CN110253250A - A kind of robot automatic step assembly bolt method, system and tow-armed robot - Google Patents
A kind of robot automatic step assembly bolt method, system and tow-armed robot Download PDFInfo
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- CN110253250A CN110253250A CN201910556696.9A CN201910556696A CN110253250A CN 110253250 A CN110253250 A CN 110253250A CN 201910556696 A CN201910556696 A CN 201910556696A CN 110253250 A CN110253250 A CN 110253250A
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- Prior art keywords
- mechanical arm
- entrance
- pin
- information
- key seat
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- 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
- B23P19/02—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 for connecting objects by press fit or for detaching same
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robot automation's mounting technology fields, a kind of robot automatic step assembly bolt method, system and tow-armed robot are provided, method includes: that the first mechanical arm of driving clamps pin to the first pre-assembled point being located in the first mechanical arm basis coordinates system；Drive the key seat of the second mechanical arm clamping tape entry to the second pre-assembled point being located in the second mechanical arm basis coordinates system；When key seat is located in the second pre-assembled point, entrance three-dimensional information of the entrance in the second robotic arm basis coordinates system is obtained；Persistently detect various dimensions force information of the pin wall in the second mechanical arm basis coordinates system on key seat；It drives first mechanical arm the first pre-assembled point to set out according to entrance three-dimensional information and various dimensions force information pin substep is assembled in key seat, it improves mechanical arm to automatically grab the ability of key seat and pin and key seat substep are assembled the ability for bolt in lasting acquisition information process, improves both arms automatic step assembly bolt efficiency.
Description
Technical field
The present invention relates to robot automation's mounting technology fields more particularly to a kind of robot automatic step to assemble bolt
Method, system and tow-armed robot.
Background technique
In the related technology, robot view-based access control model guided robot arm automatic step assemble bolt, be broadly divided into crawl,
Device to hole and insertion three phases: it in stage of gripping, is grabbed according to the first digital picture and feature templates image-driven mechanical arm
Pin is located above pin hole；In the device to hole stage, the second digital picture is gradually obtained, machinery is gradually driven according to the second digital picture
Arm eliminates deviation, until pin can be inserted perpendicularly into pin hole；In the insertion stage, driving manipulator arm vertically inserts pin
Enter pin hole, assembles key seat and pin is bolt.
But in stage of gripping, mechanical arm shortage automatically grabs key seat ability, and key seat needs in a manner of manual intervention
It fixes on the table, will increase cost of labor；In the device to hole stage, on the one hand, mechanical arm lacks in lasting acquisition information mistake
The ability that pin is shifted to key seat in journey, obtains the second digital picture in an asynchronous manner and driving manipulator arm eliminates deviation, and
And pin is just shifted to pin hole after eliminating deviation by mechanical arm, can extend the time that pin shifts to key seat, reduces manipulator
Arm device to hole efficiency；In the insertion stage, mechanical arm lacks correction pin ability, when pin shifts in key seat, key seat
Pin resistance can be given, the spoilage of bolt can be promoted.
Summary of the invention
The technical problem to be solved by the present invention is to for the shortage of mechanical arm in the prior art automatically grab key seat and
The deficiency that pin is shifted to key seat ability in information process is persistently obtained, a kind of robot automatic step assembly bolt side is provided
Method, system and tow-armed robot.
The technical scheme to solve the above technical problems is that
According to the present invention in a first aspect, providing a kind of robot automatic step assembly bolt method, comprising:
The first mechanical arm for being mounted on robot body is driven to clamp pin to being located at the first mechanical arm basis coordinates
The first pre-assembled point in system；
Drive the key seat of the second mechanical arm being mounted in robot clamping tape entry to being located at the second manipulator
The second pre-assembled point in arm basis coordinates system；
When the key seat is located in the second pre-assembled point, the entrance is obtained in the second robotic arm base
Entrance three-dimensional information in mark system；
Persistently detect various dimensions force information of the pin wall in the second mechanical arm basis coordinates system on the key seat；
Drive first mechanical arm from described first according to the entrance three-dimensional information and the various dimensions force information
Pre-assembled point, which sets out, is assembled to the pin substep in the key seat.
Second aspect according to the present invention provides a kind of robot automatic step assembly latch system, including manipulator
Arm drive module, data obtaining module and information detecting module；
The mechanical arm drive module, for driving the first mechanical arm being mounted on robot body to clamp pin
To the first pre-assembled point being located in the first mechanical arm basis coordinates system；Drive the second machine being mounted on the robot body
Tool arm clamps the key seat of tape entry to the second pre-assembled point being located in the second mechanical arm basis coordinates system；
The data obtaining module, for obtaining the entrance when the key seat is located in the second pre-assembled point
Entrance three-dimensional information in the second robotic arm basis coordinates system；
The information detecting module, for persistently detecting the pin wall on the key seat in the second mechanical arm basis coordinates
Various dimensions force information in system；
The mechanical arm drive module is also used to be driven according to the entrance three-dimensional information and the various dimensions force information
The pin substep is assembled in the key seat by first mechanical arm from the first pre-assembled point.
The third aspect according to the present invention provides a kind of tow-armed robot, and the tow-armed robot is for executing first
Robot automatic step described in aspect assembles bolt method.
The beneficial effect that robot automatic step provided by the invention assembles bolt method, system and tow-armed robot is:
Respectively drive the second mechanical arm automatic clamping key seat of the first mechanical arm automatic clamping pin to the first pre-assembled point and driving
To the second pre-assembled point, both arms clamping key seat and pin are realized, key seat can be fixed on the table without manual intervention, existing
Help save labour turnover, and improves the automatic capability and efficiency of both arms assembly bolt.
After key seat reaches the second pre-assembled point, machine talent conference obtains entrance three-dimensional information, can be to avoid robot
Entrance three-dimensional information is obtained before key seat reaches the second pre-assembled point, reduces redundancy and its occupies the storage of robot
Space.
During lasting detection various dimensions force information, it can gradually be driven according to entrance three-dimensional information and various dimensions force information
Pin is shifted to key seat by dynamic first mechanical arm, later, drives the first mechanical arm to be inserted into pin according to various dimensions force information
Key seat, so that pin and key seat assembles the preparation for facilitating shortening various dimensions force information for bolt by the first mechanical arm substep
Time is to drive the first mechanical arm substep to assemble pin and key seat to carry out information preparation for bolt, helps to shorten in time
Pin shifts to the time of key seat, improves device to hole efficiency and assembly efficiency, thus, improve both arms automatic step assembly bolt effect
Rate.
Detailed description of the invention
Fig. 1 a-1i is the flow diagram that the robot automatic step that the embodiment of the present invention one provides assembles bolt method；
Fig. 2 is the block schematic illustration that robot automatic step provided by Embodiment 2 of the present invention assembles latch system；
Fig. 3 is the structural schematic diagram for the tow-armed robot that the embodiment of the present invention three provides；
Fig. 4 is the circuit diagram corresponding to the tow-armed robot in Fig. 3.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
Embodiment one
The embodiment of the present invention provides a kind of robot automatic step assembly bolt method, comprising: driving is mounted on robot
The first mechanical arm on body clamps pin to the first pre-assembled point being located in the first mechanical arm basis coordinates system；Driving peace
The key seat of the second mechanical arm clamping tape entry on robot body is to being located in the second mechanical arm basis coordinates system
Second pre-assembled point；When key seat is located in the second pre-assembled point, entrance entering in the second robotic arm basis coordinates system is obtained
Mouth three-dimensional information；Persistently detect various dimensions force information of the pin wall in the second mechanical arm basis coordinates system on key seat；According to entering
Mouth three-dimensional information and various dimensions force information drive the first mechanical arm that pin substep is assembled to pin from the first pre-assembled point
In seat.
In some embodiments, as shown in Fig. 1 a-1e, the first mechanical arm is driven to clamp pin to the in a serial fashion
Pre-assembled point and the second mechanical arm of driving clamp the reliability that driving both arms are helped to ensure that the second pre-assembled point.
In some embodiments, as shown in Fig. 1 f-1i, the first mechanical arm is driven to clamp pin to the in a parallel fashion
Pre-assembled point and the second mechanical arm of driving clamping key seat to the second pre-assembled point, help to ensure that the drive efficiency of both arms,
It ensure that pin moves to the efficiency of the first pre-assembled point and key seat moves to the efficiency of the second pre-assembled point.
In some embodiments, as shown in Fig. 1 a-1c and 1f-1g, entrance three-dimensional information is obtained in a serial fashion and is held
Continuous detection various dimensions force information, it is possible to reduce redundancy and its memory space for occupying robot.
In some embodiments, as shown in Fig. 1 d-1e and 1h-1i, entrance three-dimensional information is obtained in a parallel fashion and is held
Continuous detection various dimensions force information, can shorten the time of various dimensions force information, be in time driving the first mechanical arm substep
Assembly pin carries out information preparation into key seat.
It in some embodiments,, can basis during lasting detection various dimensions force information as shown in Fig. 1 a-1i
Entrance three-dimensional information and various dimensions force information gradually drive the first mechanical arm that pin is shifted to key seat, later, according to various dimensions
Force information drives the first mechanical arm that pin is inserted into key seat, until the pin bottom that pin reaches on key seat, completes both arms certainly
It is dynamic that pin and key seat assembles as bolt, and stop detection various dimensions force information, device to hole efficiency and assembly efficiency are improved, is mentioned
High both arms automatic step assembles bolt efficiency.
In some embodiments, force snesor may include six-dimension force sensor, and various dimensions force information includes 6 DOF degree
Force information, sextuple force value may be expressed as:
[+2N +5N +18N +1.2Nm +2.3Nm +0.6Nm]
Wherein ,+2N indicates that six-dimension force sensor detects the pressure along x-axis forward direction in the second mechanical arm basis coordinates system
Power ,+5N indicate to detect the pressure along y-axis forward direction ,+18N table in the second mechanical arm basis coordinates system in six-dimension force sensor
Show the pressure detected in the second mechanical arm basis coordinates system in six-dimension force sensor along z-axis forward direction ,+1.2Nm is indicated six
Dimensional force sensor detects the torque along x-axis forward direction in the second mechanical arm basis coordinates system, and+2.3Nm indicates to pass in six-dimensional force
Sensor detects the torque along y-axis forward direction in the second mechanical arm basis coordinates system, and+0.6Nm expression exists in six-dimension force sensor
The torque along z-axis forward direction is detected in second mechanical arm basis coordinates system, wherein "+" indicates positive.
In some embodiments, the first mechanical arm is driven to clamp pin to the first pre-assembled point shown in Fig. 1 b-1i,
It specifically includes: receiving the pin 3-D image that 3D camera is shot in 3D camera coordinates system；It is identified and is sold according to pin 3-D image
First three-dimensional information of the first crawl point nailed in 3D camera coordinates system；First three-dimensional information is converted in the first machinery
The second three-dimensional information in arm basis coordinates system；The first mechanical arm is driven to grab pin according to the second three-dimensional information；It obtains and uses
To indicate the first default three-dimensional information of the first pre-assembled point；According to the second three-dimensional information and the driving of the first default three-dimensional information the
Two mechanical arms clamp key seat to the first pre-assembled point from the first crawl point.
In some embodiments, the second mechanical arm is driven to clamp key seat to the second pre-assembled point shown in Fig. 1 b-1i,
It specifically includes: receiving the key seat 3-D image that 3D camera is shot in 3D camera coordinates system；It is identified and is sold according to key seat 3-D image
Third three-dimensional information of the second crawl point in 3D camera coordinates system on wall；Third three-dimensional information is converted in the second machinery
The 4th three-dimensional information in arm basis coordinates system；The second mechanical arm crawl pin wall is driven according to the 4th three-dimensional information；It obtains and uses
To indicate the second default three-dimensional information of the second pre-assembled point；According to the 4th three-dimensional information and the driving of the second default three-dimensional information the
Two mechanical arms clamp key seat to the second pre-assembled point from the second crawl point.
In some embodiments, robot is rack-mount, middle control machine respectively with the first mechanical arm, second mechanical
Arm, the force snesor being mounted on the end of the second mechanical arm and the communication connection of 3D camera；Middle control machine is for driving the
One mechanical arm, the second mechanical arm, force snesor and 3D camera, force snesor is to lasting detection various dimensions force information, also
To asynchronous driving and receive 3D camera shooting pin 3-D image, key seat 3-D image and entrance 3-D image.
Middle control machine can be based respectively on it is corresponding with bracket be pre-stored in three-dimensional coordinate information building bracket coordinate system, based on
The corresponding three-dimensional coordinate information prestored of first mechanical arm constructs the first mechanical arm basis coordinates system, is based on and the second manipulator
The three-dimensional coordinate information that arm is corresponding to be prestored construct the second mechanical arm basis coordinates system and based on 3D camera in robot three
It ties up coordinate information and constructs 3D camera coordinates system；Enabling bracket coordinate system f is { of-xfyfzf, enable the first mechanical arm basis coordinates system br
For { obr-xbrybrzbr, enabling the second mechanical arm basis coordinates system bl is { obl-xblyblzbl, enabling 3D camera coordinates system c is { oc-
xcyczc}。
In some embodiments, the first three-dimensional information is converted into the second three-dimensional information using the first transformation equation, the
One transformation equation indicates are as follows:
Wherein, p indicates the first crawl point,It indicates in the second three-dimensional information along the first mechanical arm basis coordinates system br
In x-axis on coordinate value,It indicates in the second three-dimensional information along in the y-axis in the first mechanical arm basis coordinates system br
Coordinate value,It indicates in the second three-dimensional information along the coordinate value in the z-axis in the first mechanical arm basis coordinates system br,fHbrTable
Show homogeneous transformation equation of the first mechanical arm basis coordinates system br relative to bracket coordinate system f,fHcIndicate 3D camera coordinates system c phase
For the homogeneous transformation equation of bracket coordinate system f,It indicates in the first three-dimensional information along in the x-axis in 3D camera coordinates system c
Coordinate value,It indicates in the first three-dimensional information along the coordinate value in the y-axis in 3D camera coordinates system c,Indicate the one or three
It ties up in information along the coordinate value in the z-axis in 3D camera coordinates system c.
In some embodiments, third three-dimensional information is converted into the 4th three-dimensional information using the second transformation equation, the
Two transformation equations indicate are as follows:
Wherein, h indicates the second crawl point,It indicates in the 4th three-dimensional information along the second mechanical arm basis coordinates system bl
In x-axis on coordinate value,It indicates in the 4th three-dimensional information along in the y-axis in the second mechanical arm basis coordinates system bl
Coordinate value,It indicates in the 4th three-dimensional information along the coordinate value in the z-axis in the second mechanical arm basis coordinates system bl,fHblTable
Show homogeneous transformation equation of the second mechanical arm basis coordinates system bl relative to bracket coordinate system f,It indicates in third three-dimensional information
Along the coordinate value in the x-axis in 3D camera coordinates system c,It indicates in third three-dimensional information along in 3D camera coordinates system c
Coordinate value in y-axis,It indicates in third three-dimensional information along the coordinate value in the z-axis in 3D camera coordinates system c.
In some embodiments, entrance three-dimensional information of the entrance in the second robotic arm basis coordinates system is obtained, specifically
It include: to receive entrance 3-D image；The of any point in entrance in 3D camera coordinates system is identified according to entrance 3-D image
Five three-dimensional informations；The 5th three-dimensional information is converted to the entrance in the second mechanical arm basis coordinates system using the second transformation equation
Three-dimensional information.
5th three-dimensional information can indicate are as follows:
Wherein, ha indicates the center of circle in entrance,It indicates in entrance three-dimensional information along the x-axis in 3D camera coordinates system c
On coordinate value,It indicates in entrance three-dimensional information along the coordinate value in the y-axis in 3D camera coordinates system c,Indicate into
Along the coordinate value in the z-axis in 3D camera coordinates system c in mouth three-dimensional information.
Entrance three-dimensional information indicates are as follows:
Wherein,It indicates in the 5th three-dimensional information along the coordinate in the x-axis in the second mechanical arm basis coordinates system bl
Value,It indicates in the 5th three-dimensional information along the coordinate value in the y-axis in the second mechanical arm basis coordinates system bl,Indicate the
Along the coordinate value in the z-axis in the second mechanical arm basis coordinates system bl in five three-dimensional informations.
In some embodiments, according to entrance three-dimensional information and various dimensions force information driving first shown in Fig. 1 b-1i
Pin substep is assembled in key seat by mechanical arm from the first pre-assembled point, is specifically included: when various dimensions force information is not inconsistent
Close pre-determined lower limit condition when, according to entrance three-dimensional information drive the first mechanical arm from the first pre-assembled point by pin gradually
Clamping to the pin wall on entrance, key seat gives the dowel contact power being located in entrance, more under the action of the contact force
Dimension force information meets pre-determined lower limit condition, completes the device to hole stage；When various dimensions force information meets pre-determined lower limit condition, according to
Various dimensions force information drives the first mechanical arm to be inserted into pin in key seat from entrance.
As optional embodiment, drive the first mechanical arm from the first pre-assembled point according to entrance three-dimensional information
Gradually clamping pin is specifically included to entrance: obtaining preset step-length and the first default three-dimensional information respectively；Believed according to entrance three-dimensional
Breath and the first default three-dimensional information programming movement path；Gradually drive the first mechanical arm along motion path according to preset step-length
Pin is gradually clamped to close to entrance.
As optional embodiment, step is calculated according to entrance three-dimensional information, preset step-length and the first default three-dimensional information
Number；The first mechanical arm is gradually driven gradually to clamp pin to close to entrance according to step number.
In some embodiments, pre-determined lower limit condition, preset step-length and the first default three-dimensional information may each comprise pre-
Empirical value in the presence of in control machine, alternatively, being obtained by robotic training model training.
In some embodiments, pre-determined lower limit condition is expressed as [0 0000 0], preset step-length 0.1mm；Or
Person, pre-determined lower limit condition are expressed as [0.1 0.1 0.1 00 0], preset step-length 0.15mm.
As optional embodiment, the first mechanical arm is driven to be inserted into pin from entrance according to various dimensions force information
It in key seat, specifically includes: is read respectively from various dimensions force information along in the both direction parallel with the plane where entrance
Two dimensional component information and along the one-dimensional component information on a direction vertical with the plane where entrance；According to two dimension point
It measures information and default deflection calibration condition drives the first mechanical arm along the both direction school parallel with the plane where entrance
The posture of pilot pin nail；According to one-dimensional component information and preset upper limit condition drive the first mechanical arm by pin along with entrance institute
The vertical direction of plane be inserted into key seat from entrance.
In some embodiments, two dimensional component information includes the pressure in the second mechanical arm basis coordinates system along x-axis
Power and torque, and along the pressure and torque of y-axis, one-dimensional component information be included in the second mechanical arm basis coordinates system along
The pressure and torque of z-axis.
In some embodiments, preset upper limit condition may include the empirical value being pre-stored in middle control machine, alternatively, by
Robotic training model training obtains, and preset upper limit condition may include the pressure along z-axis between 2N-5N, such as: 2N,
3N and 5N.
In some specific examples, the both direction parallel with the plane where entrance is respectively the second mechanical arm base
Mark system in the direction along x-axis and the direction along y-axis, along x-axis forward direction direction and can be with table along the direction of y-axis forward direction
It is shown into both direction vertical each other on mouth；A direction vertical with the plane where entrance is the second mechanical arm basis coordinates
Along the direction of z-axis in system, the direction along z-axis forward direction can be the direction that the pin bottom on key seat is extended to from entrance.
As optional embodiment, presetting deflection calibration condition includes the sub- condition of offset calibration and the sub- item of tilt calibration
Part drives the first mechanical arm along parallel with the plane where entrance according to two dimensional component information and default deflection calibration condition
Both direction alignment pins posture, specifically include: from determined respectively in two dimensional component information along with it is flat where entrance
The first force component and moment component in the parallel all directions in face；It is driven according to each first force component and the sub- condition of offset calibration
The first mechanical arm alignment pins are moved along the offset distance in all directions parallel with the plane where entrance；According to each
Moment component and the sub- condition of tilt calibration drive the first mechanical arm alignment pins along parallel with the plane where entrance each
Tilt angle on a direction.
In some embodiments, all directions parallel with the plane where entrance indicate the second mechanical arm basis coordinates
Along the direction of x-axis or along the direction of y-axis in system, the first force component may include to indicate pin wall in the second manipulator
The contact force pressure decomposed along x-axis of pin or the pressure decomposed along y-axis are given in arm basis coordinates system, such as: -2N table
Show pressure that the contact force is decomposed along x-axis extremely；Moment component may include with along x-axis decompose pressure corresponding to torque
Or with torque corresponding to the pressure decomposed along y-axis, such as: -1.2Nm indicate with corresponding to the pressure decomposed along x-axis
Torque value, wherein "-" indicate negative sense.
It is inserted in the target location processes on key seat in pin from entrance, passes through each first force component, offset calibration
Condition, each moment component and the sub- condition of tilt calibration can drive the pose of the first mechanical arm alignment pins, to reduce pin
Nail shifts in key seat, thus, it reduces key seat and gives pin resistance, reduce the spoilage of bolt.
As optional embodiment, the sub- condition of offset calibration includes power offset threshold and range calibration constant, according to each
A first force component and the sub- condition of offset calibration drive the first mechanical arm alignment pins along parallel with the plane where entrance
All directions on offset distance, specifically include: judging whether the force value in each first force component is greater than power offset threshold,
If so, according in each first force component power direction and range calibration constant drive the first mechanical arm to calibrate each offset
Distance, if it is not, then stopping that the first mechanical arm is driven to calibrate each offset distance.
In some embodiments, power offset threshold may include the empirical value being pre-stored in middle control machine or by machine
The training of people's training pattern obtains, and power offset threshold can be set between 1N-1.5N, such as: 1N, 1.2N and 1.5N.
In some embodiments, the size relation whether force value is greater than between power offset threshold can be looped to determine, directly
It is no more than power offset threshold to force value and jumps out circulation, helps to improve the first mechanical arm gradually position of the alignment pins in entrance
The efficiency of appearance guarantees that pin is inserted to the duration of key seat.
As optional embodiment, the sub- condition of tilt calibration includes torque threshold tipping value and angle calibration system constant, according to
Each moment component and the sub- condition of tilt calibration drive the first mechanical arm alignment pins along with the plane where entrance
Tilt angle in parallel all directions, specifically includes: judging whether the moment value in each moment component inclines more than torque
Oblique threshold value, if so, according in each moment component moment direction and range calibration constant drive the first mechanical arm calibration
Each tilt angle, if it is not, then stopping that the first mechanical arm is driven to calibrate each tilt angle.
In some embodiments, torque threshold tipping value may include the empirical value being pre-stored in middle control machine or by machine
Device people's training pattern training obtains, torque threshold tipping value can be set between 1Nm-1.5Nm, such as: 1Nm or 1.3Nm or
Person 1.5Nm.
In some embodiments, the size relation between moment value and torque threshold tipping value can be looped to determine, until
Moment value be no more than torque threshold tipping value jump out circulation, help to improve the first mechanical arm gradually alignment pins in entrance
The efficiency of pose guarantees that pin is inserted to the duration of key seat.
As optional embodiment, drive the first mechanical arm by pin according to one-dimensional component information and preset upper limit condition
Nail is inserted into key seat along the direction vertical with the plane where entrance from entrance, is specifically included: from one-dimensional component information
Determine the second force component；Judge whether the force value in the second force component is greater than preset upper limit condition, if so, stopping driving first
Pin is inserted into key seat by mechanical arm from entrance, if it is not, the first mechanical arm is then persistently driven to be inserted into pin from entrance
Into key seat.
In some embodiments, the second force component includes the pressure along z-axis, such as: the pressure along z-axis forward direction is
3.3N；When being greater than preset upper limit condition 3N along the pressure 3.3N of z-axis forward direction, illustrate that pin reaches on the key seat in cylindrical body
Pin bottom；When being greater than preset upper limit condition 3N along the pressure 3.3N of z-axis forward direction, illustrate that pin not up to sells bottom, completes to insert
Enter the stage, continues that the first mechanical arm is driven to insert pin to pin bottom along Z axis forward direction, driving method is simple, helps to improve
Persistently drive the efficiency of the first mechanical arm.
Embodiment two
As shown in Fig. 2, the embodiment of the present invention provides a kind of robot automatic step assembly latch system, including mechanical arm
Drive module, data obtaining module and information detecting module.
Mechanical arm drive module, for driving the first mechanical arm to clamp pin to the first pre-assembled point；Driving second
Mechanical arm clamps key seat to the second pre-assembled point.
Data obtaining module, for obtaining entrance three-dimensional information when key seat is located in the second pre-assembled point.
Information detecting module, for various dimensions force information of the lasting test pin wall in the second mechanical arm basis coordinates system.
Mechanical arm drive module is also used to drive the first mechanical arm according to entrance three-dimensional information and various dimensions force information
It is assembled in key seat from the first pre-assembled point by pin substep.
Embodiment three
The embodiment of the present invention provides a kind of tow-armed robot, and the tow-armed robot is for executing any implementation in embodiment one
Robot automatic step described in mode assembles bolt method.
In some specific examples, as shown in Figures 3 and 4, robot include robot body 1, servo drive 2,
First mechanical arm 3, the second mechanical arm 4,3D camera 5 and force snesor 6；Servo drive 2 is mounted on robot body 1
Inner cavity in, the first mechanical arm 3 is mounted on the shoulder in the left side of robot body 1, and the second mechanical arm 4 is mounted on robot body
The shoulder on 1 right side of body, 3D camera 5 are mounted on 1 head of robot body, and force snesor 6 is mounted on 4 end of the second mechanical arm.
Servo drive 2 is communicated with the first mechanical arm 3, the second mechanical arm 4,3D camera 5 and force snesor 6 respectively
Connection, force snesor 6 may include sextuple degree force snesor.
Servo drive 2, for driving the first mechanical arm 3 to clamp step by step and assembly pin 7, the second manipulator of driving
Arm 4 clamps key seat 8 and driving 3D camera 5 shoots image and constant drive sensor 6 detects various dimensions force information.
In some embodiments, servo drive 2 may include single driver, the single driver, for driving step by step
Dynamic first mechanical arm 3 clamping and assembly pin 7, driving the second mechanical arm 4 clamping key seat 8, driving 3D camera 5 shoot image
And constant drive sensor 6 detects various dimensions force information.
In some embodiments, servo drive 2 can may include dual drive, dual drive for single driver
Respectively the first driver and the second driver；First driver, for driving the first mechanical arm 3 to clamp step by step and rigging pilotage
Nail 7 and the second mechanical arm 4 of driving clamp key seat 8；Second driver, for driving 3D camera 5 to shoot image and lasting driving
Force snesor 6 detects various dimensions force information.
In some embodiments, servo drive may include multiple driver, multiple driver include the first driver,
Second driver, third driver and fourth drive；First driver, for driving the clamping of the first mechanical arm 3 and assembly
Pin 7；Second driver, for driving the second mechanical arm 4 to clamp key seat 8；Fourth drive, for driving 3D camera 5 to clap
Take the photograph image；Fourth drive detects various dimensions force information for constant drive sensor 6.
Reader should be understood that in the description of this specification, reference term " aspect ", " optional embodiment " or " some
The description of embodiment " etc. means that specific features, step or feature described in conjunction with this embodiment or example are contained in this hair
In at least one bright embodiment or example, term " first " and " second " etc. are used for description purposes only, and should not be understood as referring to
Show or imply relative importance or implicitly indicates the quantity of indicated technical characteristic." first " and " are defined as a result,
Two " etc. feature can explicitly or implicitly include at least one of the features.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of robot automatic step assembles bolt method characterized by comprising
The first mechanical arm for being mounted on robot body is driven to clamp pin to being located in the first mechanical arm basis coordinates system
The first pre-assembled point；
Drive the key seat of the second mechanical arm being mounted on robot body clamping tape entry to being located at the second manipulator
The second pre-assembled point in arm basis coordinates system；
When the key seat is located in the second pre-assembled point, the entrance is obtained in the second robotic arm basis coordinates system
In entrance three-dimensional information；
Persistently detect various dimensions force information of the pin wall in the second mechanical arm basis coordinates system on the key seat；
Drive first mechanical arm from first prepackage according to the entrance three-dimensional information and the various dimensions force information
It sets out with point and the pin substep is assembled in the key seat.
2. robot automatic step according to claim 1 assembles bolt method, which is characterized in that according to the entrance three
Tieing up information and the various dimensions force information drives first mechanical arm from the first pre-assembled point by the pin
Substep is assembled in the key seat, is specifically included:
When the various dimensions force information does not meet pre-determined lower limit condition, first machine is driven according to the entrance three-dimensional information
Tool arm gradually clamps the pin to the close entrance, so that the various dimensions power from the first pre-assembled point
Information meets the pre-determined lower limit condition；
When the various dimensions force information meets the pre-determined lower limit condition, according to various dimensions force information driving described first
The pin is inserted into the key seat by mechanical arm from the entrance.
3. robot automatic step according to claim 2 assembles bolt method, which is characterized in that according to the entrance three
Dimension information drives first mechanical arm gradually to clamp the pin to close to described from the first pre-assembled point
Entrance specifically includes:
Preset step-length and the first default three-dimensional information to indicate the first pre-assembled point are obtained respectively；
According to the entrance three-dimensional information and first default three-dimensional information programming movement path；
First mechanical arm is gradually driven gradually to press from both sides the pin along the motion path according to the preset step-length
It holds to close to the entrance；Alternatively,
Step number is calculated according to the entrance three-dimensional information, the preset step-length and the first default three-dimensional information；
First mechanical arm is gradually driven gradually to clamp the pin to close to the entrance according to the step number.
4. robot automatic step according to claim 2 assembles bolt method, which is characterized in that according to the various dimensions
Force information drives first mechanical arm to be inserted into the pin in the key seat from the entrance, specifically includes:
From the two dimension point read respectively in the various dimensions force information in the both direction parallel with the plane where the entrance
Measure the one-dimensional component information on information and a direction vertical with the plane where the entrance；
According to the two dimensional component information and default deflection calibration condition drive first mechanical arm along with the entrance
The parallel both direction of the plane at place calibrates the posture of the pin；
According to the one-dimensional component information and preset upper limit condition drive first mechanical arm by the pin along with institute
The vertical direction of plane where stating entrance is inserted into the key seat from the entrance.
5. robot automatic step according to claim 4 assembles bolt method, which is characterized in that the default deflection school
Floating screed part includes the sub- condition of offset calibration and the sub- condition of tilt calibration, according to the two dimensional component information and default deflection corrector strip
Part drives first mechanical arm to calibrate the appearance of the pin along the both direction parallel with the plane where the entrance
State specifically includes:
From the first power determined respectively in the two dimensional component information in all directions parallel with the plane where the entrance
Component and moment component；
First mechanical arm is driven to calibrate the pin according to each first force component and the sub- condition of the offset calibration
Nail is along the offset distance in all directions parallel with the plane where the entrance；
First mechanical arm is driven to calibrate the pin according to each moment component and the sub- condition of the tilt calibration
Along the tilt angle in all directions parallel with the plane where the entrance.
6. robot automatic step according to claim 5 assembles bolt method, which is characterized in that offset calibration
Condition includes power offset threshold and range calibration constant, and the sub- condition of tilt calibration includes torque threshold tipping value and angle calibration system
Constant；
First mechanical arm is driven to calibrate the pin according to each first force component and the sub- condition of the offset calibration
Nail is specifically included along the offset distance in all directions parallel with the plane where the entrance:
Judge whether the force value in each first force component is greater than the power offset threshold, if so, according to each described
Power direction and the range calibration constant in first force component drive first mechanical arm to calibrate each offset distance
From if it is not, then stopping that first mechanical arm is driven to calibrate each offset distance；
First mechanical arm is driven to calibrate the pin according to each moment component and the sub- condition of the tilt calibration
Along the tilt angle in all directions parallel with the plane where the entrance, specifically include:
Judge whether the moment value in each moment component is more than the torque threshold tipping value, if so, according to each institute
The moment direction and the range calibration constant stated in moment component drive first mechanical arm to calibrate each inclination
Angle, if it is not, then stopping that first mechanical arm is driven to calibrate each tilt angle.
7. assembling bolt method according to the described in any item robot automatic steps of claim 4-6, which is characterized in that according to institute
State one-dimensional component information and preset upper limit condition drive first mechanical arm by the pin along with where the entrance
The vertical direction of plane be inserted into the key seat from the entrance, specifically include:
The second force component is determined from the one-dimensional component information；
Judge whether the force value in second force component is greater than the preset upper limit condition, if so, stopping driving described the
The pin is inserted into the key seat by one mechanical arm from the entrance, if it is not, then persistently driving first manipulator
The pin is inserted into the key seat by arm from the entrance.
8. robot automatic step according to claim 1-6 assembles bolt method, which is characterized in that driving peace
The first mechanical arm on robot body clamps pin to the first prepackage being located in the first mechanical arm basis coordinates system
With point, specifically include:
Receive the pin 3-D image that 3D camera is shot in 3D camera coordinates system；
First of the first crawl point on the pin in the 3D camera coordinates system is identified according to the pin 3-D image
Three-dimensional information；
First three-dimensional information is converted into the second three-dimensional information in the first mechanical arm basis coordinates system；
First mechanical arm is driven to grab the pin according to second three-dimensional information；
Obtain the first default three-dimensional information to indicate the first pre-assembled point；
Drive second mechanical arm from described first according to second three-dimensional information and the first default three-dimensional information
Crawl point clamps the key seat to the first pre-assembled point；
Drive the key seat of the second mechanical arm being mounted in robot clamping tape entry to being located at the second mechanical arm base
The second pre-assembled point in coordinate system, specifically includes:
Receive the key seat 3-D image that the 3D camera is shot in the 3D camera coordinates system；
Third of the second crawl point in the 3D camera coordinates system on the pin wall is identified according to the key seat 3-D image
Three-dimensional information；
The third three-dimensional information is converted into the 4th three-dimensional information in the second mechanical arm basis coordinates system；
Second mechanical arm is driven to grab the pin wall according to the 4th three-dimensional information；
Obtain the second default three-dimensional information to indicate the second pre-assembled point；
Drive second mechanical arm from described second according to the 4th three-dimensional information and the second default three-dimensional information
Crawl point clamps the key seat to the second pre-assembled point.
9. a kind of robot automatic step assembles latch system, which is characterized in that including mechanical arm drive module, acquisition of information
Module and information detecting module；
The mechanical arm drive module, for driving the first mechanical arm being mounted on robot body to clamp pin to position
The first pre-assembled point in the first mechanical arm basis coordinates system；Drive the second mechanical arm folder being mounted in the robot
Take key seat in tape entry to the second pre-assembled point being located in the second mechanical arm basis coordinates system；
The data obtaining module, for obtaining the entrance in institute when the key seat is located in the second pre-assembled point
State the entrance three-dimensional information in the second robotic arm basis coordinates system；
The information detecting module, for persistently detecting the pin wall on the key seat in the second mechanical arm basis coordinates system
Various dimensions force information；
The mechanical arm drive module is also used to according to the entrance three-dimensional information and various dimensions force information driving
The pin substep is assembled in the key seat by the first mechanical arm from the first pre-assembled point.
10. a kind of tow-armed robot, which is characterized in that the tow-armed robot requires described in any one of 1-8 for perform claim
Robot automatic step assemble bolt method.
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| CN201910556696.9A CN110253250B (en) | 2019-06-25 | 2019-06-25 | Method and system for automatically assembling bolts step by robot and double-arm robot |
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| CN201910556696.9A CN110253250B (en) | 2019-06-25 | 2019-06-25 | Method and system for automatically assembling bolts step by robot and double-arm robot |
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Denomination of invention: The invention relates to a robot automatic step-by-step bolt assembly method, system and double arm robot Effective date of registration: 20220329 Granted publication date: 20201103 Pledgee: Guanggu Branch of Wuhan Rural Commercial Bank Co.,Ltd. Pledgor: WUHAN COBOT TECHNOLOGY Co.,Ltd. Registration number: Y2022420000084 |
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Date of cancellation: 20230323 Granted publication date: 20201103 Pledgee: Guanggu Branch of Wuhan Rural Commercial Bank Co.,Ltd. Pledgor: WUHAN COBOT TECHNOLOGY Co.,Ltd. Registration number: Y2022420000084 |