), an AGV trolley (3), a product clamp (4), a six-dimensional force sensor (5) and a controller; wherein:
the flexible gripper (1) is fixed on the product clamp (4) to realize the gripping action of the large part of the airplane;
the base of the joint robot (2) is fixed on an AGV trolley (3), the joint robot is connected with a controller through a bus to transmit data, a six-dimensional sensor (6) is installed at a flange at the tail end, meanwhile, a product clamp (4) and a flexible gripper (1) are fixed at the tail end of a mechanical arm of the joint robot, and the controller issues an instruction to realize grabbing and assembling of an airplane component;
the AGV trolley (3) is a maneuvering device of the system and carries accessories to a specific station;
the data output end of the six-dimensional force sensor (5) is connected with the data input end of the controller, and the contact force between the airplane and the component is monitored in real time;
the controller is internally provided with a multi-processing system, and a remote control robot grabs the workpiece and monitors the assembly process of the workpiece.
It is to be understood that the flexible grip (1) comprises four gripping grips with different directions.
It is understood that the articulated robot (2) is a six-axis robot and the robot load is 150kg-300 kg.
It needs to be understood that the surface of the AGV trolley (3) is provided with an operation panel, and the operation route of the AGV trolley is set while the running state of the AGV trolley is monitored.
It is understood that the joint robot (2) adopts an admittance algorithm and a force position hybrid control algorithm to combine to assemble a workpiece.
It is understood that the controller also comprises a PCI bus, a large-capacity flash disk, a USB storage interface and a demonstrator.
As shown in fig. 3, a control diagram for an aircraft component assembly system based on robotic force position hybrid control.
It should be understood that, firstly, a conversion relation T between the force and the moment applied to the force sensor and the manipulator coordinate system of the robot end needs to be established:
it should be noted that the assembly system can map the force feedback to the robot base coordinate system through the conversion relation, and the robot makes corresponding movement in the control robot through the force feedback.
It is to be understood that the force and position hybrid control is applied to the time division and two steps in the aircraft assembly process, firstly, the main shaft is drawn into the shaft hole manually for coarse positioning, and then the robot adjusts the pose according to the stress of the main shaft and inserts the main shaft into the shaft hole.
It should be noted that, since the force sensor has been calibrated in zero, the force sensor will only detect the externally applied contact force after compensation by gravity. When the force controlled traction program is initiated, the system will detect an artificial traction force. The manually applied external force is unstable, and stable and smooth force feedback data can be obtained after dynamic filtering. After the artificial constraint force on the degree of freedom of the robot terminal execution mechanism is obtained, the position and the posture of the robot are adjusted in the direction, the position error in the constraint direction is ignored, the space position vector can be used for carrying out force control optimization on the mechanical arm, and the redundancy of the tail end of the mechanical arm is used for optimizing the motion performance of the robot. The motion rate of each joint of the robot is obtained after the solution of the Jacobian matrix and the pseudo-inverse matrix, so that the robot can continuously change the pose to maintain the state of being completely free from external force, and the robot is dragged by a human to move in a macroscopic state.
It should be noted that the displacement and the speed of the robot are restrained in real time in the whole assembly process, and the robot is stopped to alarm after the detected force exceeding the limit is fed back. Meanwhile, the motion track, the motion speed and the force feedback data of the robot are displayed in real time on the monitoring picture.
Fig. 4 is a force analysis diagram of the spindle when inserted.
It should be noted that, after the main shaft is initially positioned, the main shaft is subjected to axial force and forces and moments in other directions, and after the robot active assembly algorithm is started, the robot adjusts the pose to eliminate the forces and moments outside the main shaft direction. And continuously realizing pulse force in the direction of the main shaft to guide the main shaft to be inserted into the shaft hole.
Claims (5)
1. An aircraft component assembly system based on robot force position hybrid control is characterized by comprising a flexible gripper (1), a joint robot (2), an AGV trolley (3), a product clamp (4), a six-dimensional force sensor (5) and a controller; wherein:
the flexible gripper (1) is fixed on the product clamp (4) to realize the gripping action of the large part of the airplane;
the base of the joint robot (2) is fixed on an AGV trolley (3) and is connected with a controller through a bus to transmit data, a six-dimensional force sensor (5) is installed at a flange at the tail end, meanwhile, a product clamp (4) and a flexible gripper (1) are fixed at the tail end of a mechanical arm of the joint robot, and the controller issues an instruction to realize grabbing and assembling of an airplane component;
the AGV trolley (3) is a maneuvering device of the system and carries accessories to a specific station;
and the data output end of the six-dimensional force sensor (5) is connected with the data input end of the controller, so that the contact force between the airplane and the component is monitored in real time.
2. The aircraft component assembly system based on hybrid robotic force position control as claimed in claim 1, wherein said flexible grip (1) comprises four gripping grips with different directions.
3. The aircraft component assembly system based on hybrid robot force position control according to claim 1, characterized in that the articulated robot (2) is a six-axis robot and the robot load is 150kg-300 kg.
4. The aircraft component assembly system based on hybrid robotic force position control as claimed in claim 1, wherein the AGV cart (3) surface is provided with an operating panel.
5. The system for assembling components of an aircraft based on hybrid robotic position control as claimed in claim 1, wherein said controller further comprises a PCI bus, a mass flash drive, a USB memory interface, and a teach pendant.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022440936.XU CN214025724U (en) | 2020-10-28 | 2020-10-28 | Aircraft component assembly system based on robot force and position hybrid control |
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| CN202022440936.XU CN214025724U (en) | 2020-10-28 | 2020-10-28 | Aircraft component assembly system based on robot force and position hybrid control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112157659A (en) * | 2020-10-28 | 2021-01-01 | 成都九系机器人科技有限公司 | Airplane component assembling system and method based on robot force and position hybrid control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112157659A (en) * | 2020-10-28 | 2021-01-01 | 成都九系机器人科技有限公司 | Airplane component assembling system and method based on robot force and position hybrid control |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: An Aircraft Component Assembly System Based on Robot Force Position Hybrid Control Effective date of registration: 20230519 Granted publication date: 20210824 Pledgee: Chengdu SME financing Company Limited by Guarantee Pledgor: Chengdu jiuxi robot technology Co.,Ltd. Registration number: Y2023980041220 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |