CN216505126U - Accurate induction system of robot operation and assembly system thereof - Google Patents

Abstract

The utility model discloses a robot operation accurate sensing device and an assembly system thereof, which are used for sensing an operation piece to be assembled and completing assembly through an operation structure, wherein the robot operation accurate sensing device comprises a visual sensing component and an assembly sensing component, the visual sensing component is electrically connected with the operation structure of the assembly sensing component, and the operation structure performs assembly among assembly interfaces of the operation piece according to position information of the operation piece acquired by the visual sensing component; the assembly sensing assembly comprises a pressure sensor for detecting assembly pressure during assembly and a depth sensor for detecting assembly depth between assembly interfaces of the working piece, and assembly accuracy is monitored. According to the utility model, the visual sensing assembly is arranged to guide flexible and accurate wiring of the operation structure, and the assembly sensing assembly is combined to carry out assembly control on the precision line interface, so that the cooperative operation of flexible wiring and precision assembly in the assembly process of the operation part is realized.

Description

Accurate induction system of robot operation and assembly system thereof

Technical Field

The utility model belongs to the technical field of mechanical assembly induction, and particularly relates to a robot operation accurate induction device and an assembly system thereof.

Background

The need and trend of social development to improve efficiency and reduce manpower is especially in industrial production, and the assembly process of products is generally required in the processing process of industrial products, so that the assembly plays an important role in the whole product processing process. In the current product assembly, the staff need manually assist the whole process of installed part assembly, and all assemblies are accomplished according to predetermined route to the manipulator, and personnel's intensity of labour is big, and work efficiency is low, and manufacturing cost is high to there is the coordinate deviation between the assembly part on the central point and the material when the manipulator assembles, just can further lead to the precision not high.

Therefore, how to perform high-precision assembly sensing is an urgent problem to be solved.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a robot operation accurate sensing device and an assembly system thereof, which can realize the cooperative operation of flexible wiring and accurate assembly in the assembly process of an operation piece.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a robot operation accurate induction device is used for inducing an operation piece to be assembled and completing assembly through an operation structure and comprises a visual induction component and an assembly induction component, wherein the visual induction component and the assembly induction component are electrically connected with the operation structure;

the assembly sensing assembly comprises a pressure sensor for detecting assembly pressure during assembly and a depth sensor for detecting assembly depth between assembly interfaces of the working piece, and assembly accuracy is monitored.

Furthermore, the operation structure comprises a body and a grabbing head arranged at the tail end of the top of the body, and the grabbing head is rotatably connected with the body; and the grabbing head is provided with a grabbing position matched with the operation piece.

Further, the vision response subassembly sets up in placing the thing bench top of putting the operation piece, acquires the positional information who puts the operation piece on the thing bench.

Furthermore, the visual sensing assembly is further arranged at the bottom of the operation structure and used for acquiring the position information of the assembling interface of the operation piece grabbed by the grabbing head.

Furthermore, the visual sensing assembly is arranged on the operation structure and used for acquiring the position information of the assembly interface of the operation piece.

Furthermore, the vision sensing component adopts a 3D vision real-time target identification and position detection technology.

Further, the pressure sensor in the assembly sensing assembly is an inter-finger distributed contact force sensor.

The assembly system applying the robot operation accurate sensing device further comprises a horizontally placed base platform, an operation structure and a control unit, wherein the accurate sensing device and the operation structure are arranged on the base platform, and the control unit controls the operation structure to move and assemble according to the position information of an operation piece acquired by the vision sensing assembly;

the pressure sensor and the depth sensor of the assembly induction assembly acquire assembly pressure and assembly depth during assembly, and assembly precision is monitored.

The technical scheme provided by the embodiment of the application above is visible, the visual sensing device adopting the 3D visual real-time target identification and position detection technology acquires the position information of the operation piece, and accurate identification is realized, so that flexible and accurate wiring of the operation structure is guided, the assembly sensing assembly carries out assembly control on an assembly interface of a precise line according to the assembly force and the assembly depth which are monitored during assembly and correspond to each other, and then the cooperative operation of flexible wiring and precise assembly in the assembly process of the operation piece is realized, and efficient and accurate assembly is completed.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and not to limit the utility model. In the drawings:

fig. 1 is a schematic view of a structural module of a robot operation precision sensing device and an operation structure according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of an assembly system using a robot precision sensing apparatus according to a second embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

Example one

The embodiment of the application provides a robot operation accurate sensing device which can realize the cooperative operation of flexible wiring and precise assembly in the assembly process of operation pieces and complete efficient and precise assembly, and is used for sensing and monitoring the operation pieces to be assembled and completing the assembly through an operation structure 3, as shown in fig. 1, the robot operation accurate sensing device comprises a visual sensing component 1 and an assembly sensing component 2, the visual sensing component 1 and the assembly sensing component 2 are electrically connected with the operation structure 3, and the operation structure 3 performs the assembly between the operation pieces according to the position information of the operation pieces acquired by the visual sensing component 1; the assembly sensing assembly 2 includes a pressure sensor 21 for detecting an assembly pressure during assembly, and a depth sensor 22 for detecting an assembly depth between the work pieces, and monitors an assembly accuracy. The pressure sensor 21 in the assembly induction component 2 is an inter-finger distributed contact force sensor, which can not only acquire contact position and contact force information when the operation structure 3 grabs an operation piece, but also ensure that the operation structure 3 stably grabs the operation piece.

During assembly, within an allowable accuracy error range, the assembly force and the assembly depth are corresponding, and if the assembly interfaces between the operation pieces are not aligned, the assembly force is far greater than the force corresponding to the assembly depth, so that the assembly accuracy between the operation pieces can be reflected by obtaining the assembly force and the assembly depth.

In the embodiment provided by the application, the operating member can be a printed circuit board and an FPC flexible cable, so that the assembly between the socket of the printed circuit board and the plug of the FPC flexible cable is controlled, and the plug structure of the FPC flexible cable is precise. Therefore, the visual sensing assembly 1 is arranged to guide flexible and accurate wiring of the operation structure 3, the assembly sensing assembly 2 is combined to control assembly of the precise line interface, cooperation of flexible wiring and precise assembly in the assembly process of the operation part is achieved, and efficient and accurate assembly is achieved.

In this embodiment, as shown in fig. 2 of a three-dimensional structure diagram of an assembly system applying the sensing device, the working structure 3 includes a body 31 and a grabbing head 32 disposed at a top end of the body 31, the grabbing head 32 is rotatably connected to the body 31, and the assembly sensing component 2 is not shown in the three-dimensional structure diagram; the grabbing head 32 is provided with a grabbing position 321 matched with the working piece. Under the prerequisite based on the accurate guide that vision response subassembly 1 removed operation structure 3, what the last setting of operation structure 3 snatchs the position 321 can further limit the scope of operation piece, and the positional information who snatchs back operation piece all is predictable, has improved the control to the precision.

In addition, the vision sensing assembly 1 is arranged above the object placing table 4 for placing the operation piece, and acquires the position information of the operation piece on the object placing table 4. And, in this application vision response subassembly 1 adopts 3D vision real-time target identification and position detection technique, and this technique has higher range finding precision, interference killing feature and real-time, has further promoted the control of this application technical scheme to the assembly precision.

The vision sensing assembly 1 is further arranged at the bottom of the operation structure 3, and obtains the position information of the operation piece grabbed by the grabbing head 32. Just so can obtain the relative position between the work piece on putting the thing platform 4 and the work piece on grabbing head 32, the operation structure 3 is assembled according to its relative position removal, and the embodiment that this application provided can convert relative position into the compensation difference through the affine transformation matrix of establishing in advance, and then according to compensation difference drive operation structure 3, just need not the manual work to carry out readjustment to the standard position to realize efficient accurate assembly.

In another embodiment of the present application, the visual sensing assembly 1 may be disposed only on the working structure 3 to obtain the position information of the working member. Thus, all the visual sensing assemblies 1 are integrated above the operation structure 3, the position information of the operation parts and the position information of the assembly parts on the operation parts are obtained from top to bottom, and the operation structure 3 is guided to grab and place the operation parts and assemble the operation parts.

Through the embodiments, the visual sensing device adopting the 3D visual real-time target identification and position detection technology is arranged to acquire the position information of the operation piece, so that the accurate identification is realized, after the operation structure 3 grabs the operation member, the operation structure 3 is guided to flexibly and accurately route, the operation member is placed on the object placing table 4, then the visual sensing device respectively identifies the position information of the operation member on the object placing table 4, and the position information of another operation piece still grabbed on the operation structure 3, the operation structure 3 moves according to the relative position to carry out assembly, the assembly induction component 2 carries out assembly control of a precise line interface according to the assembly force and the assembly depth which are monitored during assembly and correspond to the operation structure, further realizing the cooperative operation of flexible wiring and precise assembly in the assembly process of the operation piece, and completing high-efficiency and precise assembly; therefore, the assembly precision can be better than +/-0.02 mm, and the automatic assembly repeated positioning precision is better than +/-0.01 mm.

Example two

The embodiment of the application provides an assembly system applying the robot operation accurate sensing device, as shown in fig. 2, the assembly system further comprises a horizontally placed base platform 5, an operation structure 3 and a control unit, wherein the accurate sensing device and the operation structure 3 are both arranged on the base platform 5, and the control unit controls the operation structure 3 to move and assemble according to the position information of the operation piece acquired by the visual sensing assembly 1; the pressure sensor 21 and the depth sensor 22 of the assembly sensing assembly 2 acquire assembly pressure and assembly depth during assembly, assembly precision is monitored, cooperative operation of flexible wiring and precision assembly in the assembly process of an operation part is achieved, and efficient precision assembly is completed.

The present invention is not limited to the above preferred embodiments, and any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. A robot operation accurate induction device is used for inducing an operation piece to be assembled and completing assembly through an operation structure and is characterized by comprising a visual induction component and an assembly induction component, wherein the visual induction component and the assembly induction component are electrically connected with the operation structure;

the assembly sensing assembly comprises a pressure sensor for detecting assembly pressure during assembly and a depth sensor for detecting assembly depth between assembly interfaces of the working piece, and assembly accuracy is monitored.

2. The accurate induction system of robot work of claim 1, characterized in that: the operation structure comprises a body and a grabbing head arranged at the tail end of the top of the body, and the grabbing head is rotatably connected with the body; the grabbing head is provided with a grabbing position matched with the operation piece.

3. The robot work accurate sensing device of claim 2, wherein: the visual induction assembly is arranged above the object placing table for placing the operation piece, and acquires the position information of the operation piece on the object placing table.

4. A robotic work accurate sensing device according to claim 3, wherein: the visual sensing assembly is further arranged at the bottom of the operation structure and used for acquiring the position information of the assembly interface of the operation piece grabbed by the grabbing head.

5. The robot work accurate sensing device of claim 2, wherein: the visual sensing assembly is arranged on the operation structure and used for acquiring the position information of the assembly interface of the operation piece.

6. A robotic task precision sensing device according to any of claims 1-5, wherein: the vision sensing assembly adopts a 3D vision real-time target identification and position detection technology.

7. A robotic work accurate sensing device according to claim 6, wherein: the pressure sensors in the assembly sensing assembly are inter-finger distributed contact force sensors.

8. An assembling system of a robot operation accurate induction device according to any one of claims 1 to 7, characterized by further comprising a horizontally placed base platform, an operation structure and a control unit, wherein the accurate induction device and the operation structure are both arranged on the base platform, and the control unit controls the operation structure to move for assembling according to the position information of the operation piece acquired by the visual induction component;

the pressure sensor and the depth sensor of the assembly induction assembly acquire assembly pressure and assembly depth during assembly, and assembly precision is monitored.

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