CN109176464A - Cable auxiliary assembly system - Google Patents
Cable auxiliary assembly system Download PDFInfo
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- CN109176464A CN109176464A CN201810892486.2A CN201810892486A CN109176464A CN 109176464 A CN109176464 A CN 109176464A CN 201810892486 A CN201810892486 A CN 201810892486A CN 109176464 A CN109176464 A CN 109176464A
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
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Abstract
Present invention discloses a kind of cable auxiliary assembly systems, comprising: optical alignment unit to establish unified coordinate system for entire cable auxiliary assembly system, and provides physical spatial location reference；Sensory-perceptible unit is responsible for the perception objective physical world, reads the product information that bar code carrier is carried, provides support for subsequent control decision；Control unit carries out logic calculation and logic judgment according to the data that optical alignment unit and sensory-perceptible unit obtain, provides control instruction for execution unit；Execution unit, the control instruction assigned according to control unit, industrial robot make corresponding pose adjusting movement, realize high-precision directive property visible light location assistance to be assembled by the laser generator as end effector.
Description
[technical field]
The invention belongs to industrial production and manufacturing fields, particularly relate to a kind of cable auxiliary assembly system.
[background technique]
In recent years, the research and application of unmanned plane are worldwide brought rapidly up.Basic group of large-scale UAV system
At including aerial body part and above ground portion (i.e. ground control station), wherein the ground control station to match with drone body
Carry core brain role in entire UAV system, it is necessary to have real-time monitoring unmanned plane during flying state, task and fly
The multiple functions such as row routeing, numerical map, image procossing, flying quality analysis, navigation and positioning, need and unmanned plane sheet
Body carries out frequent information exchange.In order to realize above-mentioned multiple functions, there is corresponding subsystem as function inside ground control station
It can support, therefore the installation operation of the connectors such as a large amount of cables can be involved in earth station's assembling process.
Currently, the automatization level of unmanned aerial vehicle station assembling process is greatly improved, however, in practical set mistake
Cheng Zhong, since the central link parts such as the wire and cable of earth station system generally have, wire body shape, connection are complicated, connector is many
The features such as more, threading operates, and consider for investment/output ratio, it also cannot achieve full-automatic assembly, can only manually be walked
Line installation.But in manual installation process, due to operating seat is more, control cabinet shape is similar, cable identification lacks etc.
Reason easily causes connector setup error, so that later period diagnosis troubleshooting link time-consuming is huge, exists largely to do over again and reprocesses phenomenon,
Need a kind of intelligent auxiliary assembly system give operator with auxiliary information prompt accurately and timely.
[summary of the invention]
The purpose of the present invention is to provide a kind of cable auxiliary assembly systems, and the assembly of equipment can be connected for cable etc.
Journey provides intelligence auxiliary mount message, can be improved assembling speed, reduces misplug probability, shortens and do over again the time.
To achieve the above object, implementing cable auxiliary assembly system of the invention includes:
Optical alignment unit, including industrial intelligent camera and reference identification, to be built for entire cable auxiliary assembly system
Unified coordinate system is found, and physical spatial location reference is provided；
Sensory-perceptible unit, including bar code, reader, sensor and middleware, wherein sensor is with collision perception, fortune
Dynamic limit function, Middleware implementation acquire the preprocessing functions such as screening, the classification of information, are responsible for the perception objective physical world, read
The product information for taking bar code carrier to be carried provides support for subsequent control decision；
Control unit carries out logic calculation with the data that sensory-perceptible unit obtains according to optical alignment unit and sentences with logic
It is disconnected, control instruction is provided for execution unit, constantly carries out error correction until completing complementary instruction movement
Execution unit, including industrial robot and its additional mechanism providing additional operation, industrial robot are controlled by robot body, robot
Subsystem, teaching machine composition, additional mechanism providing additional operation is made of the laser generator in industrial robot end, according under control unit
The control instruction reached, industrial robot makes corresponding pose adjusting movement, by the laser generator as end effector
Realize high-precision directive property visible light location assistance to be assembled.
According to above-mentioned main feature, industrial camera is the intelligence that can access industrial Internet of Things and carry out process data transmission
Camera, reference identification are the reference point with significant intensity contrast feature, and industrial camera is as digitized high-precision optical
Positioning device is monitored reference identification, and acquires the necessary posture information of cable to be assembled, and processing, transfer data information are given
Control unit, to help robot body to make posture adjustment campaign.
According to above-mentioned main feature, the reader of sensory-perceptible unit reads the cable information to be installed in bar code, by institute
Information carrying breath, which is transferred in control system database, to be compared, and is provided visual wiring auxiliary for operator, is passed through simultaneously
Laser generator is given operator's visible light position to be assembled and is guided, and makes corresponding auxiliary direction movement for executing agency and mention
It is supported for initial data.
According to above-mentioned main feature, control unit mainly includes PLC, the industrial personal computer, industry for supporting RJ45 Ethernet interface
Interchanger and HMI, control unit carry out logic calculation and patrol according to optical alignment unit and the data that sensory-perceptible unit obtains
Judgement is collected, provides control instruction for execution unit, error correction is constantly carried out and is acted until completing complementary instruction, by PLC
Build dcs, PLC as control unit core, with optical alignment unit, sensory-perceptible unit, execute list
The Seamless integration-s such as member realize that intelligence auxiliary is directed toward operation.
Compared with prior art, which realizes optical alignment unit, sensory-perceptible list based on industrial Internet of Things
Member, execution unit, the Seamless integration- between control unit realize in real time accurately interconnection by Industrial Ethernet between each unit
Intercommunication can perceive the objective physical world, carries out back-end data analytical calculation and make corresponding complementary decision, eliminate and be
Information island inside system.According to the technical solution that this patent uses, which can be non-full-automatic in cable assembly shop etc.
Change under scene, accurately and effectively intelligent auxiliary information is provided for site operation personnel, when significantly reducing plug failure rate and doing over again
Between, greatly improve assembly efficiency and productive temp.
[Detailed description of the invention]
Fig. 1 is the composition block diagram for implementing cable auxiliary assembly system of the invention.
[specific embodiment]
Refering to Figure 1, to implement the composition block diagram of cable auxiliary assembly system of the invention.Implement this hair
Bright cable auxiliary assembly system includes optical alignment unit, sensory-perceptible unit, control unit and execution unit, below to each
The function composition of unit is described in detail.
Optical alignment unit includes industrial camera and reference identification, and wherein industrial camera is that can access industrial Internet of Things
And carry out the smart camera of process data transmission, reference identification be the reference point with significant intensity contrast feature, with realize with
The differentiation of background color, such as unmanned aerial vehicle (UAV) control station are generally camouflage color color, and white indicia can be used in favor of ginseng in reference identification
The position for examining mark differentiates that the unit is that whole system establishes unified coordinate system, and provides physical spatial location reference.
Further, industrial camera is as digitized high-precision optical positioning device to reference identification, unmanned plane control
System station cabinet etc. is monitored, and acquires the necessary posture information of cable to be assembled, and processing, transfer data information are single to control
Member, to help robot body to make posture adjustment campaign.
Further, assembly is established by the optical positioning devices such as industrial camera and unmanned aerial vehicle (UAV) control station reference identification to sit
Mark system, and relative coordinate system relationship is established with automatic positioning module, the object datum mark etc. built in industrial robot, so as to
Determine the position of the objects to be measured such as unmanned aerial vehicle (UAV) control station cabinet, cable to be assembled, in assembling process so as in execution unit
Coordinate conversion process and SERVO CONTROL adjustment inside industrial robot.
Further, target position of smooth, the stable point as datum mark determines the origin of coordinate system using on ground,
The neighbouring accurate size in line taking cable position to be assembled, the datum mark for being unlikely to deform place, establish cartesian coordinate system according to erecting yard,
Entire assembling process is all completed in this coordinate system.
Further, the position of industrial camera must be associated with execution unit, and must can guarantee and measure
Disconnected light, trembling, collision etc. does not occur in journey, this requires industrial cameras to be rigidly connected with the end of industrial robot, borrows
The functional characteristics such as assistant engineer industry robot security anticollision, positioning accuracy height come avoid accidentally measure and so on.
Sensory-perceptible unit includes bar code, reader, sensor and middleware, and wherein sensor is with collision perception, fortune
The functions such as dynamic limit, Middleware implementation acquire the preprocessing functions such as screening, the classification of information, are responsible for the perception objective physical world,
The product information that bar code carrier is carried is read, provides support for subsequent control decision.
Further, field level industrial Internet of Things is established using bar code and its automatic identification equipment, covers the stage together from material
Cable just already provided with the bar code for being loaded with all over products information, reads the cable to be installed in bar code by handheld terminal and believes
Breath, information loaded is transferred in control system database to be compared provides visual wiring auxiliary for operator, i.e.,
Wiring information is shown on external-connection displayer, while being given operator's visible light position to be assembled by laser generator and being referred to
Draw, and makes corresponding auxiliary direction movement for executing agency and initial data support is provided.
Execution unit includes industrial robot and its additional mechanism providing additional operation, and industrial robot is controlled by robot body, robot
Subsystem, teaching machine composition, additional mechanism providing additional operation is made of the laser generator in industrial robot end, according under control unit
The control instruction reached, industrial robot makes corresponding pose adjusting movement, by the laser generator as end effector
Realize high-precision directive property visible light location assistance to be assembled.
Further, using teaching type industrial robot, practical set task operating is pressed according to specific flow chart, is being led
Each operating position of automatic Memory teaching, posture, kinematic parameter/technological parameter etc. during drawing.
Further, enabled order is sent to robot by sensory-perceptible unit by industrial Internet of Things, robot will
It is accurately acted by teaching, is gradually completing all operationss.The optical alignment unit and sensory-perceptible unit of early period will be specific
Position command information is transferred to robot, and the robot end with laser emitter makes corresponding direction movement, and is filling
With complementary prompt highlighted to cable position to be assembled progress color etc. on live display.
Control unit mainly includes PLC, industrial personal computer, industrial switch, the HMI for supporting RJ45 Ethernet interface, and control is single
Member carries out logic calculation and logic judgment according to the data that optical alignment unit and sensory-perceptible unit obtain, and mentions for execution unit
For control instruction, error correction is constantly carried out until completing complementary instruction movement, i.e., industrial robot is defeated according to control unit
The instruction entered makes corresponding pose adjusting movement, shows position to be assembled with visible light by laser generator.
Further, dcs is built by PLC, PLC is as control unit core, with optical alignment
The Seamless integration-s such as unit, sensory-perceptible unit, execution unit realize that intelligence auxiliary is directed toward operation.
This four units sensory-perceptible unit, execute list by laterally industrial Internet of Things network establishment, optical alignment unit
Member is integrating seamlessly into unified distributed system, and PLC constitutes final control system, and industrial personal computer, HMI etc. realize scene
Grade human-computer interaction.
The cable intelligence auxiliary assembly system is held by location information acquisition, data processing, data transmitting and storage, movement
The links such as row, feedback control can obtain site physical spatial information, by hand-held by the visual identitys equipment such as industrial camera
Formula terminal reading cable information to be installed realizes horizontal and vertical displacement by movable base, by six-joint robot sheet
The operation of body realization six degree of freedom flexible high-precision optics direction realizes external automatic control and distribution by final control system
Collaboration.
Compared with prior art, which realizes optical alignment unit, sensory-perceptible list based on industrial Internet of Things
Member, execution unit, the Seamless integration- between control unit realize in real time accurately interconnection by Industrial Ethernet between each unit
Intercommunication can perceive the objective physical world, carries out back-end data analytical calculation and make corresponding complementary decision, eliminate and be
Information island inside system.According to the technical solution that this patent uses, which can be non-full-automatic in cable assembly shop etc.
Change under scene, accurately and effectively intelligent auxiliary information is provided for site operation personnel, when significantly reducing plug failure rate and doing over again
Between, greatly improve assembly efficiency and productive temp.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention
Protect range.
Claims (4)
1. a kind of cable auxiliary assembly system, comprising:
Optical alignment unit, including industrial intelligent camera and reference identification are united to establish for entire cable auxiliary assembly system
One coordinate system, and physical spatial location reference is provided；
Sensory-perceptible unit, including bar code, reader, sensor and middleware, wherein sensor is with collision perception, movement limit
Bit function, Middleware implementation acquire the preprocessing functions such as screening, the classification of information, are responsible for the perception objective physical world, read item
The product information that code carrier is carried, provides support for subsequent control decision；
Control unit carries out logic calculation and logic judgment according to the data that optical alignment unit and sensory-perceptible unit obtain,
Control instruction is provided for execution unit, constantly carries out error correction until completing complementary instruction movement
Execution unit, including industrial robot and its additional mechanism providing additional operation, industrial robot control subsystem by robot body, robot
System, teaching machine composition, additional mechanism providing additional operation are made of the laser generator in industrial robot end, are assigned according to control unit
Control instruction, industrial robot make corresponding pose adjusting movement, by the laser generator realization as end effector
High-precision directive property visible light location assistance to be assembled.
2. cable auxiliary assembly system as described in claim 1, it is characterised in that: industrial camera is that can access industrial Internet of Things
Net and the smart camera for carrying out process data transmission, reference identification are the reference point with significant intensity contrast feature, and industry is shone
Camera is monitored reference identification as digitized high-precision optical positioning device, and acquires the necessary position of cable to be assembled
Appearance information, processing, transfer data information are to control unit, to help robot body to make posture adjustment campaign.
3. cable auxiliary assembly system as described in claim 1, it is characterised in that: the reader of sensory-perceptible unit reads item
Cable information to be installed on code, information loaded is transferred in control system database and is compared, is provided for operator
Visual wiring auxiliary, while giving operator's visible light position to be assembled by laser generator and guiding, and to execute
Mechanism makes corresponding auxiliary direction movement and provides initial data support.
4. cable auxiliary assembly system as described in claim 1, it is characterised in that: control unit mainly include support RJ45 with
The too PLC of network interface, industrial personal computer, industrial switch and HMI, control unit are obtained according to optical alignment unit and sensory-perceptible unit
The data obtained carry out logic calculation and logic judgment, provide control instruction for execution unit, constantly carry out error correction until complete
It is acted at complementary instruction, builds dcs by PLC, PLC is as control unit core, with optical alignment
Unit, sensory-perceptible unit, execution unit Seamless integration- realize that intelligence auxiliary is directed toward operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810892486.2A CN109176464A (en) | 2018-08-07 | 2018-08-07 | Cable auxiliary assembly system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810892486.2A CN109176464A (en) | 2018-08-07 | 2018-08-07 | Cable auxiliary assembly system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112222798A (en) * | 2020-09-30 | 2021-01-15 | 北京特种机械研究所 | Automatic installation method and device for large-scale component |
| CN113771032A (en) * | 2021-09-13 | 2021-12-10 | 中国航空无线电电子研究所 | Intelligent wire harness assembling auxiliary system based on man-machine cooperation robot |
| CN113909890A (en) * | 2021-11-09 | 2022-01-11 | 宁波财经学院 | Flexible assembly system and method for small and medium-sized complex products |
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| CN112222798A (en) * | 2020-09-30 | 2021-01-15 | 北京特种机械研究所 | Automatic installation method and device for large-scale component |
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| CN113909890A (en) * | 2021-11-09 | 2022-01-11 | 宁波财经学院 | Flexible assembly system and method for small and medium-sized complex products |
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Application publication date: 20190111 |