Robot fuzzy grasping system and process flow method

Abstract

The present invention discloses a robot fuzzy grasping system and a process flow method, which relate to the technical field of robot grasping. It includes a casing transportation line and a component transportation line. Casing trays and component trays are distributed on the casing transportation line and the component transportation line. On the right side of the component transportation line, there are a grasping robot and an assembling robot. A grasping mechanism is provided at the head of the grasping robot, and an assembling mechanism is provided at the head of the assembling robot. Between the grasping robot and the assembling robot, there are a deviation rectifying mechanism, a transfer platform, and a bolt feeding robot. The present invention grasps components from non-precise positioning, corrects the position and angle through a deviation rectifying camera and a displacement sensor to ensure the assembly accuracy. The robot automatically assembles and adopts 1) fuzzy grasping technology; 2) deviation rectifying technology of the camera and the displacement sensor; 3) robot soft floating technology, and completely relies on the automatic deviation rectifying technology of the equipment to automatically correct the posture of the components, realizing high-precision assembly, reducing labor costs, and reducing the processing costs of parts.

Description

Technical Field

[0001] The present invention relates to the technical field of robot grasping, and specifically to a robot fuzzy grasping system and a process flow method. Background Art

[0002] With the increase in labor costs, the demand for factory automation rate has gradually increased, and the components that were previously manually assembled now often require automatic assembly.

[0003] There are many constraints in the current high-precision automatic assembly technology. The grasping position requires high positioning accuracy for the components, and the components themselves need a positioning reference of one plane and two pins. This requires very high feeding requirements and very high processing technology for the components themselves, resulting in a significant increase in costs. Many irregular components simply cannot be automatically assembled.

[0004] Existing customers need to assemble the starting motor on the engine. Currently, manual assembly is still used for production, and no relevant system patents have been found in the patent pool. Now, it is necessary to increase production capacity, and the labor cost is relatively high. Therefore, in combination with the automated assembly technology, the technical team of our company has developed a robot fuzzy grasping system for customers. Summary of the Invention

[0005] The purpose of the present invention is to provide a robot fuzzy grasping system and a process flow method to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A robot fuzzy grasping system includes a casing conveyor line and a component conveyor line. Casing trays and component trays are distributed on the casing conveyor line and the component conveyor line. On the right side of the component conveyor line, there are a grasping robot and an assembling robot. A grasping mechanism is provided at the head of the grasping robot, and an assembling mechanism is provided at the head of the assembling robot. Between the grasping robot and the assembling robot, there are a deviation rectifying mechanism, a transfer platform, and a bolt feeding robot.

[0007] Further: The grasping mechanism includes a grasping bracket. A grasping camera and a grasping jaw are respectively provided above and below the grasping bracket; the assembling mechanism includes an assembling bracket, and an assembling jaw is provided below the assembling bracket.

[0008] Preferably: The grasping jaw and the assembling jaw have the same structure and both use pneumatic linear jaws; a multi-axis tightening machine is provided at the uppermost end of the grasping bracket, and a single-axis tightening machine is provided at the uppermost end of the assembling bracket.

[0009] Preferably: An internal chuck is provided on the left side of the grasping bracket, and an auxiliary cylinder is provided in the middle of the assembling jaw. The main body of the auxiliary cylinder is fixed on the assembling bracket.

[0010] Further: The deviation rectification mechanism includes a general deviation rectification bracket, a deviation rectification camera is fixed at the upper end of the general deviation rectification bracket, a displacement detection bracket is arranged in front of the deviation rectification camera, and a displacement sensor is fixed on the displacement detection bracket.

[0011] Preferably: A supplementary light is arranged around the head of the deviation rectification camera, a probe rod is connected to the end of the displacement sensor, and there are three groups of the displacement sensor and the probe rod in total.

[0012] The steps are divided into photographing and recognition, fuzzy grasping, transfer and placement, secondary grasping, deviation rectification and calibration, and combined assembly, which are specifically as follows:

[0013] S1. The component tray is sent to the component transportation line by the AGV cart and transported to the working station. Coarse positioning is adopted for component positioning. The positions of each component after arriving are not completely consistent, and there may be a position deviation of several millimeters. The grasping robot identifies through the grasping camera and transmits the image back to the computer for data processing.

[0014] S2. After the image analysis is completed, the instruction is transmitted back to the grasping robot. The grasping robot aligns the grasping jaw with a component through the rotating grasping mechanism and grasps it.

[0015] S3. The grasping robot takes the grasped component to the tooling on the transfer platform. After placing it, the grasping robot resets and waits for the instruction.

[0016] S4. The assembly robot moves to above the transfer platform along the preset path, and then uses the assembly jaw on the assembly mechanism to grasp the component.

[0017] S5. Start deviation rectification and calibration: The component on the assembly jaw moves to the side of the deviation rectification mechanism. The instruction given by the displacement sensor adjusts the angle of the end face of the component, and the end face of the component is attached to the probe rod. The deviation rectification camera corrects the component end in the XY directions and transmits the instruction to the assembly robot to move to a reasonable position.

[0018] S6. The assembly robot moves the adjusted assembly mechanism at the head along the preset path to the installation position of the casing for combined assembly.

[0019] The grasping camera in S1 uses D technology to photograph the position and posture of the component, transmits the data to the grasping robot, and the grasping robot automatically adjusts its position to find the correct position and accurately grasps the component.

[0020] After the grasping robot places the component on the transfer platform in S3, the bolt feeding robot places a fixing bolt in one of the mounting holes of the component; in S5, while the assembly robot drives the component, the lower bit of the single-axis tightening machine is inserted above the fixing bolt to prepare for preliminary fixation.

[0021] In S6, due to the certain frictional force between the installation location of the machine housing and the end of the component, to ensure the smooth assembly of the assembled part and the part to be assembled in place, the jacking force of the auxiliary cylinder is required. At this time, the assembly robot moves to align the position, and the head of the auxiliary cylinder applies force to the rear of the component to press the whole into the hole of the machine housing, which belongs to the soft floating technology. Then, the single-axis tightening machine tightens a fixing bolt.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention can grasp the component from non-precise positioning, reducing the feeding difficulty. The clamping surface of the component is also a non-precise positioning surface, reducing the process requirements for the component. And through the deviation correction camera and displacement sensor, the position and angle of the grasped component are corrected to ensure the accuracy between the assembled part and the part to be assembled. Finally, the two components are automatically assembled together by the robot. The present invention adopts 1) fuzzy grasping technology; 2) deviation correction technology of camera and displacement sensor; 3) robot soft floating technology, greatly reducing the feeding accuracy and its own processing accuracy of the component, and completely relying on the automatic deviation correction technology of the equipment to automatically correct the posture of the component, realizing high-precision assembly, reducing labor costs and reducing the processing cost of parts. Brief Description of the Drawings

[0023] Figure 1 It is a schematic layout diagram of the system of the present invention;

[0024] Figure 2 It is a process method flow chart of the present invention;

[0025] Figure 3 It is a top view of the system layout of the present invention;

[0026] Figure 4 It is a schematic diagram of the grasping robot of the present invention;

[0027] Figure 5 It is a schematic diagram of the assembly robot of the present invention;

[0028] Figure 6 It is a schematic diagram of the grasping mechanism of the present invention;

[0029] Figure 7 It is a schematic diagram of the assembly mechanism of the present invention;

[0030] Figure 8 It is an enlarged schematic diagram at A of the present invention;

[0031] Figure 9 It is a schematic diagram of the deviation correction mechanism of the present invention;

[0032] Figure 10 It is an enlarged schematic diagram at B of the present invention;

[0033] Figure 11 It is a schematic diagram of the fit clearance of the present invention;

[0034] Figure 12 Schematic diagram of the deviation correction principle of the present invention;

[0035] Figure 13 Schematic diagram of the assembly combination of the present invention.

[0036] In the figure: 1. Housing transportation line, 2. Component transportation line, 3. Component tray, 4. Housing tray, 5. Gripping robot, 6. Assembly robot, 7. Deviation correction mechanism, 8. Transfer platform, 9. Bolt feeding robot, 10. Housing, 11. Component, 51. Gripping mechanism, 511. Gripping bracket, 512. Gripping jaw, 513. Multi-axis tightening machine, 514. Inner collet, 515. Gripping camera, 61. Assembly mechanism, 611. Assembly bracket, 612. Assembly jaw, 613. Single-axis tightening machine, 614. Auxiliary cylinder, 71. Total deviation correction bracket, 72. Deviation correction camera, 73. Fill light, 74. Displacement detection bracket, 75. Displacement sensor, 76. Probe rod. Specific embodiments

[0037] Next, the accompanying drawings in the embodiments of the present invention will be combined. The following describes the present invention based on the embodiments. However, it is worth noting that the present invention is not limited to these embodiments. In the following detailed description of the present invention, some specific details are described in detail. However, for the parts that are not described in detail, those skilled in the art can also fully understand the present invention.

[0038] In addition, those of ordinary skill in the art should understand that the provided drawings are only for illustrating the purpose, features, and advantages of the present invention, and the drawings are not actually drawn to scale.

[0039] At the same time, unless the context clearly requires otherwise, the words such as "including" and "comprising" in the whole specification and claims should be interpreted as the meaning of including rather than exclusive or exhaustive; that is, the meaning of "including but not limited to".

[0040] Please refer to Figures 1 - 13 , the present invention provides a technical solution: including a housing transportation line 1 and a component transportation line 2, housing trays 4 and component trays 3 are distributed on the housing transportation line 1 and the component transportation line 2, a gripping robot 5 and an assembly robot 6 are provided on the right side of the component transportation line 2, a gripping mechanism 51 is provided at the head of the gripping robot 5, an assembly mechanism 61 is provided at the head of the assembly robot 6, and a deviation correction mechanism 7, a transfer platform 8, and a bolt feeding robot 9 are provided between the gripping robot 5 and the assembly robot 6.

[0041] The grasping mechanism 51 includes a grasping support 511, with a grasping camera 515 and a grasping jaw 512 respectively arranged above and below the grasping support 511; the assembling mechanism 6 includes an assembling support 611, with an assembling jaw 612 arranged below the assembling support 611.

[0042] The grasping jaw 512 and the assembling jaw 612 have the same structure and both adopt pneumatic linear jaws; a multi-axis tightening machine 513 is arranged at the uppermost end of the grasping support 511, and a single-axis tightening machine 613 is arranged at the uppermost end of the assembling support 611.

[0043] An inner chuck 514 is arranged on the left side of the grasping support 511, and an auxiliary cylinder 614 is arranged in the middle of the assembling jaw 612, and the main body of the auxiliary cylinder 614 is fixed on the assembling support 611.

[0044] The deviation rectifying mechanism 7 includes a deviation rectifying general support 71, with a deviation rectifying camera 72 fixed at the upper end of the deviation rectifying general support 71, a displacement detection support 74 arranged in front of the deviation rectifying camera 72, and a displacement sensor 75 fixed on the displacement detection support 74.

[0045] A supplementary light 73 is arranged around the head of the deviation rectifying camera 72, and a probe 76 is connected to the end of the displacement sensor 75, and there are three groups of the displacement sensor 75 and the probe 76 in total.

[0046] The combined component 11 in this production line is a starting motor, and the housing 10 is an engine housing. The automated combined assembly is realized by using the process technology of the present invention, replacing manual operation and realizing automated flow operation. The final combination is as shown in the appendix. Figure 13 as shown.

[0047] The process steps are divided into photo recognition, fuzzy grasping, transfer and placement, secondary grasping, deviation rectifying and calibration, and combined assembly, as shown in the appendix. Figure 2 as shown, and the specific steps are as follows:

[0048] First step: The component tray 3 is sent to the component transportation line 2 by an AGV cart and conveyed to the work station. Coarse positioning is adopted for the positioning of the component 11. The positions of each component 11 after arriving are not completely consistent, and there may be a position deviation of several millimeters. The grasping robot 5 identifies through the grasping camera 515, transmits the image back to the computer for data processing. The grasping camera 515 uses 3D technology to photograph the position and posture of the component 11, transmits the data to the grasping robot 5, and the grasping robot 5 automatically adjusts its position to find the correct position and accurately grasps the component 11.

[0049] Second step: After the image analysis is completed, the instruction is transmitted back to the grasping robot 5, and the grasping robot 5 aligns the grasping jaw 512 with a component 11 for grasping by rotating the grasping mechanism 51.

[0050] Step 3: The gripping robot 5 takes the gripped component 11 to the fixture on the transfer platform 8. After placement, the gripping robot 5 resets and waits for instructions. After the gripping robot 5 places the component 11 on the transfer platform 8, the bolt feeding robot 9 places a fixing bolt into one of the mounting holes of the component 11, so that it can be preliminarily fixed after subsequent combination to prevent dropping.

[0051] Step 4: The assembly robot 6 moves to above the transfer platform 8 along a preset path, and then uses the assembly gripper 612 on the assembly mechanism 61 to grip the component 11.

[0052] Step 5: Start deviation correction: The component 11 on the assembly gripper 612 moves to the side of the deviation correction mechanism 7. The displacement sensor 75 gives instructions to adjust the angle of the end face of the component 11, and the end face of the component 11 is attached to the probe rod 76 for a preliminary judgment of the angle. Subsequently, adjustment starts. Adjustment is carried out based on the principle of three points and one plane. The deviation correction camera 72 corrects the end of the component 11 in the XY directions, transmits the instructions to the assembly robot 6 to move to a reasonable position. While the assembly robot 6 drives the component 11, the bit below the single-axis tightening machine 613 is inserted above the fixing bolt to prepare for preliminary fixing.

[0053] Step 6: The assembly robot 6 moves the adjusted assembly mechanism 61 of the head to the installation location of the housing 10 along a preset path for combined assembly. Since there is a certain frictional force between the installation location of the housing 10 and the end of the component 11, to ensure that the assembled part and the part to be assembled are smoothly assembled in place, the pressing force of the auxiliary cylinder 614 is required (equivalent to manually using a rubber hammer for knocking installation to give an auxiliary force). At this time, the assembly robot 6 moves and aligns the position. The head of the auxiliary cylinder 614 applies force to the rear of the component 11 to press the whole into the hole of the housing 10. Specifically, the assembly robot 6 first preliminarily inserts the head of the component 11 at the edge of the installation hole of the housing 10. While the auxiliary cylinder 614 is pushing in, the assembly gripper 612 slightly releases the clamping force, and the auxiliary cylinder 614 "hammers in". This technology belongs to the soft floating technology. Then the single-axis tightening machine 613 tightens a fixing bolt, for preliminary fixing. The remaining screw fixing is completed by the multi-axis tightening machine 513 on the gripping mechanism 51. The gripping mechanism 51 has many functions and can realize other screw process flows, serving multiple purposes with one machine.

[0054] Principle of the displacement sensor 75: There is a telescopic probe rod 76 at the head (as shown in the appendix Figure 9 ). The high-precision sensor can detect the telescopic amount of the probe rod 75. The probe rod 75 contacts the part to be detected. By the different telescopic amounts of the probe rod 75, the thickness or height of the part to be detected is calculated.

[0055] Fuzzy deviation correction application: The probes 76 of the three displacement sensors 75 contact the end face of the starting motor. By detecting the differences in the readings of the three sensors, it can be determined which side of the end face has a greater inclination (three points form a plane). Then, the data is transmitted to the assembly robot 6, and the trajectory is adjusted to correct the inclined surface of the end face, ensuring the required accuracy for subsequent assembly of the end face.

[0056] The deviation correction camera 72 uses 2D camera technology. The 2D camera has a high detection accuracy for the end position of the component 11. However, due to the 2D camera technology, it is unable to detect the inclination angle of the component 11. Therefore, it needs to be used in conjunction with the displacement sensor 75. The deviation correction camera 72 only detects the XY directions of the component, and the displacement sensor detects the inclination angle of the workpiece, as shown in the directions in the appendix Figure 12 as shown.

[0057] Although the embodiments of this patent have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this patent. All non-substantive creations made on the basis of these embodiments will be regarded as tampering or plagiarism of this patent and should be protected by law.

Claims

1. The robot fuzzy grasping system includes a casing transportation line (1) and a component transportation line (2), and is characterized in that: The housing transportation line (1) and the component transportation line (2) are distributed with housing trays (4) and component trays (3). On the right side of the component transportation line (2), there are a gripping robot (5) and an assembly robot (6). The head of the gripping robot (5) is provided with a gripping mechanism (51), and the head of the assembly robot (6) is provided with an assembly mechanism (61). Between the gripping robot (5) and the assembly robot (6), there are a deviation rectifying mechanism (7), a transfer platform (8), and a bolt feeding robot (9); the deviation rectifying mechanism (7) includes a deviation rectifying main bracket (71), the upper end of the deviation rectifying main bracket (71) is fixed with a deviation rectifying camera (72), in front of the deviation rectifying camera (72) there is a displacement detection bracket (74), and a displacement sensor (75) is fixed on the displacement detection bracket (74); around the head of the deviation rectifying camera (72), there is a supplementary light (73), the end of the displacement sensor (75) is connected with a probe rod (76), and there are three groups of the displacement sensor (75) and the probe rod (76) in total; the deviation rectifying mechanism (7) detects the inclination angle of the component end face through three groups of displacement sensors (75), and combines with the deviation rectifying camera (72) to correct the deviation in the XY direction, realizing dynamic pose adjustment.

2. The robot fuzzy grasping system according to claim 1, wherein: The gripping mechanism (51) includes a gripping bracket (511), above and below the gripping bracket (511), there are respectively a gripping camera (515) and a gripping jaw (512); the assembly mechanism includes an assembly bracket (611), and below the assembly bracket (611), there is an assembly jaw (612).

3. The robot fuzzy grasping system according to claim 2, wherein: The gripping jaw (512) and the assembly jaw (612) have the same structure, and both adopt pneumatic linear jaws; at the uppermost end of the gripping bracket (511), there is a multi-axis tightening machine (513), and at the uppermost end of the assembly bracket (611), there is a single-axis tightening machine (613).

4. The robot fuzzy grasping system according to claim 3, characterized in that: On the left side of the gripping bracket (511), there is an inner chuck (514), and in the middle of the assembly jaw (612), there is an auxiliary cylinder (614), and the main body of the auxiliary cylinder (614) is fixed on the assembly bracket (611).

5. The process flow method of the robot fuzzy grasping system according to claim 4, characterized in that: The steps are divided into photo recognition, fuzzy gripping, transfer and placement, secondary gripping, deviation rectifying and calibration, and combined assembly, which are specifically as follows: S1. Components are transported to the component transportation line (2) by an AGV cart and sent to the work station. Coarse positioning is used for component (11) positioning. The positions of each component (11) after arriving are not completely consistent, and there may be a position deviation of several millimeters. The gripping robot (5) identifies through the gripping camera (515) and transmits the image back to the computer for data processing. S2. After the image analysis is completed, the instruction is transmitted back to the gripping robot (5). The gripping robot (5) rotates the gripping mechanism (51) to align the gripping jaw (512) with a component (11) for gripping. S3. The gripping robot (5) takes the gripped component (11) to the fixture on the transfer platform (8), and after placing it well, the gripping robot (5) resets and waits for the instruction. S4. The assembly robot (6) moves above the transfer platform (8) along a preset path, and then uses the assembly gripper (612) on the assembly mechanism (61) to grasp the component (11). S5. Start deviation correction: The component (11) on the assembly gripper (612) moves to the side of the deviation correction mechanism (7). The displacement sensor (75) gives an instruction to adjust the angle of the end face of the component (11), transmits the instruction to the assembly robot (6) to move to a reasonable position, and fits the end face of the component (11) onto the probe rod (76). The deviation correction camera (72) corrects the end of the component (11) in the XY directions. S6. The assembly robot (6) moves the adjusted assembly mechanism (61) of the head along a preset path to the installation position of the housing (10) for combined assembly.

6. The process flow method of the robot fuzzy grasping system according to claim 5, characterized in that: The grasping camera (515) in S1 uses 3D technology to photograph the position and posture of the component (11), transmits the data to the grasping robot (5), and the grasping robot (5) automatically adjusts its position to find the correct position and accurately grasps the component (11).

7. The process flow method of the robot fuzzy grasping system according to claim 5, characterized in that: After the grasping robot (5) places the component (11) on the transfer platform (8) in S3, the bolt feeding robot (9) places a fixing bolt into one of the mounting holes of the component (11). In S5, while the assembly robot (6) drives the component (11), the lower bit of the single-axis tightening machine (613) is inserted above the fixing bolt to prepare for preliminary fixing.

8. The process flow method of the robot fuzzy grasping system according to claim 7, characterized in that: In S6, due to a certain frictional force between the installation position of the housing (10) and the end of the component (11), to ensure the smooth assembly of the assembled part and the part to be assembled in place, the acting force of the jacking force of the auxiliary cylinder (614) is required. At this time, the assembly robot (6) moves and aligns the position, and the head of the auxiliary cylinder (614) applies a force to the rear of the component (11) to press the whole into the hole of the housing (10), which belongs to the soft floating technology. Then the single-axis tightening machine (613) tightens a fixing bolt.

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