CN119036412A - Automatic covering placing system - Google Patents
Automatic covering placing system Download PDFInfo
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- CN119036412A CN119036412A CN202411347943.1A CN202411347943A CN119036412A CN 119036412 A CN119036412 A CN 119036412A CN 202411347943 A CN202411347943 A CN 202411347943A CN 119036412 A CN119036412 A CN 119036412A
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- skin
- mechanical arm
- pose
- teaching
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an automatic skin placement system, belongs to the technical field of skin automatic assembly, and solves the technical problem of low skin placement precision in the prior art. The system comprises an adsorption device, a mechanical arm, a vision device and a controller, wherein when a skin assembling task is executed, the controller controls the mechanical arm and the adsorption device to move a skin to a preset position according to teaching data, then the controller controls the vision device to photograph the skin and a framework respectively to obtain an actual skin pose and an actual framework pose, the controller performs vision matching calculation according to the actual skin pose and the actual framework pose to obtain actual transformation of the tail end of the mechanical arm, and further controls the tail end of the mechanical arm to adjust the pose of the skin according to the actual transformation, and then positions the skin from the preset position to be placed on the framework. According to the system provided by the invention, the actual pose of the skin and the skeleton is respectively identified to be used for adjusting the teaching path, so that the adsorption error is counteracted, and the skin placement precision is improved.
Description
Technical Field
The invention relates to the technical field of automatic skin assembly, in particular to an automatic skin placement system.
Background
In the welding unit of complex components, the skin belongs to a missile wing component which is more special, and presents a great challenge for the automatic welding process flow. The skin fabrication process includes bending and sheet metal, which results in poor consistency between skins and difficulty in grasping using conventional robotic arms. The existing skin placement system mainly adopts a sucking disc to suck the skin, but the sucking disc belongs to flexible connection, the repeated precision of sucking the skin is about 0.5mm, so that the skin placement precision of the existing system cannot meet the high precision requirement of a welding process, and particularly, the situation that the assembly gap is required to be controlled within 0.01mm is caused.
Disclosure of Invention
In view of the above analysis, the embodiment of the invention aims to provide an automatic skin placement system, which is used for solving the technical problem of low skin placement precision in the prior art.
In one aspect, the embodiment of the invention provides an automatic skin placement system which comprises an adsorption device, a mechanical arm, a vision device and a controller,
The adsorption device is arranged at the tail end of the mechanical arm and used for adsorbing the skin to be assembled;
The controller is respectively connected with the mechanical arm, the adsorption device and the vision device;
the controller stores teaching data of the mechanical arm for executing the skin assembly task;
When a skin assembling task is executed, the controller controls the mechanical arm and the adsorption device according to the teaching data to enable the adsorption device to adsorb a skin to be assembled and move the skin to a preset position, and then controls the vision device to photograph the skin and the skeleton respectively to obtain an actual skin pose and an actual skeleton pose at the preset position;
The controller performs visual matching calculation according to the actual pose of the skin and the actual pose of the framework to obtain actual transformation of the tail end of the mechanical arm, and further controls the tail end of the mechanical arm to position and place the skin on the framework from the preset position after adjusting the pose of the skin according to the actual transformation.
Based on further improvement of the system, the teaching data comprise the coordinates of the grabbing points of the skin, the skeleton teaching pose, the teaching path of the mechanical arm, the skin teaching pose of each path point on the teaching path and the teaching transformation of the tail end of the mechanical arm.
Based on a further improvement of the system, the controller comprises a visual matching calculation module;
the visual matching calculation module performs visual matching calculation according to the following formula to obtain actual transformation of the tail end of the mechanical arm:
Wherein T Actual practice is that of is the actual transformation of the tail end of the mechanical arm, T Teaching demonstration is the teaching transformation of the tail end of the mechanical arm at the preset position, T 2 is the relative transformation of the pose of the framework, P 2 Actual practice is that of is the actual pose of the framework, P 2 Teaching demonstration is the framework teaching pose, T 1 is the relative transformation of the pose of the skin, P 1 Actual practice is that of is the actual pose of the skin at the preset position, and P 1 Teaching demonstration is the skin teaching pose at the preset position.
Based on a further improvement of the system, the controller controls the mechanical arm and the adsorption device according to the teaching data to enable the adsorption device to adsorb the skin to be assembled and move the skin to a preset position, and the method comprises the following steps:
the skin to be assembled is positioned and placed at a preset grabbing position;
The controller controls the manipulator to move from an initial position to the grabbing position, and then the adsorption device adsorbs the skin to be assembled according to the grabbing point coordinates of the skin;
and then, the controller controls the manipulator to move the skin to a preset position from the storage position according to the teaching transformation of the manipulator along the teaching path.
Based on the further improvement of the system, the system also comprises a turnover positioner, wherein the turnover positioner is connected with the controller;
The overturning positioner is used for placing the skin to be assembled and overturning the skin to be assembled to a preset grabbing position.
Based on the further improvement of the system, the system further comprises a positioning tool, wherein at least two clamping devices are arranged on the positioning tool, the clamping devices are arranged at intervals along the edge of the framework, and the clamping devices are used for fixing the framework on the positioning tool.
Based on the further improvement of the system, the positioning tool is further provided with at least two guiding devices, the guiding devices are arranged at intervals along the edge of the framework, and the guiding devices are used for guiding and limiting the skin in the process that the mechanical arm positions and places the skin on the framework from the preset position.
Based on a further improvement of the system, the guide device comprises a base and a guide post, wherein the guide post is elastically connected to the base, and the outer wall of the guide post is used for being in contact with the skin.
Based on the further improvement of the system, the mechanical arm is provided with a force control sensor, and the force control sensor is used for detecting the stress condition of the mechanical arm;
The controller also comprises a flexible control module, and the flexible control module flexibly controls the mechanical arm according to the stress condition of the mechanical arm;
the flexible control module flexibly controls the mechanical arm according to the stress condition of the mechanical arm, and the flexible control module comprises the following steps:
Converting the external force on the tail end of the mechanical arm into a speed adjustment amount and/or a position adjustment amount;
and adjusting the speed of the tail end of the mechanical arm according to the speed adjustment quantity and/or adjusting the moving distance of the tail end of the mechanical arm according to the position adjustment quantity.
Based on the further improvement of the system, the adsorption device comprises a vacuum generator and at least three suckers, wherein the vacuum generator is connected with each sucker through an air path respectively, the suckers are used for being attached to the skin, the vacuum generator is used for providing suction force, and the controller is connected with the vacuum generator to control the vacuum generator to be opened and closed.
1. According to the invention, after the skin to be assembled is sucked at the tail end of the mechanical arm and moved to the preset position, the actual pose of the skin and the skeleton is respectively identified by the vision device for vision matching, so that the teaching transformation of the tail end of the mechanical arm is adjusted, the correction of the skin pose is realized, the adsorption error caused by soft connection such as adsorption connection can be counteracted, the accurate placement pose is obtained, and the skin placement precision is improved.
2. According to the invention, the controller controls the mechanical arm and the adsorption device according to the teaching data to move the skin to the preset position, and then performs vision matching to correct the skin posture, so that accumulated errors generated in the moving process are eliminated, and the control is facilitated.
3. According to the invention, the skin is fed through the overturning positioner, so that each skin to be assembled can be ensured to be accurately placed at a preset grabbing position, the manipulator can absorb the skin according to grabbing point coordinates of the skin acquired by teaching, and the placing accuracy of the skin is improved.
4. According to the invention, the clamping device for fixing the framework is arranged on the positioning tool, and the guiding device is also arranged, so that the mechanical arm can be assisted to accurately place the skin on the framework through the guiding device, and the positioning deviation caused by the suction error of the suction disc is reduced.
5. According to the invention, the flexible control is carried out on the mechanical arm according to the stress condition of the tail end of the mechanical arm while the guiding device is used for guiding, so that the robot can be operated with proper strength and speed, the skin is prevented from being damaged, and the mechanical arm can be operated efficiently, safely and accurately.
In the invention, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a schematic diagram of an automated skin placement system according to an embodiment of the present invention;
FIG. 2 is a schematic view of an automated skin placement system according to an embodiment of the present invention;
FIG. 3 is a schematic view of an automated skin placement system according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a guiding device according to an embodiment of the present invention.
Reference numerals:
1. the mechanical arm, 2, the guiding device, 3, the skin, 4, the skeleton;
5-positioning tool, 6-clamping device;
21-base, 22-guide post, 221-straight line segment, 222-inclined segment.
Detailed Description
The following detailed description of preferred embodiments of the application is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the application, are used to explain the principles of the application and are not intended to limit the scope of the application.
One embodiment of the present invention provides an automatic skin placement system, as shown in fig. 1 and 2. The automatic skin placing system comprises an adsorption device, a mechanical arm 1, a vision device and a controller,
The adsorption device is arranged at the tail end of the mechanical arm 1 and is used for adsorbing the skin 3 to be assembled;
The controller is respectively connected with the mechanical arm 1, the adsorption device and the vision device;
The controller stores teaching data of the mechanical arm 1 for executing the assembling task of the skin 3;
When the skin 3 assembling task is executed, the controller controls the mechanical arm 1 and the adsorption device according to the teaching data to enable the adsorption device to adsorb the skin 3 to be assembled and move the skin 3 to a preset position, and then controls the vision device to respectively photograph the skin 3 and the skeleton 4 to obtain the actual pose of the skin 3 and the actual pose of the skeleton 4 at the preset position;
the controller performs visual matching calculation according to the actual pose of the skin 3 and the actual pose of the framework 4 to obtain actual transformation of the tail end of the mechanical arm 1, and further controls the tail end of the mechanical arm 1 to adjust the pose of the skin 3 according to the actual transformation, and then positions and places the skin 3 on the framework 4 from the preset position.
In practice, the preset position is a position close to the skeleton 4, and specifically, the distance between the preset position and the skeleton 4 is 20mm to 50mm, preferably 30mm to 40mm.
When the controller is implemented, the controller can adopt an upper computer, so that man-machine interaction is facilitated. The adsorption device is in communication connection with the controller through a communication module of the mechanical arm 1.
Compared with the prior art, in the embodiment of the invention, in consideration of the fact that the adsorption connection is soft connection, adsorption errors are generated after the tail end of the mechanical arm 1 adsorbs the skin 3, the gesture of the skin 3 can deviate, and the deviation cannot be accurately estimated, so that the automatic skin 3 placement system of the embodiment of the invention can respectively identify the actual gestures of the skin 3 and the framework 4 for visual matching through a visual device after the tail end of the mechanical arm 1 absorbs the skin 3 to be assembled and moves the skin 3 to a preset position, so as to adjust the teaching transformation of the tail end of the mechanical arm 1, thereby realizing the gesture correction of the skin 3, counteracting the adsorption errors caused by soft connection such as adsorption connection, obtaining the accurate placement gesture and improving the placement precision of the skin 3.
Meanwhile, in the embodiment of the invention, the controller controls the mechanical arm 1 and the adsorption device according to the teaching data to move the skin 3 to the preset position, and then performs vision matching to correct the gesture of the skin 3, thereby being beneficial to eliminating the position deviation generated in the moving process and being convenient to control.
Before the actual assembly task is performed, teaching data is obtained through the process of assembling the teaching simulation skin 3 to the framework 4, so that accurate learning and copying assembly actions of the mechanical arm 1 can be ensured.
Specifically, the teaching data comprises coordinates of grabbing points of the skin 3, skeleton teaching pose, teaching paths of the mechanical arm 1, skin teaching pose of each path point on the teaching paths and teaching transformation of the tail end of the mechanical arm 1.
The skin teaching pose and the skeleton teaching pose refer to positions and directions of workpieces such as a skin 3, a skeleton 4 and the like in robot coordinates, which are determined through a teaching method. Specifically, during teaching, an operator sets a skin teaching pose and a skeleton teaching pose according to the assembly environment and task requirements of the skin 3.
The teaching path refers to a moving track of the mechanical arm 1 when the mechanical arm performs an assembly task, and the teaching transformation refers to a specific position and direction of the tail end of the mechanical arm 1 on the moving track.
The front and back surfaces of the skeleton 4 are respectively provided with a front skin and a back skin. I.e. the skin 3 comprises two types of skins, namely a front skin and a back skin. Robot teaching is required for the two different types of skins 3, respectively.
The pose of the workpiece refers to a three-dimensional space state of the workpiece in a robot coordinate system, and comprises the position and the direction of the workpiece, wherein the position is the coordinate of a center point or a preselected reference point of the workpiece in space, the direction is the rotation state of the workpiece relative to the robot coordinate, and the rotation state can be described by Euler angles (pitch angle, yaw angle and roll angle).
It should be noted that, in the assembly task, it is concerned how to align a specific connection point of one component with a corresponding connection point of another component, so in the embodiment of the present invention, the pose of the skin 3 refers to the position and the direction of the attachment point of the skin 3 to the skeleton 4, and the pose of the skeleton 4 refers to the position and the direction of the attachment point of the skeleton 4 to the skin 3.
Specifically, the joint point between the skin 3 and the framework 4 is selected as a grabbing point, which is favorable for the mechanical arm 1 to accurately place the skin 3 on the framework 4, so that the skin 3 and the framework 4 are jointed.
Further specifically, during teaching, coordinates of the grasping points of the skin 33 to be assembled are obtained by the following method:
assembling a skin template onto the skeleton template;
identifying coordinates of a bonding point between the skin template and the skeleton template through a visual device;
and selecting the coordinates of at least three bonding points as grabbing point coordinates.
It should be noted that, similarly, the skin template includes a front skin template and a back skin template, so the above method needs to be used to obtain the coordinates of the grabbing points of the front skin 3 and the coordinates of the grabbing points of the back skin 3 respectively. In practice, the corresponding coordinates of the grabbing points are called according to the type of the skin 3 to be assembled.
In one embodiment, the vision device is a camera for capturing images and analyzing.
In this embodiment, the vision device analyzes the image of the skin 3 to determine the actual pose of the skin 3, i.e., the position and direction of the skin 3 in space. Likewise, the vision device analyzes the image of the skeleton 4 to determine the actual pose of the skeleton 4, i.e., the position and orientation of the skeleton 4 in space.
In a specific embodiment, the adsorption device comprises a vacuum generator and at least three suckers, the vacuum generator is connected with each sucker through an air path, the suckers are used for being attached to the skin 3, the vacuum generator is used for providing suction, and the controller is connected with the vacuum generator to control the vacuum generator to be opened and closed.
Wherein, adsorption equipment can provide bigger contact area and stronger adsorption affinity through setting up at least three sucking disc, is applicable to the covering 3 of equidimension and shape.
In one embodiment, the controller includes a visual match calculation module. The visual matching calculation module performs visual matching calculation according to the following formula to obtain actual transformation of the tail end of the mechanical arm 1:
Wherein T Actual practice is that of is the actual transformation of the tail end of the mechanical arm 1, T Teaching demonstration is the teaching transformation of the tail end of the mechanical arm 1 at a preset position, T 2 is the relative transformation of the pose of the framework 4, P 2 Actual practice is that of is the actual pose of the framework 4, P 2 Teaching demonstration is the framework teaching pose, T 1 is the relative transformation of the pose of the skin 3, P 1 Actual practice is that of is the actual pose of the skin 3 at the preset position, and P 1 Teaching demonstration is the skin teaching pose at the preset position.
Specifically, the controller controls the mechanical arm 1 and the adsorption device according to the teaching data, so that the adsorption device adsorbs the skin 3 to be assembled and moves the skin 3 to a preset position, and the method includes:
The skin 3 to be assembled is positioned and placed at a preset grabbing position;
The controller controls the manipulator to move from an initial position to the grabbing position, and then the adsorption device adsorbs the skin 3 to be assembled according to the grabbing point coordinates of the skin 3;
Then, the controller controls the manipulator to move the skin 3 from the storage position to a preset position along the teaching path in accordance with the teaching transformation of the manipulator 1.
Specifically, the system further comprises a turnover positioner, and the turnover positioner is connected with the controller. The overturning positioner is used for placing the skin 3 to be assembled and overturning the skin 3 to be assembled to a preset grabbing position.
During implementation, firstly, the skin 3 to be assembled is placed on a turnover position changing machine, then the skin 3 is turned to a preset grabbing position through the turnover position changing machine, the mechanical arm 1 is firstly moved to a preset initial position, then is moved to the grabbing position where the skin 3 is placed from the initial position, the adsorption device adsorbs the skin 3, the mechanical arm 1 moves to the preset position according to a teaching path after adsorbing the skin 3, then the skin 3 and the framework 4 are photographed respectively through a visual recognition system to perform visual matching, after the gesture of the skin 3 is adjusted, the skin 3 is assembled on the framework 4, the adsorption device is controlled to be separated from the skin 3, and the mechanical arm 1 returns to the initial position to prepare for executing the assembly task of the next skin 3.
In the embodiment of the invention, the skin 3 is fed through the overturning positioner, so that each skin 3 to be assembled can be ensured to be accurately placed at a preset grabbing position, the manipulator can acquire grabbing point coordinates of the skin 3 according to teaching to adsorb the skin 3, and the placing precision of the skin 3 is improved.
In one embodiment, as shown in fig. 3, the system further comprises a positioning fixture 5, at least two clamping devices 6 are disposed on the positioning fixture 5, the clamping devices 6 are spaced along the edge of the skeleton 4, and the clamping devices 6 are used for fixing the skeleton 4 on the positioning fixture 5.
Preferably, the positioning tool 5 is further provided with at least two guiding devices 2, the guiding devices 2 are arranged at intervals along the edge of the skeleton 4, and the guiding devices 2 are used for guiding and limiting the skin 3 in the process that the mechanical arm 1 positions and places the skin 3 from the preset position onto the skeleton 4.
In the embodiment of the invention, as shown in fig. 3, the positioning tool 5 is provided with not only the clamping device 6 for fixing the framework 4, but also the guiding device 2, and the guiding device 2 can assist the mechanical arm 1 to accurately place the skin 3 on the framework 4, so that the positioning deviation caused by the suction error of the suction disc is reduced.
In implementation, after the tail end of the mechanical arm 1 adjusts the pose of the skin 3 according to the actual transformation, the skin 3 is positioned and placed on the framework 4 from the preset position under the limit of the guide device 2.
As shown in fig. 4, the guide device 2 comprises a base 21 and a guide post 22, wherein the guide post 22 is elastically connected to the base 21, and the outer wall of the guide post 22 is used for contacting the skin 3.
The outer wall of the guide post 22 is an arc surface, so that the guide post 22 and the skin 3 are in line contact, but not in surface contact, and meanwhile, the guide post 22 is elastically connected to the base 21, so that the effect of balancing the external force on the skin 3 can be achieved, and the skin 3 can be prevented from being damaged.
Further specifically, the guide post 22 includes a straight section 221 and an inclined section 222 connected to each other, and the inclined section 222 is located above the guide post 22. Wherein, the upper inclined section 222 is convenient for the mechanical arm 1 to place the skin 3 on the framework 4, and the lower straight section 221 can limit the skin 3.
Further specifically, a spring is provided between the guide post 22 and the base 21, so as to realize elastic connection.
Preferably, the mechanical arm 1 is provided with a force control sensor, the force control sensor is used for detecting the stress condition of the mechanical arm 1, and the controller is connected with the force control sensor.
In the implementation process, the force control sensor is connected with the controller through a communication module of the mechanical arm 1.
The controller also comprises a flexible control module, and the flexible control module flexibly controls the mechanical arm 1 according to the stress condition of the mechanical arm 1.
When the mechanical arm 1 moves the skin 3 to the preset position, the flexible control module of the controller is started to start flexible control on the mechanical arm 1. Specifically, when the skin 3 moves to a preset position and is closer to the framework 4, the mechanical arm 1 drives the skin 3 to continuously approach the framework 4, the guide device 2 is in contact with the skin 3, and an external force is applied to the skin 3 and is conducted to the mechanical arm 1, so that the skin 3 can be flexibly assembled and accurately positioned under the assembly condition of smaller tolerance by detecting the stress condition of the tail end of the mechanical arm 1 and flexibly controlling the mechanical arm 1 according to the stress condition, and the skin 3 can be ensured to be in contact with the guide device 2 with a certain depth.
In the embodiment of the invention, the controller flexibly controls the mechanical arm 1 according to the stress condition of the tail end of the mechanical arm while guiding the guiding device 2, so that the robot can be ensured to operate with proper strength and speed, the damage to the skin 3 is avoided, and the mechanical arm 1 is enabled to operate efficiently, safely and accurately.
Specifically, the force control sensor is a six-dimensional force control sensor.
The flexible control module flexibly controls the mechanical arm 1 according to the stress condition of the mechanical arm 1, and comprises the following steps:
Converting the external force on the tail end of the mechanical arm 1 into a speed adjustment amount and/or a position adjustment amount;
And adjusting the speed of the tail end of the mechanical arm 1 according to the speed adjustment amount and/or adjusting the moving distance of the tail end of the mechanical arm 1 according to the position adjustment amount.
In the embodiment of the invention, the guiding device 2 is guided and flexibly controlled according to the stress condition of the tail end of the mechanical arm 1, so that the robot can be ensured to operate with proper strength and speed, the damage to the skin 3 is avoided, and the mechanical arm 1 is efficiently, safely and accurately operated.
Wherein the flexible control includes stiffness control, damping control, and impedance control. The method comprises the steps of converting a feedback force signal into a position adjustment amount to control rigidity, converting the feedback force signal into a speed adjustment amount to control damping, and simultaneously converting the feedback force signal into the speed adjustment amount and the position adjustment amount to control impedance. According to the embodiment of the invention, any flexible control can be selected according to actual requirements.
For example, the formula for converting the external force on the end of the mechanical arm 1 into the speed adjustment amount and/or the position adjustment amount is as follows:
Δv=kd·F;
Δx=kp·F;
Wherein Deltav is a speed adjustment amount, F is an external force at the tail end of the mechanical arm 1, k d is a damping coefficient for determining the speed adjustment strength, deltax is a position adjustment amount, and k p is a proportional stiffness coefficient for determining the position adjustment strength.
Those skilled in the art will appreciate that all or part of the flow of the methods of the embodiments described above may be accomplished by way of a computer program to instruct associated hardware, where the program may be stored on a computer readable storage medium. Wherein the computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory, etc.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (10)
1. A skin automatic placement system is characterized by comprising an adsorption device, a mechanical arm, a vision device and a controller,
The adsorption device is arranged at the tail end of the mechanical arm and used for adsorbing the skin to be assembled;
The controller is respectively connected with the mechanical arm, the adsorption device and the vision device;
the controller stores teaching data of the mechanical arm for executing the skin assembly task;
When a skin assembling task is executed, the controller controls the mechanical arm and the adsorption device according to the teaching data to enable the adsorption device to adsorb a skin to be assembled and move the skin to a preset position, and then controls the vision device to photograph the skin and the skeleton respectively to obtain an actual skin pose and an actual skeleton pose at the preset position;
The controller performs visual matching calculation according to the actual pose of the skin and the actual pose of the framework to obtain actual transformation of the tail end of the mechanical arm, and further controls the tail end of the mechanical arm to position and place the skin on the framework from the preset position after adjusting the pose of the skin according to the actual transformation.
2. The automatic skin placement system according to claim 1, wherein the teaching data comprises coordinates of grabbing points of the skin, a skeleton teaching pose, a teaching path of the mechanical arm, and teaching transformation of the skin teaching pose and the tail end of the mechanical arm of each path point on the teaching path.
3. The automatic skin placement system of claim 2, wherein the controller comprises a visual match calculation module;
the visual matching calculation module performs visual matching calculation according to the following formula to obtain actual transformation of the tail end of the mechanical arm:
Wherein T Actual practice is that of is the actual transformation of the tail end of the mechanical arm, T Teaching demonstration is the teaching transformation of the tail end of the mechanical arm at the preset position, T 2 is the relative transformation of the pose of the framework, P 2 Actual practice is that of is the actual pose of the framework, P 2 Teaching demonstration is the framework teaching pose, T 1 is the relative transformation of the pose of the skin, P 1 Actual practice is that of is the actual pose of the skin at the preset position, and P 1 Teaching demonstration is the skin teaching pose at the preset position.
4. The system of claim 2, wherein the controller controlling the robotic arm and the suction device according to the teaching data to cause the suction device to suction a skin to be assembled and move the skin to a preset position, comprising:
the skin to be assembled is positioned and placed at a preset grabbing position;
The controller controls the manipulator to move from an initial position to the grabbing position, and then the adsorption device adsorbs the skin to be assembled according to the grabbing point coordinates of the skin;
and then, the controller controls the manipulator to move the skin to a preset position from the storage position according to the teaching transformation of the manipulator along the teaching path.
5. The system of claim 4, further comprising a flip positioner, the flip positioner being coupled to the controller;
The overturning positioner is used for placing the skin to be assembled and overturning the skin to be assembled to a preset grabbing position.
6. The skin automatic placement system according to any one of claims 1-5, further comprising a positioning tooling on which at least two clamping devices are provided, the clamping devices being spaced along an edge of the skeleton, the clamping devices being used to secure the skeleton to the positioning tooling.
7. The automatic skin placement system according to claim 6, wherein the positioning fixture is further provided with at least two guiding devices, the guiding devices are arranged at intervals along the edge of the skeleton, and the guiding devices are used for guiding and limiting the skin during the process of positioning and placing the skin from the preset position onto the skeleton by the mechanical arm.
8. The system of claim 7, wherein the guide comprises a base and a guide post, wherein the guide post is resiliently coupled to the base, and wherein an outer wall of the guide post is configured to contact the skin.
9. The system of claim 7, wherein the mechanical arm is provided with a force control sensor, and the force control sensor is used for detecting the stress condition of the mechanical arm;
The controller also comprises a flexible control module, and the flexible control module flexibly controls the mechanical arm according to the stress condition of the mechanical arm;
the flexible control module flexibly controls the mechanical arm according to the stress condition of the mechanical arm, and the flexible control module comprises the following steps:
Converting the external force on the tail end of the mechanical arm into a speed adjustment amount and/or a position adjustment amount;
and adjusting the speed of the tail end of the mechanical arm according to the speed adjustment quantity and/or adjusting the moving distance of the tail end of the mechanical arm according to the position adjustment quantity.
10. The system of any one of claims 1-5, wherein the suction device comprises a vacuum generator and at least three suction cups, the vacuum generator is connected with each suction cup through a gas path, the suction cups are used for being attached to the skin, the vacuum generator is used for providing suction force, and the controller is connected with the vacuum generator to control the opening and closing of the vacuum generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411347943.1A CN119036412A (en) | 2024-09-26 | 2024-09-26 | Automatic covering placing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411347943.1A CN119036412A (en) | 2024-09-26 | 2024-09-26 | Automatic covering placing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN119036412A true CN119036412A (en) | 2024-11-29 |
Family
ID=93575847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202411347943.1A Pending CN119036412A (en) | 2024-09-26 | 2024-09-26 | Automatic covering placing system |
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