Double-arm robot system in plug-in mounting production and intelligent control method of double-arm robot system

Abstract

The invention provides a double-arm robot system in plug-in mounting production. The double-arm robot system comprises two industrial cameras, two laser ranging displacement sensors, two arms, binocular vision cameras and two LED plug-in mounting plates. A system control layer is composed of an industrial computer and a high-speed Ethercat bus. The invention further provides an intelligent control method of the double-arm robot system in plug-in mounting production. The method includes the steps of initiating the system and returning to zero, conducting rough positioning through the binocular vision cameras, sending data to a movement controller to be processed to obtain the laser sensor rotating angle and the laser ranging sensor distance so that precise positioning can be achieved, obtaining coordinates of a target workpiece under a laser ranging system through a positioning algorithm, moving a double-arm robot to the target position according to the coordinates, grapping the workpiece through claws at the tail ends, and placing the workpiece into the device to be assembled to be installed. The double-arm robot system is simple in structure, high in work efficiency and capable of being widely applied to plug-in mounting production of precise assembling of LED automobile lamps and automobile motor claw poles.

Description

technical field [0001] The invention relates to the technical field of double-arm robots, in particular to a double-arm robot system in plug-in production and an intelligent control method thereof. Background technique [0002] At present, the research on the coordinated operation of dual-arm robots has received extensive attention, because dual-arm robots have greater advantages and more applications than single-arm robots. For example, dual-armed robots can replace humans in unknown environments, such as space, deep sea, etc., or dangerous environments, such as nuclear-contaminated areas; in addition, dual-armed robots can complete complex tasks that single-armed robots cannot complete, such as space stations. Maintenance, complex assembly work, handling heavy or soft objects, installing complex parts, sawing, etc. However, many dual-arm robots are non-redundant robots, which cannot avoid joint angle limits and obstacles, and have poor flexibility; in the motion control l...

AI Technical Summary

Problems solved by technology

However, many dual-arm robots are non-redundant robots, which cannot avoid joint angle limits and obstacles, and have poor flexibility; in the motion control layer, most of them are composed of industrial computers and motion control cards, and the data transmission speed is slow. Meet real-time requirements, such as task re-planning cannot be performed under fault conditions, self-correcting ability and reliability are poor

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