CN113059579A - Flexible operation device - Google Patents
Flexible operation device Download PDFInfo
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- CN113059579A CN113059579A CN202110484960.XA CN202110484960A CN113059579A CN 113059579 A CN113059579 A CN 113059579A CN 202110484960 A CN202110484960 A CN 202110484960A CN 113059579 A CN113059579 A CN 113059579A
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- 238000012937 correction Methods 0.000 claims abstract description 11
- 238000003754 machining Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000005259 measurement Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible operation device, comprising: the device comprises a working tool, a driving device, a ranging sensor, a working track correction module and a control system, wherein when the device works, the driving device controls the working tool to move to a preset working position, then the ranging sensor is started, and the ranging sensor can detect the distance between the working tool and a workpiece to be processed; the operation track correction module can calculate the deviation from the preset operation track according to the data measured by the distance measuring sensor and compensate to generate an actual operation track; and finally, the operation tool is controlled to operate according to the actual operation track, so that when the specification difference is small or the position of the workpiece slightly deviates, repeated programming is not needed, and the operation track correction module is used for correcting the deviation and correcting the track, so that the method is suitable for automatic assembly line operation and improves the production efficiency. Compared with the traditional industrial robot, the device reduces the equipment cost on the basis of realizing accurate position measurement.
Description
Technical Field
The invention relates to the field of automatic production, in particular to a flexible operation device.
Background
The industrial robot has the advantages of high precision, repeatability, programmability and the like, is widely applied to the production field, and reduces the labor intensity of workers.
Traditional industrial robot can adopt the mode of teaching to work to different scenes, and some have added vision system, independently seek and trail, then carry out work according to the operation track of scanning.
However, in a scene with a narrow working space, the industrial robot is difficult to enter the interior for operation, and if a vision locating or tracking system is added, on one hand, the content in the narrow space is easy to be damaged due to the large volume of the additional device; on the other hand, the additional device is arranged on the mechanical arm, occupies partial space, and makes certain operation areas inaccessible, thereby affecting the operation efficiency. In addition, vision systems are often expensive, increasing the cost of the equipment.
Therefore, how to provide a working device with high working efficiency and low cost is a technical problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide a flexible operation device which is low in cost and can improve the production efficiency.
In order to solve the technical problems, the invention provides the following technical scheme:
a flexible work apparatus comprising:
a work tool;
the driving device is used for controlling the work tool to move to a preset work position;
a distance measuring sensor mounted on the working tool for detecting a distance between the working tool and a workpiece to be machined;
the operation track correction module is used for calculating the deviation from a preset operation track according to the data measured by the distance measuring sensor and compensating to generate an actual operation track;
and the control system is used for controlling the working tool to work according to the actual working track.
Preferably, the machining device further comprises a conveying device and a working platform, wherein the conveying device is used for conveying the workpiece to be machined to the working platform.
Preferably, the operation platform is provided with a positioning device for fixing the workpiece to be processed.
Preferably, the method further comprises the following steps: the device comprises a vertical beam, a cross beam, a longitudinal beam and two stand columns, wherein two ends of the cross beam are respectively connected with the two stand columns, and the longitudinal beam is horizontally connected to the cross beam in a sliding manner;
the driving device comprises a transverse driving part, a longitudinal driving part and a lifting device, the lifting device is connected with the vertical beam, the lifting device is used for driving the vertical beam to move up and down, the transverse driving part is used for driving the longitudinal beam to move transversely on the cross beam, the longitudinal driving part is used for driving the lifting device to move longitudinally on the longitudinal beam, and the operation tool is arranged on the vertical beam.
Preferably, the automatic workpiece positioning device further comprises a checking module, wherein the checking module is used for judging whether the control system controls the working tool to complete machining operation or not, and if the control system controls the working tool to complete machining operation, the checking module controls the positioning device to release the workpiece and starts the conveying device to convey the workpiece to the next station; if not, a reminding signal is sent out.
Preferably, the positioning device is a cylinder for clamping the workpiece to be processed from the side.
Preferably, the conveying device is a roller way or a conveying belt for continuously conveying the workpiece to be processed.
Compared with the prior art, the technical scheme has the following advantages:
the invention provides a flexible operation device, comprising: the device comprises a working tool, a driving device, a distance measuring sensor, a working track correction module and a control system, wherein the distance measuring sensor is installed on the working tool. When the device works, the driving device controls the operation tool to move to a preset operation position, and then the distance measuring sensor is started, and can detect the distance between the operation tool and a workpiece to be processed; the operation track correction module can calculate the deviation from the preset operation track according to the data measured by the distance measuring sensor and compensate to generate an actual operation track; and finally, the control system controls the operation tool to operate according to the actual operation track, so that when the specification difference is small or the position of a workpiece slightly deviates, repeated programming is not needed, and the operation track correction module is used for correcting the deviation and correcting the track, so that the control system is suitable for automatic assembly line operation and improves the production efficiency. For the industrial robot of traditional outfit vision system, through with range finding sensor integration on the operation instrument, on the basis of realizing accurate position measurement, equipment cost has been reduced.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a flexible working apparatus according to an embodiment of the present invention.
The reference numbers are as follows:
the device comprises a conveying device 1, an operation platform 2, a positioning device 3, a stand column 4, a cross beam 5, a longitudinal beam 6, a lifting device 7, a vertical beam 8, an operation tool 9, a distance measuring sensor 10 and a box body 11.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a flexible operation device according to an embodiment of the present invention.
One embodiment of the present invention provides a flexible working apparatus including: the system comprises a work tool 9, a driving device, a distance measuring sensor 10, a work track correction module and a control system, wherein the distance measuring sensor 10 is installed on the work tool 9. When the machine works, the driving device controls the working tool 9 to move to a preset working position, then the distance measuring sensor 10 is started, and the distance measuring sensor 10 can detect the distance between the working tool 9 and a workpiece to be machined; the operation track correction module can calculate the deviation from the preset operation track according to the data measured by the distance measuring sensor 10 and compensate to generate an actual operation track; and finally, the control system controls the operation tool 9 to operate according to the actual operation track, so that when the specification difference is small or the position of a workpiece slightly deviates, repeated programming is not needed, and the operation track correction module is used for correcting the deviation and correcting the track, so that the automatic assembly line operation is suitable for automatic assembly line operation, and the production efficiency is improved. Wherein when the deviation of the data detected by the ranging sensor 10 from the preset working trajectory is within the allowable range, the working tool 9 can be controlled to perform work according to the preset trajectory. Compared with the traditional industrial robot equipped with a vision system, the distance measuring sensor 10 is integrated on the working tool 9, so that the equipment cost is reduced on the basis of realizing accurate position measurement.
Further, the device comprises a conveying device 1 and an operation platform 2, wherein the conveying device 1 is used for conveying the workpiece to be processed to the operation platform 2, and the conveying device 1 is preferably a roller way or a conveying belt. The work platform 2 is provided with a positioning device 3 for fixing a workpiece to be machined, the positioning device 3 is preferably an air cylinder, for example, air cylinders can be arranged on the front side and the rear side of the work platform 2 and can clamp the workpiece to be machined from the side part, and other positioning devices 3 can be selected, so that the workpiece can be mainly fixed at a specified position on the work platform 2.
Specifically, the automatic conveying device further comprises a vertical beam 8, a cross beam 5, a longitudinal beam 6 and two vertical columns 4, wherein the two vertical columns 4 are arranged on one side of the conveying device 1, two ends of the cross beam 5 are respectively connected with the two vertical columns 4, the longitudinal beam 6 is horizontally and slidably connected to the cross beam 5, the cross beam 5 and the longitudinal beam 6 are perpendicular to each other, the driving device comprises a horizontal driving device and a lifting device 7, the horizontal driving device comprises a horizontal driving portion and a longitudinal driving portion, the horizontal driving portion is used for driving the longitudinal beam 8 and the lifting device 7 to transversely move, the lifting device 7 is connected with the vertical beam 8, the lifting device 7 is used for driving the vertical beam 8 to vertically move, the horizontal driving portion is used for driving the longitudinal beam 6 to transversely move on the cross beam 5, the longitudinal driving portion is used for driving the lifting device 7 to longitudinally move.
It will be appreciated that the work tool 9 may be controlled by the horizontal drive and the lifting device 7 to move to any position within a range of space. Furthermore, a rotating device and a pitching device can be arranged, the rotating device can control the work tool 9 to rotate in the horizontal plane, and the pitching device can control the work tool 9 to perform pitching motion, namely, the posture of the work tool 9 can be adjusted through the rotating device and the pitching device, so that the working tool is suitable for more complex working scenes.
Wherein the movement of the work tool 9 in three directions of the spatial coordinate system X, Y, Z is realized by the transverse beam 5, the longitudinal beam 6 and the vertical beam 8. In addition, other configurations of the driving device may be selected as long as the movement of the work tool 9 in the space can be achieved.
Further, the automatic control system comprises a checking module, when the operation pause time exceeds the maximum transition operation time, the checking module judges whether the control system controls the operation tool 9 to complete the processing operation, if so, the control positioning device 3 is controlled to release the workpiece, and the conveying device 1 is started to convey the workpiece to the next station; if not, a reminding signal is sent to remind the operator to intervene to check whether the operation process has a fault, so that the production efficiency and the production safety are ensured.
In order to facilitate understanding of the specific working principle of the flexible working device, the following description takes a box 11 type workpiece as an example, and the specific working steps are as follows:
step 1: establishing a space coordinate system, and planning a preset operation track in an off-line manner;
step 2: starting the conveying device 1, and conveying the box body 11 to the operation platform 2;
and step 3: starting the positioning device 3 to fix the box body 11 at a preset position on the operation platform 2;
and 4, step 4: moving the work tool 9 to a designated position above the work platform 2;
and 5: starting the distance measuring sensor 10, respectively measuring the distances from the inner wall of the box body 10 along X, Y, Z three directions, wherein each direction can measure multiple groups of data which are respectively marked as X1，X2，X3……Xn]，[Y1，Y2，Y3……Yn]，[Z1，Z2，Z3……Zn]；
Step 6: the control system receives the data detected by the distance measuring sensor 10 and filters the data by an arithmetic mean filtering method;
and 7: according to the filtered data, calculating increments delta X, delta Y and delta Z of the preset operation track in step 1 along X, Y, Z and rotation angles delta X, delta Y and delta Z along X, Y, Z;
and 8: recalculating the actual operation track according to the incremental data;
and step 9: controlling the working tool 9 to work along the actual working track;
step 10: in the working process, if the operation pause time exceeds the maximum transition operation time, the operation is judged to be finished, otherwise, the operation is not finished;
step 11: if the operation is finished, the positioning device 3 is loosened, the conveying device 1 is started to convey the box body 11 to the next station, and if the operation is not finished, an alarm signal is sent out to remind the operator to intervene for inspection.
In summary, the flexible working device provided by the present application is not limited by the working space, and is particularly applicable to a space with a small working space; in addition, the track deviation rectifying operation can be automatically carried out, so that batch automatic production can be realized, programming is not needed, the operation efficiency is improved, and the equipment cost is lower.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A flexible work apparatus, comprising:
a work tool;
the driving device is used for controlling the work tool to move to a preset work position;
a distance measuring sensor mounted on the working tool for detecting a distance between the working tool and a workpiece to be machined;
the operation track correction module is used for calculating the deviation from a preset operation track according to the data measured by the distance measuring sensor and compensating to generate an actual operation track;
and the control system is used for controlling the working tool to work according to the actual working track.
2. The flexible work apparatus of claim 1, further comprising a conveyor and a work platform, the conveyor being configured to convey the workpiece to be processed onto the work platform.
3. The flexible work apparatus of claim 2, wherein the work platform is provided with a positioning device for fixing the workpiece to be processed.
4. The flexible work apparatus according to claim 1, further comprising:
the device comprises a vertical beam, a cross beam, a longitudinal beam and two stand columns, wherein two ends of the cross beam are respectively connected with the two stand columns, and the longitudinal beam is horizontally connected to the cross beam in a sliding manner;
the driving device comprises a transverse driving part, a longitudinal driving part and a lifting device, the lifting device is connected with the vertical beam, the lifting device is used for driving the vertical beam to move up and down, the transverse driving part is used for driving the longitudinal beam to move transversely on the cross beam, the longitudinal driving part is used for driving the lifting device to move longitudinally on the longitudinal beam, and the operation tool is arranged on the vertical beam.
5. The flexible working device according to claim 3, further comprising a checking module, wherein the checking module is configured to determine whether the control system controls the working tool to complete the machining operation, and if so, control the positioning device to release the workpiece and start the conveying device to convey the workpiece to a next station; if not, a reminding signal is sent out.
6. The flexible work apparatus according to claim 3, wherein the positioning means is a cylinder for clamping the workpiece to be processed from the side.
7. The flexible working device according to claim 2, wherein the conveying device is a roller table or a conveyor belt for continuously conveying the workpiece to be processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110484960.XA CN113059579A (en) | 2021-04-30 | 2021-04-30 | Flexible operation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110484960.XA CN113059579A (en) | 2021-04-30 | 2021-04-30 | Flexible operation device |
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| CN113059579A true CN113059579A (en) | 2021-07-02 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114260908A (en) * | 2021-12-20 | 2022-04-01 | 深圳市如本科技有限公司 | Robot teaching method, device, computer equipment and computer program product |
| CN116954175A (en) * | 2023-08-02 | 2023-10-27 | 延动智能装备(浙江)有限公司 | Industrial automatic production control equipment and method |
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| CN207858451U (en) * | 2017-12-04 | 2018-09-14 | 湖南思远智能装备有限公司 | A kind of measuring system for end flanges processing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114260908A (en) * | 2021-12-20 | 2022-04-01 | 深圳市如本科技有限公司 | Robot teaching method, device, computer equipment and computer program product |
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| CN116954175A (en) * | 2023-08-02 | 2023-10-27 | 延动智能装备(浙江)有限公司 | Industrial automatic production control equipment and method |
| CN116954175B (en) * | 2023-08-02 | 2024-05-28 | 西安零特精密机械有限公司 | Industrial automatic production control equipment and method |
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Application publication date: 20210702 |