CN115647796A - Robot system applied to micro-part parallel assembly - Google Patents
Robot system applied to micro-part parallel assembly Download PDFInfo
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Abstract
The invention provides a robot system applied to parallel assembly of micro parts, which comprises a feeding module, a single robot, a part operating module and a horizontal micro vision module, wherein the feeding module is fixedly connected with a shock insulation platform and used for placing the micro parts; the vertical microscopic vision module is used for detecting the vertical direction characteristics of the micro-parts; the force detection module comprises a force detection module bottom plate, the top of the force detection module bottom plate is connected with a six-dimensional force sensor for indirectly calculating the pose of the micro-part, the top of the six-dimensional force sensor is connected with a six-dimensional force sensor connecting piece, the top of the six-dimensional force sensor connecting piece is connected with a zero point module, and the top of the zero point module is connected with a zero point clamp holder; the invention is suitable for parallel assembly of micro parts, and can determine the pose of the parts through the force detection module after the micro parts are subjected to parallel assembly and are subjected to visual shielding, so that the assembly is ensured, and the assembly precision is improved.
Description
Technical Field
The invention relates to the technical field of micro-assembly, in particular to a robot system applied to micro-part parallel assembly.
Background
The parallel assembly of the micro-parts relates to an assembly object with the size span of tens of micrometers to tens of millimeters and with various materials and structures, and is difficult to directly observe and adjust in a manual mode. The existing assembly mainly adopts a mode of combining microscopic vision detection with adjustment of a plurality of manipulators, for example, a Chinese patent with the publication number of CN112894835A discloses a robot micro-assembly device based on microscopic vision, wherein a microscope and an image processing device are combined and configured by combining the manipulators with the microscopic vision and simultaneously using an image processing module, so that the requirements of a micro-assembly process are met; according to the existing microscopic vision detection scheme applied to parallel assembly of the micro parts, when vision shielding exists in the assembly process, the characteristics of the micro parts cannot be directly detected, so that the position and posture of the parts cannot be adjusted in real time through direct detection in the assembly process, and the assembly precision of the micro parts is low.
Disclosure of Invention
The invention aims to provide a robot system applied to parallel assembly of micro parts, which solves the problem that the pose adjustment is influenced because the characteristics of the micro parts cannot be detected due to vision occlusion during parallel assembly of the micro parts.
The embodiment of the invention is realized by the following technical scheme: a robot system applied to micro-part parallel assembly comprises a feeding module, a single robot and a part operating module, wherein the feeding module is fixedly connected with a shock insulation platform and used for placing micro-parts, the single robot is used for transferring the micro-parts, the part operating module is used for assembling the micro-parts, the robot system further comprises a horizontal microscopic vision module and a horizontal microscopic vision module, the horizontal microscopic vision module comprises a horizontal microscopic vision module bottom plate, the top of the horizontal microscopic vision module bottom plate is connected with a horizontal microscopic vision adjusting mechanism, and the top of the horizontal microscopic vision adjusting mechanism is connected with horizontal microscopic vision and used for detecting the horizontal direction characteristics of the micro-parts; the vertical microscopic vision module comprises a vertical microscopic vision module bottom plate, the top of the vertical microscopic vision module bottom plate is connected with a vertical microscopic vision adjusting mechanism, the vertical microscopic vision adjusting mechanism is connected with a vertical microscopic vision adjusting mechanism adaptor, and the vertical microscopic vision adjusting mechanism adaptor is connected with vertical microscopic vision for detecting the vertical direction characteristics of the micro-parts; the force detection module comprises a force detection module bottom plate connected with the part operation module, the top of the force detection module bottom plate is connected with a six-dimensional force sensor for indirectly calculating the pose of the micro part, the top of the six-dimensional force sensor is connected with a six-dimensional force sensor connecting piece, the top of the six-dimensional force sensor connecting piece is connected with a zero point module, and the top of the zero point module is connected with a zero point clamper;
furthermore, the single robot comprises a single robot bottom plate fixedly connected with the shock insulation platform, the top of the single robot bottom plate is connected with a six-degree-of-freedom mechanical arm, the six-degree-of-freedom mechanical arm is connected with a three-degree-of-freedom translation table, the three-degree-of-freedom translation table is connected with a quick change module, and the quick change module is connected with a robot holder;
further, the single robots are three in number and are orthogonally distributed around the part operating module;
furthermore, the feeding module comprises a feeding module bottom plate fixedly connected with the shock insulation platform, the top of the feeding module bottom plate is fixedly connected with a feeding module adjusting mechanism, the top of the feeding module adjusting mechanism is connected with a feeding module adjusting mechanism adaptor, and the top of the feeding module adjusting mechanism adaptor is connected with a feeding tray for fixing the micro-parts to be installed;
furthermore, the number of the feeding modules is three, and the feeding modules are correspondingly placed on one side of the single robot;
furthermore, the part operation module comprises a part operation module bottom plate, a part operation module adjusting mechanism is connected to the top of the part operation module bottom plate, and a force detection module is connected to the top of the part operation module adjusting mechanism.
The technical scheme of the invention at least has the following advantages and beneficial effects: the micro-vision and the six-dimensional force are fused for detection through the design of the horizontal micro-vision module, the vertical micro-vision module and the force detection module, and when the micro-vision cannot directly detect the characteristics of the micro-parts in the assembling process, the position and the attitude of the parts can be indirectly calculated through the six-dimensional force information contacted by the micro-parts, so that the corresponding position and attitude adjustment can be carried out by matching with a single robot, and the parallel assembling precision of the micro-parts is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram of an overall structure of a robot system applied to parallel assembly of micro parts according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a single robot applied to a robot system for parallel assembly of micro parts according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a horizontal micro-vision module and a vertical micro-vision module of a robot system for parallel assembly of micro parts according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a force detection module applied to a robot system for parallel assembly of micro parts according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a feeding module of a robot system for parallel assembly of micro parts according to an embodiment of the present invention;
an icon: 1-shock insulation platform, 2-feeding module, 3-single robot, 4-platform base, 5-part operation module, 6-horizontal microscopic vision module, 7-vertical microscopic vision module, 31-single robot base plate, 32-six-degree-of-freedom mechanical arm, 33-robot holder, 34-quick change module, 35-three-degree-of-freedom translation table, 51-part operation module base plate, 52-part operation module adjusting mechanism, 53-force detection module, 61-horizontal microscopic vision module base plate, 62-horizontal microscopic vision adjusting mechanism, 63-horizontal microscopic vision, 71-vertical microscopic vision module base plate, 72-vertical microscopic vision adjusting mechanism, 73-vertical microscopic vision adjusting mechanism adapter, 74-vertical microscopic vision, 531-force detection module base plate, 532-six-dimensional zero force sensor, 533-six-dimensional zero force sensor adapter, 534-module, 535-holder, 21-feeding module base plate, 22-feeding module adjusting mechanism, 23-feeding module adjusting mechanism adapter, and 24-feeding tray.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
A robot system applied to micro-part parallel assembly is disclosed, as shown in figure 1, and comprises a feeding module 2 fixedly connected to a shock isolation platform 1 and used for placing micro-parts, a single robot 3 used for transferring the micro-parts and a part operation module 5 used for assembling the micro-parts, wherein the shock isolation platform 1 is fixedly connected with a platform base 4, and the part operation module 5 is installed on the platform base 4;
the horizontal micro-vision module 6, as shown in fig. 3, comprises a horizontal micro-vision module bottom plate 61, the bottom of the horizontal micro-vision bottom plate 61 is fixedly connected with the platform base 4, the top of the horizontal micro-vision bottom plate is connected with a horizontal micro-vision adjusting mechanism 62, and the top of the horizontal micro-vision adjusting mechanism 62 is connected with a horizontal micro-vision 63 for detecting the characteristics of the micro-parts in the horizontal direction X;
the vertical micro-vision module 7, as shown in fig. 3, includes a vertical micro-vision module base plate 71, the bottom of the vertical micro-vision module base plate 71 is fixedly connected with the platform base 4, the top is connected with a vertical micro-vision adjusting mechanism 72, the vertical micro-vision adjusting mechanism 72 is connected with a vertical micro-vision adjusting mechanism adaptor 73, the vertical micro-vision adjusting mechanism adaptor 73 is connected with a vertical micro-vision 74 for feature detection in the vertical direction Z of the micro-part;
the force detection module 53, as shown in fig. 4, includes a force detection module base plate 531 connected to the part operation module 5, the top of the force detection module base plate 531 is connected to a six-dimensional force sensor 532 for indirectly calculating the pose of the micro-part, the top of the six-dimensional force sensor 532 is connected to a six-dimensional force sensor connector 533, the top of the six-dimensional force sensor connector 533 is connected to a zero point module 534, and the top of the zero point module 534 is connected to a zero point clamper 535 for fixing the reference micro-part; the six-dimensional force sensor 532 is used for detecting the force in the XYZ direction and the moment around the XYZ direction of the part after visual obstruction in the assembling process.
It is worth mentioning that through the cooperation of the horizontal micro vision module 6, the vertical micro vision module 7 and the force detection module 53, when the vision detection is blocked, the force detection module 53 can indirectly calculate the pose of the micro part through the data of the six-dimensional sensor 532, thereby ensuring the smooth operation of the parallel assembly process and improving the pose precision of the micro part.
The single robot 3, as shown in fig. 2, includes a single robot base plate 31 fixedly connected to the vibration isolation platform 1, the top of the single robot base plate 31 is connected to a six-degree-of-freedom mechanical arm 32, the six-degree-of-freedom mechanical arm 32 is connected to a three-degree-of-freedom translation stage 35, the single robot 3 has 9 degrees of freedom, and can adjust the position of a part in the XYZ direction and the rotation angle around the XYZ direction, pick and place and transport micro parts in a large range, and has high flexibility, the three-degree-of-freedom translation stage 35 is connected to a quick change module 34, and the quick change module 34 is connected to a robot holder 33, so that the robot holder 33 can be quickly switched to hold micro parts of different types.
The number of the single robots 3 is three, and the single robots are distributed around the part operation module 5 in an orthogonal manner; each single robot 3 adopts a macro-micro combined serial mechanism combining a six-freedom mechanical arm (macro rotation) with a three-freedom-degree translation table 35 (micro linear motion), has the characteristics of large movement stroke and high flexibility, has an operation space not less than 100mm multiplied by 100mm, and can realize the parallel assembly of micro parts by combining with the central part operation module 5.
The feeding module 2, as shown in fig. 5, comprises a feeding module bottom plate 21 fixedly connected with the seismic isolation platform 1, wherein the top of the feeding module bottom plate 21 is fixedly connected with a feeding module adjusting mechanism 22, the feeding module adjusting mechanism 22 can realize angle adjustment of micro-parts around the Z-axis direction, the top of the feeding module adjusting mechanism 22 is connected with a feeding module adjusting mechanism adaptor 23, and the top of the feeding module adjusting mechanism adaptor 23 is connected with a feeding tray 24 for fixing the micro-parts to be loaded; the number of the feeding modules 2 is three, and the feeding modules are correspondingly placed on one side of the single robot 3; the micro parts assembled in parallel can be provided in cooperation with the single robot 3.
The part operation module 5 comprises a part operation module bottom plate 51, a part operation module adjusting mechanism 52 is connected to the top of the part operation module bottom plate 51, the part operation module adjusting mechanism 52 can realize the adjustment of the position of the part in the XYZ direction and the rotation angle around the Z direction, and a force detection module 53 is connected to the top of the part operation module adjusting mechanism 52.
It is worth mentioning that the micro-vision and the six-dimensional force are fused for detection through the design of the horizontal micro-vision module 6, the vertical micro-vision module 7 and the force detection module 53, and when the micro-vision exists in the assembly process and the micro-part characteristics cannot be directly detected, the position and the attitude of the part can be indirectly calculated through the six-dimensional force information contacted by the micro-part by the six-dimensional force sensor 532 arranged at the tail end of the part operating platform, so that the corresponding position and attitude adjustment can be carried out by matching with the single robot 3, and the precision of the parallel assembly of the micro-part is improved.
The method comprises the following specific working steps:
step S1: respectively placing 3 micro parts to be loaded on the loading tray 24 of the loading module 2, and placing 1 reference micro part on the zero-point clamper 535 of the part operation module 5;
step S2: respectively moving the 3 single robots 3 to part taking positions, and respectively aligning and clamping the 3 robot clampers 33 with the 3 micro parts to be loaded on the loading tray 24;
and step S3: respectively transporting 3 micro parts to be loaded to the upper part of the part operation module 5 by 3 single robots, so that the positions of the 3 micro parts to be loaded and 1 reference micro part placed on the zero-point clamp 535 are the same in the Z-axis direction;
and step S4: the position of the horizontal microscopic vision 63 on the X axis and the position of the vertical microscopic vision 73 on the Z axis are respectively adjusted by the horizontal microscopic vision adjusting mechanism 62 and the vertical microscopic vision adjusting mechanism 72, so that 3 micro parts to be loaded conveyed by 3 single robots and 1 reference micro part on the zero-point clamper 535 appear in the microscopic vision detection range. The horizontal microscopic vision 63 and the vertical microscopic vision 73 respectively perform pose detection on the 3 micro parts to be installed and the 1 reference micro part from the X-axis direction and the Z-axis direction;
step S5: according to the detection results of the horizontal micro-vision 63 and the vertical micro-vision 73, 3 single robots move and adjust simultaneously, and 3 micro parts to be assembled and 1 reference micro part are assembled;
step S6: when 3 micro parts to be installed are in contact with 1 reference micro part and visual shielding exists, the six-dimensional force sensor 532 of the force detection module 53 performs real-time detection on contact force, and the poses of 3 single robots can be respectively adjusted according to detection results;
step S7: and (5) repeating the contact force real-time detection and the 3 monomer robot pose adjustment in the step (S6) until the assembly is finished.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a be applied to parallel assembly's of micro component robot system, includes that fixed connection is used for placing micro component material loading module (2), the monomer robot (3) for shifting micro component and part operation module (5) that are used for assembling micro component in shock insulation platform (1), its characterized in that still includes:
the horizontal microscopic vision module (6) comprises a horizontal microscopic vision module bottom plate (61), the top of the horizontal microscopic vision module bottom plate (61) is connected with a horizontal microscopic vision adjusting mechanism (62), and the top of the horizontal microscopic vision adjusting mechanism (62) is connected with a horizontal microscopic vision (63) for detecting the horizontal direction characteristics of the micro-parts;
the vertical microscopic vision module (7) comprises a vertical microscopic vision module bottom plate (71), the top of the vertical microscopic vision module bottom plate (71) is connected with a vertical microscopic vision adjusting mechanism (72), the vertical microscopic vision adjusting mechanism (72) is connected with a vertical microscopic vision adjusting mechanism adaptor (73), and the vertical microscopic vision adjusting mechanism adaptor (73) is connected with a vertical microscopic vision (74) for detecting the vertical direction characteristics of the micro-parts;
force detection module (53), including with force detection module bottom plate (531) that part operation module (5) are connected, force detection module bottom plate (531) top is connected with six-dimensional force sensor (532) for indirect calculation micro-part position appearance, six-dimensional force sensor (532) top is connected with six-dimensional force sensor connecting piece (533), six-dimensional force sensor connecting piece (533) top is connected with zero point module (534), zero point module (534) top is connected with zero point holder (535).
2. The robot system applied to the parallel assembly of the micro-parts as claimed in claim 1, wherein the single robot (3) comprises a single robot base plate (31) fixedly connected with the vibration-isolating platform (1), a six-degree-of-freedom mechanical arm (32) is connected to the top of the single robot base plate (31), a three-degree-of-freedom translation stage (35) is connected to the six-degree-of-freedom mechanical arm (32), a quick-change module (34) is connected to the three-degree-of-freedom translation stage (35), and a robot holder (33) is connected to the quick-change module (34).
3. Robot system for the parallel assembly of micro parts, according to claim 2, characterized in that said single robots (3) are provided in three numbers and are orthogonally distributed around said part handling modules (5).
4. The robot system applied to the parallel assembly of the micro-parts as claimed in claim 1, wherein the feeding module (2) comprises a feeding module base plate (21) fixedly connected with the vibration isolation platform (1), a feeding module adjusting mechanism (22) is fixedly connected to the top of the feeding module base plate (21), a feeding module adjusting mechanism adaptor (23) is connected to the top of the feeding module adjusting mechanism (22), and a feeding tray (24) is connected to the top of the feeding module adjusting mechanism adaptor (23) and is used for fixing the micro-parts to be assembled.
5. Robot system for the parallel assembly of micro-parts, as in claim 4, characterized in that said feeding modules (2) are provided in three numbers and placed in correspondence of one side of said single-body robot (3).
6. The robot system for the parallel micro-part assembly as claimed in claim 1, wherein the part manipulating module (5) comprises a part manipulating module base plate (51), a part manipulating module adjusting mechanism (52) is connected to the top of the part manipulating module base plate (51), and the force detecting module (53) is connected to the top of the part manipulating module adjusting mechanism (52).
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