CN106826817A - Double feedback mechanical arm automatic assembling and disassembling system and methods - Google Patents
Double feedback mechanical arm automatic assembling and disassembling system and methods Download PDFInfo
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- CN106826817A CN106826817A CN201710017888.3A CN201710017888A CN106826817A CN 106826817 A CN106826817 A CN 106826817A CN 201710017888 A CN201710017888 A CN 201710017888A CN 106826817 A CN106826817 A CN 106826817A
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- mechanical arm
- expansion link
- positioning equipment
- automatic assembling
- robot body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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Abstract
The invention discloses a kind of double feedback mechanical arm automatic assembling and disassembling systems, for the handling of large-scale precision mechanical machine part, including：Robot body, the robot body includes mechanical arm, and has at least one pulley in its floor installation so that robot body can move in its support platform；Binocular vision 3 D positioning equipment, the binocular vision 3 D positioning equipment is supported on platform by support, is positioned as that part can be photographed；Monocular vision 3 D positioning equipment, the monocular vision 3 D positioning equipment is installed in the mechanical arm tail end of the robot body, is oriented and shoots part to be loaded and unloaded；And an expansion link, the expansion link is installed to the mechanical arm, can be attached with grabbing device on the expansion link end relative to the mechanical arm telescopic moving.The invention also discloses a kind of double feedback mechanical arm automatic loading and unloading methods.
Description
Technical field
The present invention relates to the commercial Application technical field of robot, filled automatically in particular to a kind of double feedback mechanical arms
Unloading system, for the handling of large-scale secret mechanical machine part, further relates to double feedback mechanical arm automatic loading and unloading methods.
Background technology
For the extensive use of current large-scale precision plant equipment, such as in aerospace field, weapon manufacture field, warship
Ship manufacture field etc., in the middle of the process for being assembled to it, being dismantled, the requirement to precision is extremely high, and according to part material
Difference is, it is necessary to take different handling modes.
At present, in the middle of industrial circle, there are some problems to the handling of large-scale precision mechanical machine part.According to large-scale
The characteristics of secret mechanical machine part, has studied some and the device of automatic loading and unloading can be carried out to it, but existing at present automatic
Handling system still suffers from certain deficiency, for example, automation poor performance, not smart enough to the positioning of large-scale precision mechanical machine part
Really, grasp force is not enough, object mounting position positioning is inaccurate etc..
To realize automating, hand labor intensity is reduced, it is therefore necessary to which design invention is a set of can be realized to large-scale essence
The device of close mechanical machine part automatic loading and unloading, it is precisely fixed that the handling of large-scale precision mechanical machine part can be carried out
Position, and the method that double feedback mechanical arm automatic loading and unloadings are provided.
The content of the invention
The purpose of the present invention is to realize industrial automation, integration, completes the handling to large-scale precision mechanical machine part
Task.
Automation is realized, it is at all the loader that can realize equally it being carried out as people accurate high-tech
Make, the present invention is based on binocular vision stereotactic system and monocular vision stereotactic system, positioning is identified to part, its
Middle biocular systems are to carry out initialization positioning to large-scale precision mechanical machine part, communicate information to mechanical arm, allow mechanical arm
Specified location is reached, part is precisely located using monocular alignment system then, determine that exact position and size are big
It is small, the crawl and unloading of part are come into effect finally by moving telescopic bar.
The present invention provides a kind of double feedback mechanical arm automatic assembling and disassembling systems in order to solve the above problems, and also provides a kind of double
The method for feeding back mechanical arm automatic loading and unloading.
Concrete technical scheme of the invention is as follows：
According to an aspect of the present invention, the present invention provides a kind of double feedback mechanical arm automatic assembling and disassembling systems, including：
Robot body, the robot body includes mechanical arm, and has at least one pulley in its floor installation so that machine
Human agent can move in its support platform；
Binocular vision 3 D positioning equipment, the binocular vision 3 D positioning equipment is supported on platform by support, is determined
Position is that can photograph part；
Monocular vision 3 D positioning equipment, the monocular vision 3 D positioning equipment is installed in the machinery of the robot body
Arm end, is oriented and shoots part to be loaded and unloaded；
One expansion link, the expansion link is installed to the mechanical arm, can be described relative to the mechanical arm telescopic moving
Expansion link is attached with grabbing device on end.
According to a preferred embodiment of the invention, double feedback mechanical arm automatic assembling and disassembling systems also include under one
Outstanding system, the lower outstanding system is arranged at mechanical arm tail end motor control, positions the expansion link.
According to a preferred embodiment of the invention, the expansion link includes a device for force feedback, the force feedback
Device can respond the power born on the expansion link.
According to a preferred embodiment of the invention, double feedback mechanical arm automatic assembling and disassembling systems also include a report
Alert system.
According to a preferred embodiment of the invention, the monocular vision 3 D positioning equipment includes that swings a dress
Put.
According to a preferred embodiment of the invention, the monocular vision 3 D positioning equipment is fixed on the expansion link
End, follow the expansion link to move together.
According to a preferred embodiment of the invention, the expansion link end is attached with a rotating disk, the rotating disk energy
It is enough to be rotated relative to expansion link, and multiple grabbing devices are installed on the rotating disk.
According to an aspect of the present invention, the present invention also provides one kind double feedback mechanical arm automatic loading and unloading methods, including with
Lower step：
1）The binocular vision 3 D positioning equipment is rack-mount, part can be photographed；
2）Demarcate the binocular vision 3 D positioning equipment；
3）Identification target object, obtains the initial position co-ordinates of part；
4）The initial position co-ordinates information of part is sent to robot body；
5）Robot body is moved at the initial position co-ordinates；
6）Monocular vision positioner shoots to part, recognizes target object, obtains the accurate position coordinates of part；
7）The accurate position coordinates of part are sent to robot body；
8）Expansion link is set to move crawl part and part is discharged in into its installation site.
According to a preferred embodiment of the invention, double feedback mechanical arm automatic loading and unloading methods also include：Using lower outstanding
System positions expansion link.
According to a preferred embodiment of the invention, double feedback mechanical arm automatic loading and unloading methods also include：Judge flexible
Whether the pulling force born on bar exceedes the threshold value of setting, when the threshold value more than setting, triggers alarm.
The beneficial effects of the invention are as follows：In the present invention, based on advanced technologies such as robot, machine vision, one is constructed
Cover the double feedback mechanical arm automatic assembling and disassembling systems towards the handling of large-scale precision mechanical machine part, the three-dimensional identification positioning of view-based access control model
Algorithm is identified track and localization technology to precision component, with a high speed, it is accurate the features such as, by specialty image processing software
And the use in vision storehouse, to ensure the precision and efficiency of part handling system, reduce labour intensity.
Brief description of the drawings
Fig. 1 is the structural representation of double feedback mechanical arm automatic assembling and disassembling systems of the invention；
Fig. 2 is the operation principle schematic diagram of double feedback mechanical arm automatic assembling and disassembling systems of the invention；
Fig. 3 is the algorithm flow chart of binocular vision 3 D positioning equipment；
Fig. 4 is the workflow schematic diagram of monocular vision 3 D positioning equipment of the invention；
Fig. 5 is expansion link of the invention and lower outstanding working-flow schematic diagram；
In figure：1st, robot body, 11, base, 12, mechanical arm, 2, binocular vision 3 D positioning equipment, 3, monocular vision it is three-dimensional
Positioner, 4, expansion link, 5, lower outstanding system.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Retouched in detail referring now to an embodiment of Fig. 1-5 pairs of double feedback mechanical arm automatic assembling and disassembling systems of the invention
State.Wherein, Fig. 1 shows the structural representation of double feedback mechanical arm automatic assembling and disassembling systems of the invention.As shown in figure 1, machine
The base 11 of human agent 1 and mechanical arm 12, and four pulleys are installed in base 11 so that robot body 1 can be in its support
Moved around on platform, to approach part to be loaded and unloaded.Expansion link 3 is installed, the expansion link 3 can be relative on mechanical arm 12
In grabbing device is attached with the telescopic moving of mechanical arm 12, and the end of expansion link 3, for loading and unloading part.The form of expansion link 3
Can be telescoping cylinder, screw rod etc..Moreover it is preferred that the end of expansion link 3 can be attached with a rotating disk, the rotating disk being capable of phase
For expansion link rotation, and multiple grabbing devices are installed on rotating disk, can be selected according to the shape of part to be loaded and unloaded and structure
Suitable grabbing device is chosen to selecting property, more stably to load and unload part.Alternatively, robot body can be serial machine
People, parallel robot, are in the present embodiment serial manipulator.Preferably, robot body includes locking device, to ensure
When expansion link works, robot body is locked in the operating position.
Binocular vision 3 D positioning equipment 2（Such as binocular camera）It is mounted on support, support is three-dimensional fixed by binocular vision
Position device 2 is supported on its workbench, and the binocular vision 3 D positioning equipment is positioned as that part can be photographed.
Based on the identification location algorithm for designing in the present embodiment, using high resolution, the low binocular camera of aberration rate carries out solid
Identification positioning, positioning is identified to large-scale precision mechanical machine part to be loaded and unloaded on workbench, obtains one initially
Position, while communicating information to robot body 1.Preferably, binocular vision 3 D positioning equipment 2 can adjust azimuth and
The angle of pitch, preferably to shoot part, obtain part position information.Before binocular vision 3 D positioning equipment 2 is shot,
Need to demarcate it, the internal reference of camera is mainly obtained to binocular camera（Focal length, picture centre, distortion factor etc.）With it is outer
Ginseng（Spin matrix, translation matrix etc.）Demarcated, the position after demarcation to part carries out IMAQ, obtained the first of part
Beginning positional information.Fig. 3 shows the algorithm flow chart of binocular vision 3 D positioning equipment.Binocular vision 3 D positioning equipment in order to
Realization carries out initialization positioning to the large-scale precision plant equipment part to be loaded and unloaded, and camera calibration is imaged onto from camera, to image
Pre-processed, then feature extraction starts Stereo matching, carry out positioning the approximate size for obtaining part, shape, three-dimensional coordinate
And depth information.
Monocular vision 3 D positioning equipment 3 is installed in the end of mechanical arm 12 of the robot body, and expansion link 4 is attached
Closely, it is oriented and shoots part to be captured.The purpose is to be preferably accurately positioned to part, there is provided accurate position.
The monocular vision 3 D positioning equipment realizes errorless work based on improved high depth algorithm, is characterized in that speed is fast, precision
It is high.Preferably, monocular vision 3 D positioning equipment 3 can include a pendulous device, and the pendulous device can drive monocular to regard
Feel that 3 D positioning equipment 3 swings within the specific limits, adjust the shooting angle of monocular vision 3 D positioning equipment.Specifically, with
Used as one embodiment, monocular camera can adjust azimuth and the angle of pitch of camera to monocular camera.Object distance camera lens it is remote
It is closely unrelated with focal length f and image distance, it is only relevant with object displacement and its imaging size multiple.Camera lens is being kept perpendicular to tested
During amount object, after camera lens movement, the size and shape invariance of imaging need not so revise the coordinate between image, as long as surveying
Two differences of coordinate in the same orientation of amount object, and according to the movable distance of measurement, object can be just obtained with camera lens
Distance.Preferably, monocular vision 3 D positioning equipment 3 is fixed on the end of the expansion link 4, follows the expansion link to move together
It is dynamic.
According to the positional information of the feedback of end monocular vision 3 D positioning equipment 3, expansion link 4 can be moved precisely to correctly
Position on, start that rotation is lower outstanding, the actuator of expansion link end can be electromagnetic force, using pneumatic or electric pawl mode to essence
Close part is captured.
Additionally, double feedback mechanical arm automatic assembling and disassembling systems of the present embodiment are also including outstanding system 5, lower outstanding system under one
It is arranged at mechanical arm tail end motor control, lower outstanding system 5 is positioned and manipulated to expansion link 4.Expansion link 4 includes a power
Feedback device, such as force snesor, the device for force feedback can respond the power born on expansion link, be pulled up in expansion link 4
While taking, the pulling force born on device for force feedback sensing expansion link, because expansion link material is frangible, so needing setting one
The threshold value of power is controlled to expansion link, and when power is more than this threshold value, warning system is opened, and notification technique personnel are carried out manually
Treatment, it is ensured that its everything goes well with your work complete.It is preferred that double feedback mechanical arm automatic assembling and disassembling systems also include an alarm
System.The function of outstanding system is that lower outstanding positioning is carried out to expansion link down, it is ensured that implement crawl handling on accurate position, under this
Outstanding system ensure that the feature of whole system, accuracy, while also achieving the automation of whole system, it is often more important that be
Expansion link it is intact there is provided guarantee.
Fig. 2 shows the operation principle schematic diagram of double feedback mechanical arm automatic assembling and disassembling systems of the invention.Wherein binocular vision
Feel 3 D positioning equipment（Such as binocular camera）Positioning is identified to large-scale precision mechanical machine part, its characteristic information is obtained
It is transmitted to serial manipulator；According to the position of identification positioning, serial manipulator begins to move into specified location, in the machinery of robot
The monocular vision 3 D positioning equipment of arm end placement（Such as monocular camera）Start accurate identification positioning to part；Correct
Position on, expansion link starts lower outstanding, and the crawl of expansion link end carries out absorption crawl to precision component；Outstanding system is to flexible down
Bar is positioned, while while expansion link is pulled upwards, can give one feedback of power of lower outstanding system.Monocular vision is three-dimensional fixed
Position device constitutes the vision aided positioning system of binocular vision 3 D positioning equipment, it is therefore an objective to carry out high accuracy to handling part,
Track and localization at a high speed.
Fig. 4 shows the workflow schematic diagram of monocular vision 3 D positioning equipment of the invention.Monocular vision is three-dimensional fixed
Position device is identified to target first, if unidentified to target, will make mobile mechanical arm, or by pendulous device adjustment side
Parallactic angle and the angle of pitch, are identified to target again；If recognizing target, storage location coordinate determines target three-dimensional localization；
Judge the relative position relation of the target three-dimensional localization and mechanical arm, if mechanical arm correspondence correct position, sends positioning instruction, make
Mechanical arm is moved；If mechanical arm correspondence correct position, positions target.
Fig. 5 is expansion link of the invention and lower outstanding working-flow schematic diagram.A force feedback is provided with expansion link
Device, can respond the power on expansion link, and set a threshold value for power, during expansion link is pulled, on expansion link
Power judged, when power be more than this threshold value when, open warning system open, when power not less than setting threshold value when, implement
The crawl handling of part.
It is described as follows with reference to Fig. 2-5 pairs of double feedback mechanical arm automatic loading and unloading methods：
Double feedback mechanical arm automatic loading and unloading methods are comprised the following steps：Binocular vision 3 D positioning equipment is rack-mount,
Part can be photographed；Binocular vision 3 D positioning equipment is demarcated；Identification target object, obtains the initial of part
Position coordinates；The initial position co-ordinates information of part is sent to robot body；Robot body moves to the initial position
At coordinate；Monocular vision positioner shoots to part, recognizes target object, obtains the accurate position coordinates of part；Will
The accurate position coordinates of part are sent to robot body；And expansion link is moved crawl part and part is discharged in its peace
Holding position.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be in other specific forms realized.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires to be limited rather than described above, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as the claim involved by limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each implementation method is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Specification an as entirety, the technical scheme in each embodiment can also be formed into those skilled in the art through appropriately combined
May be appreciated other embodiment.
Claims (10)
1. a kind of pair is fed back mechanical arm automatic assembling and disassembling system, for the handling of large-scale precision mechanical machine part, it is characterised in that
Including：
Robot body, the robot body includes mechanical arm, and has at least one pulley in its floor installation so that machine
Human agent can move in its support platform；
Binocular vision 3 D positioning equipment, the binocular vision 3 D positioning equipment is supported on platform by support, is determined
Position is that can photograph part；
Monocular vision 3 D positioning equipment, the monocular vision 3 D positioning equipment is installed in the machinery of the robot body
Arm end, is oriented and shoots part to be loaded and unloaded；
One expansion link, the expansion link is installed to the mechanical arm, can be described relative to the mechanical arm telescopic moving
Expansion link is attached with grabbing device on end.
2. according to claim 1 pair is fed back mechanical arm automatic assembling and disassembling system, it is characterised in that double feedback mechanical arms
Also including outstanding system under, the lower outstanding system is arranged at mechanical arm tail end motor control automatic assembling and disassembling system, positions institute
State expansion link.
3. according to claim 2 pair is fed back mechanical arm automatic assembling and disassembling system, it is characterised in that the expansion link includes one
Individual device for force feedback, the device for force feedback can respond the power born on the expansion link.
4. according to claim 3 pair is fed back mechanical arm automatic assembling and disassembling system, it is characterised in that double feedback mechanical arms
Automatic assembling and disassembling system also includes a warning system.
5. according to double feedback mechanical arm automatic assembling and disassembling systems that any one of claim 1-4 is described, it is characterised in that described
Monocular vision 3 D positioning equipment includes a pendulous device.
6. according to claim 5 pair is fed back mechanical arm automatic assembling and disassembling system, it is characterised in that the monocular vision is three-dimensional
Positioner is fixed on the end of the expansion link, follows the expansion link to move together.
7. according to claim 1 pair is fed back mechanical arm automatic assembling and disassembling system, it is characterised in that the expansion link end is attached
A rotating disk is connected to, the rotating disk can be rotated relative to expansion link, and multiple grabbing devices are provided with the rotating disk.
8. a kind of double feedback mechanical arm automatic loading and unloading methods, comprise the following steps：
1）The binocular vision 3 D positioning equipment is rack-mount, part can be photographed；
2）Demarcate the binocular vision 3 D positioning equipment；
3）Identification target object, obtains the initial position co-ordinates of part；
4）The initial position co-ordinates information of part is sent to robot body；
5）Robot body is moved at the initial position co-ordinates；
6）Monocular vision positioner shoots to part, recognizes target object, obtains the accurate position coordinates of part；
7）The accurate position coordinates of part are sent to robot body；And
8）Expansion link is set to move crawl part and part is discharged in into its installation site.
9. method according to claim 8, it is characterised in that methods described also includes：It is flexible using lower outstanding system positioning
Bar.
10. method according to claim 9, it is characterised in that methods described also includes：Judge the drawing born on expansion link
Whether power exceedes the threshold value of setting, when the threshold value more than setting, triggers alarm.
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| CN107914272A (en) * | 2017-11-20 | 2018-04-17 | 北京科技大学 | A kind of method of seven freedom robot assemblies crawl target object |
| CN107962054A (en) * | 2017-11-23 | 2018-04-27 | 浙江国自机器人技术有限公司 | Interchangeable plate operation cleaning robot applied to photovoltaic array changes plate method |
| CN108015764A (en) * | 2017-11-20 | 2018-05-11 | 中国运载火箭技术研究院 | A kind of zero priori target acquistion method of space based on the fusion of multi-source visual information |
| CN108982546A (en) * | 2018-08-29 | 2018-12-11 | 燕山大学 | A kind of intelligent robot gluing quality detecting system and method |
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| CN107914272A (en) * | 2017-11-20 | 2018-04-17 | 北京科技大学 | A kind of method of seven freedom robot assemblies crawl target object |
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| CN110281271A (en) * | 2018-03-19 | 2019-09-27 | 广明光电股份有限公司 | The method that robotic arm corrects the outer camera of arm |
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