Robot multi-axis hole automatic assembly method and device based on equivalent biaxial model

Abstract

The present invention discloses a robot multi-axis hole automatic assembly method and device based on an equivalent dual-axis model. The robot multi-axis hole automatic assembly method based on an equivalent dual-axis model includes obtaining the force and torque zero-point values ​​of the sensor in the sensor coordinate system before the first operation, selecting two shafts from the multi-axis assembly as equivalent dual shafts, selecting two shaft holes from the porous assembly as equivalent dual holes, controlling the equivalent dual shafts to approach and contact the equivalent dual holes, adjusting the posture of the equivalent dual shafts so that the equivalent dual shafts can enter the equivalent dual holes after rotation, rotating the equivalent dual shafts so that the equivalent dual shafts are aligned with the equivalent dual holes in the vertical direction, and controlling the equivalent dual shafts to move vertically downward. The robot multi-axis hole automatic assembly method based on the equivalent dual-axis model of the present invention can meet the assembly requirements of multiple shaft holes, and at the same time, the assembly efficiency is high and the control is precise.

Description

Technical Field

[0001] The present invention belongs to the field of artificial intelligence technology application, and more specifically, relates to a robot multi-axis hole automatic assembly method and device based on an equivalent dual-axis model. Background Art

[0002] The assembly process is one of the most critical links in the manufacturing industry, and the quality of assembly often has a decisive impact on the final effect of processing and production. Robot assembly has been widely used in automated production lines due to its advantages such as high repeatability and low fatigue. The existing robot shaft hole assembly method is usually only applicable to the assembly of single-axis holes, and it is difficult to achieve the assembly of multi-axis holes. Summary of the invention

[0003] In view of the above defects or improvement needs of the prior art, the present invention provides a robot multi-axis hole automatic assembly method and device based on an equivalent dual-axis model, aiming to solve the assembly problem of multi-axis holes.

[0004] To achieve the above object, the present invention provides a robot multi-axis hole automatic assembly method based on an equivalent dual-axis model, comprising:

[0005] S100, obtaining the force and torque zero point values ​​of the sensor in the sensor coordinate system before the first operation;

[0006] S200, selecting two shafts from the multi-axis component as equivalent double shafts, and selecting two shaft holes from the multi-hole component as equivalent double holes;

[0007] S300, controlling the equivalent double axes to approach and contact the equivalent double holes;

[0008] S400, adjusting the posture of the equivalent dual-axis so that the equivalent dual-axis can enter the equivalent dual hole after rotation;

[0009] S500, rotating the equivalent dual axes so that the equivalent dual axes are aligned with the equivalent dual holes in a vertical direction;

[0010] S600: Control the equivalent dual-axis to move vertically downward.

[0011] In one embodiment, step S400 is specifically as follows:

[0012] S410, establish a dual-axis coordinate system {P dual}, the midpoint of the line connecting the centers of the upper surfaces of the two shafts in the equivalent double shaft is taken as the origin O p , the direction of the line connecting the centers of the upper surfaces of the two shafts is Y p , with the axis direction of the shaft as Z p , with the direction perpendicular to the axis of the shaft as X p;

[0013] S420, establish a double hole coordinate system {H dual}, the midpoint of the line connecting the centers of the upper surfaces of the two axial holes in the equivalent double hole is taken as the origin O h , the direction of the line connecting the centers of the upper surfaces of the two shaft holes is Y h , with the axis direction of the shaft hole as Z h , with the direction perpendicular to the axis of the shaft hole as X h ;

[0014] S430, adjusting the equivalent two-axis posture so that Z p O p X p Plane and Z h O h X h Plane overlap;

[0015] S440, control the equivalent dual axis rotation Y p The equivalent double shaft is rotated in the direction so that the equivalent double shaft enters the equivalent double hole.

[0016] In one embodiment, in step S430, Z p O p X p Plane and Z h O h X h Plane coincidence also includes:

[0017] S431, acquiring force and torque information after gravity compensation according to the force and torque zero point value and the gravity of the multi-axis component;

[0018] S432, equating the force and torque information after gravity compensation to the dual-axis coordinate system to obtain the force and torque information in the dual-axis coordinate system;

[0019] S433, comparing the force and torque information in the dual-axis coordinate system at the current moment with the expected force and expected torque to obtain the expected force and expected torque deviation at the current moment;

[0020] S434, obtaining the moving speed of the origin of the dual-axis coordinate system at the current moment according to the force and torque deviation at the current moment;

[0021] S435, obtaining the position of the origin of the dual-axis coordinate system at the current moment based on the moving speed of the origin of the dual-axis coordinate system at the current moment;

[0022] S436, moving the origin of the dual-axis coordinate system to the position at the current moment based on the moving speed of the origin of the dual-axis coordinate system at the current moment;

[0023] S437, repeating step S433, so that the force and torque information after gravity compensation at the current moment meets the preset range of the reference force and torque;

[0024] S438. After maintaining the preset number of control cycles, the adjustment is ended.

[0025] In one embodiment, the force and torque information in the dual-axis coordinate system is obtained in step S432 as follows:

[0026]

[0027]

[0028] Where: w p is the force and torque information in the biaxial coordinate system, w s is the force and torque information after gravity compensation, is the rotation matrix of the dual-axis coordinate system relative to the sensor coordinate system, I is the unit matrix, O is the zero matrix, B is the torque effect of the sensor coordinate system translated to the origin of the dual-axis coordinate system, is the coordinate of the origin of the dual-axis coordinate system in the sensor coordinate system.

[0029] In one embodiment, the current moment desired force and desired torque deviation are obtained in step S433 as follows:

[0030] Δw p (t) = w p (t)-w ref

[0031] In the formula: Δw p (t) is the deviation between the expected force and the expected torque at the current moment, w p (t) is the force and torque information in the dual-axis coordinate system at the current moment, w ref Z p O p X p Plane and Z h O h X h Information on the forces and moments expected when the planes are coincident.

[0032] In one embodiment, the moving speed of the origin of the dual-axis coordinate system at the current moment is obtained in step S434 as follows:

[0033]

[0034] Where: P(t) is the moving speed of the origin of the dual-axis coordinate system at the current moment, K p is the proportional gain coefficient, T d is the differential coefficient, Δt is the control period, Δw p(t-1) is the force and torque deviation at the previous moment.

[0035] In one embodiment, the position of the origin of the dual-axis coordinate system at the current moment is obtained in step S435 as follows:

[0036]

[0037] Where: P(t) is the position of the origin of the dual-axis coordinate system at the current moment, and P(t-1) is the position of the origin of the dual-axis coordinate system at the previous moment.

[0038] To achieve the above object, the present invention also provides a robot multi-axis hole automatic assembly device based on an equivalent dual-axis model, comprising:

[0039] A first main module is used to obtain the force and torque zero point values ​​of the sensor in the sensor coordinate system before the first operation;

[0040] The second main module is used to select two shafts from the multi-axis component as equivalent double shafts, and select two shaft holes from the multi-hole component as equivalent double holes;

[0041] The third main module is used to control the equivalent double axes to approach and contact the equivalent double holes;

[0042] A fourth main module is used to adjust the posture of the equivalent dual-axis so that the equivalent dual-axis can enter the equivalent dual hole after rotation;

[0043] A fifth main module, used for rotating the equivalent double shafts so that the equivalent double shafts are aligned with the equivalent double holes in a vertical direction;

[0044] The sixth main module is used to control the equivalent dual-axis vertical downward movement.

[0045] To achieve the above object, the present invention further provides an electronic device, characterized in that it comprises: at least one processor, at least one memory and a communication interface; wherein

[0046] The processor, memory and communication interface communicate with each other;

[0047] The memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the above-mentioned robot multi-axis hole automatic assembly method based on the equivalent dual-axis model.

[0048] To achieve the above-mentioned purpose, the present invention also provides a non-transitory computer-readable storage medium, characterized in that the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the above-mentioned robot multi-axis hole automatic assembly method based on the equivalent two-axis model.

[0049] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0050] The robot multi-axis hole automatic assembly method based on the equivalent dual-axis model of the present invention selects an equivalent dual axis from the multi-axis component and an equivalent dual hole from the porous component, and adjusts the posture of the equivalent dual axis so that the equivalent dual axis can enter the equivalent dual hole after rotation. Since there is a one-to-one correspondence between the shaft rod on the multi-axis component and the shaft hole on the porous component, the assembly of the multi-axis hole is simplified to the assembly of the dual-axis hole, which is suitable for multi-axis components and porous components of any geometric size. At the same time, the control center is moved to the center of the dual-axis coordinate system. In this way, the assembly force can be reduced and precise control of the multi-axis component and the porous component can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A flow chart of a robot multi-axis hole automatic assembly method based on an equivalent dual-axis model provided in an embodiment of the present invention;

[0052] Figure 2 A schematic structural diagram of a robot multi-axis hole automatic assembly device based on an equivalent dual-axis model provided in an embodiment of the present invention;

[0053] Figure 3 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention;

[0054] Figure 4 A schematic diagram of the structure of a robot provided by an embodiment of the present invention;

[0055] Figure 5 A schematic diagram of equivalent dual-axis posture adjustment provided by an embodiment of the present invention;

[0056] Figure 6 A schematic diagram of an equivalent dual-axis rotation provided by an embodiment of the present invention.

[0057] In all the drawings, the same reference numerals represent the same technical features, specifically:

[0058] 10. Robot; 20. Sensor; 30. Multi-axis assembly; 31. Axle rod; 32. Equivalent double axis; 40. Multi-hole assembly; 41. Axle hole; 42. Equivalent double hole. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0061] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0062] The present invention provides a robot multi-axis hole automatic assembly method based on an equivalent dual-axis model, see Figure 1 , the method comprising:

[0063] S100. Obtain the force and torque zero-point value of the sensor 20 in the sensor coordinate system before the first operation. Here, before the first operation refers to the first operation in a new assembly environment. In this embodiment, the sensor 20 uses a six-dimensional force and torque sensor. The sensor 20 has its own fixed coordinate system, namely the sensor coordinate system. The six-dimensional force and torque sensor can measure three-dimensional orthogonal forces and three-dimensional orthogonal moments in the sensor coordinate system. When the six-dimensional force and torque sensor is powered on, the readings on each axis are not zero, which is called the zero-point value of the force and torque. Further, the zero-point value of the six-dimensional force and torque sensor can be expressed as {F x0 ,F y0 ,F z0 ,M x0 ,M y0 ,M z0}, where Fx0, Fy0 and Fz0 are the force readings on the X-axis, Y-axis and Z-axis of the sensor coordinate system after power-on when the six-dimensional force and torque sensor is at zero point, and Mx0, My0 and Mz0 are the torque readings on the X-axis, Y-axis and Z-axis of the sensor coordinate system after power-on when the six-dimensional force and torque sensor is at zero point.

[0064] It is not difficult to understand that since the force and torque zero point values ​​of the six-dimensional force and torque sensor are different each time it is powered on, that is to say, there is a deviation between the force and torque collected by the six-dimensional force and torque sensor and the actual force and torque. Only by subtracting the force and torque zero point value from the force and torque collected by the six-dimensional force and torque sensor can the actual force and torque be obtained. At the same time, since external factors in different environments have an impact on the six-dimensional force and torque sensor, that is, external factors will affect the force and torque zero point value, thus, obtaining the force and torque zero point value of the six-dimensional force and torque sensor in the sensor coordinate system before the first operation can ensure the accuracy of the force and torque collected by the six-dimensional force and torque sensor.

[0065] Furthermore, the method for obtaining the zero point value of the six-dimensional force and torque sensor is as follows:

[0066] The RPY angle {A, B, C} is used to describe the posture of the terminal coordinate system relative to the world coordinate system, and the robot 10 is controlled to pass through the following six postures in the terminal coordinate system in sequence:

[0067] {0,0,0}{180°,0,180°},{0,-90°,0},{0,90°,0},{-90°,0,-90°},{90°,0,90°}

[0068] Read the 6-axis force and torque sensor in six different postures and stable readings:

[0069]

[0070] Specifically, refer to Figure 4 As shown, the six-dimensional force and torque sensor is installed at the end of the robot 10. The robot 10 changes different postures to realize the six-dimensional force and torque sensor reading force and torque readings. The end coordinate system is the inherent coordinate system of the robot 10 itself. i represents the robot 10 passing through the i-th posture in the end coordinate system. Exemplarily, when i is 1, that is, the robot 10 passes through the first posture in the end coordinate system. Correspondingly, the corresponding posture of the robot 10 in the end coordinate system at this time is {0,0,0}, Fxi, Fyi and Fzi are the force readings of the six-dimensional force and torque sensor on the X-axis, Y-axis and Z-axis of the sensor coordinate system under the i-th posture, respectively, Mxi, Myi and Mzi are the torque readings of the six-dimensional force and torque sensor on the X-axis, Y-axis and Z-axis of the sensor coordinate system under the i-th posture, respectively. Further, the stable reading refers to the reading when the six-dimensional force and torque sensor is in a steady state under this posture. It is easy to understand that this can avoid errors in the collected force and torque due to vibration.

[0071] Furthermore, according to the readings of the six-dimensional force and torque sensor in six different postures, the zero point value of the six-dimensional force and torque sensor is obtained, specifically:

[0072]

[0073]

[0074]

[0075]

[0076]

[0077]

[0078] S200 , selecting two shafts 31 from the multi-shaft component 30 as equivalent double shafts 32 , and selecting two shaft holes 41 from the multi-hole component 40 as equivalent double holes 42 .

[0079] Specifically, in actual selection, two shaft holes 41 close to the outer periphery of the porous component 40 are selected as equivalent double holes 42, and two shaft rods 31 in the multi-axis component 30 that are closest to the equivalent double holes 42 are selected as equivalent double shafts 32. The advantage of such selection is that the movement path of the robot 10 can be the shortest, thereby shortening the assembly time and improving the assembly efficiency.

[0080] S300 , controlling the equivalent double shaft 32 to approach and contact the equivalent double hole 42 .

[0081] Specifically, the robot 10 can make the equivalent double axis 32 approach the equivalent double hole 42 through path planning. For example, as a path planning scheme, the equivalent double axis 32 can be controlled to move horizontally to the top of the equivalent double hole 42, and then the equivalent double axis 32 can be controlled to move vertically downward to make the equivalent double axis 32 approach the equivalent double hole 42. Of course, in other embodiments, the robot 10 can also first move the equivalent double axis 32 vertically to be flush with the equivalent double hole 42 in the horizontal direction, and then control the equivalent double axis 32 in the horizontal direction to make the equivalent double axis 32 approach the equivalent double hole 42. It is worth noting that there is more than one path planning scheme defined in this application, and adaptive adjustments can be made according to actual use requirements. Preferably, the robot 10 uses a flexible dragging robot 10, so that the precision of the contact between the equivalent double axis 32 and the equivalent double hole 42 can be guaranteed to avoid excessive contact force of the robot 10 causing damage to the multi-axis component 30 and the porous component 40. Further, the robot 10 stops moving when the contact force meets the preset contact force. Specifically, when controlling the movement of the multi-axis component 30 and the porous component 40 , the robot 10 collects the contact force in real time and compares the contact force with the preset contact force. When the contact force is greater than the preset force, the robot 10 stops moving.

[0082] S400, adjusting the posture of the equivalent dual shaft 32 so that the equivalent dual shaft 32 can enter the equivalent dual hole 42 after rotation. It is easy to understand that, since there is a one-to-one correspondence between the shaft rod 31 on the multi-axis component 30 and the shaft hole 41 on the porous component 40, it is only necessary to ensure that the equivalent dual shaft 32 enters the equivalent dual hole 42 to achieve that all the shaft rods 31 on the multi-axis component 30 enter the shaft hole 41 of the porous component 40.

[0083] Furthermore, step S400 is specifically as follows:

[0084] S410, establish a dual-axis coordinate system {P dual}, the midpoint of the line connecting the centers of the upper surfaces of the two shafts 31 in the equivalent double shaft 32 is taken as the origin O p , the direction of the line connecting the centers of the upper surfaces of the two shafts 31 is Y p , with the axis direction of the shaft rod 31 as Z p , with the direction perpendicular to the axis of the shaft 31 as X p .

[0085] S420, establish a double hole coordinate system {H dual}, the midpoint of the line connecting the centers of the upper surfaces of the two axial holes 41 in the equivalent double hole 42 is taken as the origin O h The direction of the line connecting the centers of the upper surfaces of the two axial holes 41 is Y h , with the axis direction of the shaft hole 41 as Z h , with the direction perpendicular to the axis of the shaft hole 41 as X h .

[0086] S430, adjust the equivalent dual-axis 32 posture so that Z p O p X p Plane and Z h O h X h Plane overlap.

[0087] S440, control the equivalent dual axis 32 around Y p The equivalent double shaft 32 is rotated in the direction so as to enter the equivalent double hole 42 .

[0088] refer to Figure 5 As shown, it is not difficult to understand that the establishment of a dual-axis coordinate system {P dual} and double hole coordinate system {H dual}, adjusting the equivalent dual-axis 32 posture can improve the control accuracy of the robot 10 and facilitate accurate control of Z p O p X p Plane and Z h O h Xh The planes overlap, and the posture of the multi-axis assembly 30 can be adjusted by adjusting the posture of the equivalent dual-axis 32, so that the shaft rod 31 on the multi-axis assembly 30 and the shaft hole 41 on the porous assembly 40 are aligned.

[0089] Furthermore, in step S430, Z p O p X p Plane and Z h O h X h Plane coincidence also includes:

[0090] S431 . Obtain force and torque information after gravity compensation according to the force and torque zero point values ​​and the gravity of the multi-axis assembly 30 .

[0091] Among them, the force and torque information after gravity compensation is obtained by subtracting the zero value of the force and torque from the force and torque collected by the six-dimensional force and torque sensor, and then subtracting the force and torque components of the multi-axis assembly 30 gravity on the X-axis, Y-axis and Z-axis of the end coordinate system. Since the gravity compensation algorithm is a prior art, this article will not go into details here. Gravity compensation can avoid the influence of the gravity of the multi-axis assembly 30 itself on the force and torque collected by the six-dimensional force and torque sensor, thereby affecting the assembly accuracy of the equivalent dual axis 32 and the equivalent dual hole 42.

[0092] S432: Equilibrium the force and torque information after gravity compensation to the dual-axis coordinate system to obtain the force and torque information in the dual-axis coordinate system. The force and torque information in the dual-axis coordinate system is obtained as follows:

[0093]

[0094]

[0095] Where: w p is the force and torque information in the biaxial coordinate system, w s is the force and torque information after gravity compensation, is the rotation matrix of the dual-axis coordinate system relative to the sensor coordinate system, I is the unit matrix, O is the zero matrix, B is the torque effect of the sensor coordinate system translated to the origin of the dual-axis coordinate system, is the coordinate of the origin of the dual-axis coordinate system in the sensor coordinate system.

[0096] S433, compare the force and torque information in the current dual-axis coordinate system with the expected force and expected torque to obtain the expected force and expected torque deviation at the current moment. The specific method of obtaining the expected force and expected torque deviation at the current moment is:

[0097] Δw p (t) = w p (t)-wref

[0098] In the formula: Δw p (t) is the deviation between the expected force and the expected torque at the current moment, w p (t) is the force and torque information in the dual-axis coordinate system at the current moment, w ref Z p O p X p Plane and Z h O h X h The expected force and torque information when the planes coincide. Further, and They are the two-axis coordinate systems {P dual}Next X p and Z p The reference contact force in the direction, and Can be set according to experience, For the two-axis coordinate system {P dual}Next Y p The contact moment in the Y direction p Direction torque adjustment and around Y p Direction of rotational movement, Any value can be used.

[0099] S434, obtaining the moving speed of the origin of the dual-axis coordinate system at the current moment according to the force and torque deviation at the current moment. The moving speed of the origin of the dual-axis coordinate system at the current moment is obtained as follows:

[0100]

[0101] Where: is the moving speed of the origin of the dual-axis coordinate system at the current moment, K p is the proportional gain coefficient, T d is the differential coefficient, Δt is the control period, Δw p (t-1) is the force and torque deviation at the previous moment.

[0102] S435, based on the moving speed of the origin of the dual-axis coordinate system at the current moment, obtain the position of the origin of the dual-axis coordinate system at the current moment. The specific method of obtaining the position of the origin of the dual-axis coordinate system at the current moment is:

[0103]

[0104] Where: P(t) is the position of the origin of the dual-axis coordinate system at the current moment, and P(t-1) is the position of the origin of the dual-axis coordinate system at the previous moment.

[0105] S436, moving the origin of the dual-axis coordinate system to the position at the current moment based on the moving speed of the origin of the dual-axis coordinate system at the current moment.

[0106] Preferably, the PD controller controls the equivalent dual-axis 32 to move the origin of the dual-axis coordinate system to the position at the current moment based on the moving speed of the origin of the dual-axis coordinate system at the current moment, thereby achieving adjustment of the equivalent dual-axis 32.

[0107] S437, repeat step S433, so that the force and torque information after gravity compensation at the current moment meets the preset range of reference force and torque.

[0108] It is not difficult to understand that when the force and torque information equivalent to the dual-axis coordinate system after gravity compensation at the current moment meets the preset range of the reference force and torque, it means that the force and torque information equivalent to the dual-axis coordinate system after gravity compensation at the current moment is in Z p O p X p Plane and Z h O h X h When the planes coincide, the expected force and moment range can be regarded as Z p O p X p Plane and Z h O h X h The planes coincide, and at the same time, when w is obtained at the next moment p (t) is also in w ref Preset range, O p The moving speed is 0 and remains stationary, thus achieving negative feedback regulation.

[0109] S438. After maintaining the preset number of control cycles, the adjustment is ended.

[0110] It is easy to understand that the adjustment is terminated after the preset number of control cycles, which can avoid the adjustment process being affected by the w p (t) is in w ref Within the preset range, the adjustment is ended immediately. By maintaining the preset number of control cycles, the stability of the adjustment process can be guaranteed and the randomness of the adjustment process can be avoided.

[0111] S500 , rotating the equivalent double shaft 32 so that the equivalent double shaft 32 and the equivalent double hole 42 are aligned in the vertical direction.

[0112] It is not difficult to understand that when Z p O p X p Plane and Z h O h X hAfter the planes overlap, the shaft 31 of the multi-axis component 30 can be rotated to completely enter the shaft hole 41 of the porous component 40, so as to facilitate the assembly of the shaft 31 and the shaft hole 41. At the same time, the shaft 31 is aligned in the vertical direction and then inserted to achieve assembly, which can avoid contact between the shaft 31 and the inner wall of the shaft hole 41.

[0113] S600, controlling the equivalent dual shaft 32 to move vertically downward.

[0114] Specifically, in this embodiment, the six-dimensional force and torque sensor obtains the insertion force in real time and compares it with the preset insertion force to accurately obtain the insertion depth and the contact condition between the shaft rod 31 and the shaft hole 41, thereby avoiding damage to the shaft rod 31 and the shaft hole 41 due to excessive insertion force.

[0115] It can be understood that the robot multi-axis hole automatic assembly method based on the equivalent dual-axis model of the present invention selects an equivalent dual axis 32 from the multi-axis component 30, and selects an equivalent dual hole 42 from the porous component 40, and adjusts the posture of the equivalent dual axis 32 so that the equivalent dual axis 32 can enter the equivalent dual hole 42 after rotation. Since there is a one-to-one correspondence between the shaft rod 31 on the multi-axis component 30 and the shaft hole 41 on the porous component 40, the assembly of the multi-axis hole 41 is simplified to the assembly of the dual-axis hole 41, which is suitable for multi-axis components 30 and porous components 40 of any geometric dimensions. At the same time, the control center is moved to the center of the dual-axis coordinate system. In this way, the assembly force can be reduced and precise control of the multi-axis component 30 and the porous component 40 can be achieved.

[0116] The implementation basis of each embodiment of the present invention is to implement programmed processing through a device with a processor function. Therefore, in engineering practice, the technical solutions and functions of each embodiment of the present invention can be encapsulated into various modules. Based on this reality, on the basis of the above embodiments, the embodiment of the present invention provides a robot multi-axis hole automatic assembly device based on an equivalent biaxial model. The robot multi-axis hole automatic assembly device based on an equivalent biaxial model is used to execute the robot multi-axis hole automatic assembly method based on an equivalent biaxial model in the above method embodiment, see Figure 2 The robot multi-axis hole automatic assembly device based on the equivalent dual-axis model includes:

[0117] The first main module is used to obtain the force and torque zero point values ​​of the sensor 20 in the sensor coordinate system before the first operation. The second main module is used to select two shafts 31 from the multi-axis component 30 as the equivalent double shafts 32, and select two shaft holes 41 from the porous component 40 as the equivalent double holes 42. The third main module is used to control the equivalent double shaft 32 to approach and contact the equivalent double hole 42. The fourth main module is used to adjust the posture of the equivalent double shaft 32 so that the equivalent double shaft 32 can enter the equivalent double hole 42 after rotation. The fifth main module is used to rotate the equivalent double shaft 32 so that the equivalent double shaft 32 is aligned with the equivalent double hole 42 in the vertical direction. The sixth main module is used to control the equivalent double shaft 32 to move vertically downward.

[0118] The robot multi-axis hole automatic assembly device based on the equivalent dual-axis model provided by the embodiment of the present invention adopts Figure 2 Several modules in the embodiment of the present invention are selected by selecting an equivalent dual axis 32 from the multi-axis component 30 and selecting an equivalent dual hole 42 from the porous component 40, and adjusting the posture of the equivalent dual axis 32 so that the equivalent dual axis 32 can enter the equivalent dual hole 42 after rotation. Since there is a one-to-one correspondence between the shaft 31 on the multi-axis component 30 and the shaft hole 41 on the porous component 40, the assembly of the multi-axis hole 41 is simplified to the assembly of the dual axis hole 41, which is suitable for multi-axis components 30 and porous components 40 of any geometric size. At the same time, the control center is moved to the center of the dual axis coordinate system. In this way, the assembly force can be reduced and precise control of the multi-axis component 30 and the porous component 40 can be achieved.

[0119] It should be noted that the device in the device embodiment provided by the present invention can be used to implement the method in the above-mentioned method embodiment as well as the method in other method embodiments provided by the present invention. The only difference lies in the setting of corresponding functional modules, and the principle is basically the same as the principle of the above-mentioned device embodiment provided by the present invention. As long as technical personnel in this field refer to the specific technical solutions in other method embodiments on the basis of the above-mentioned device embodiment, obtain corresponding technical means and technical solutions composed of these technical means by combining technical features, they can improve the device in the above-mentioned device embodiment on the premise of ensuring the practicality of the technical solution, thereby obtaining corresponding device class embodiments for implementing the methods in other method class embodiments.

[0120] The method of the embodiment of the present invention is implemented by relying on electronic devices, so it is necessary to introduce the relevant electronic devices. Based on this purpose, the embodiment of the present invention provides an electronic device, such as Figure 3As shown, the electronic device includes: at least one processor, a communication interface, at least one memory and a communication bus, wherein at least one processor, the communication interface and at least one memory communicate with each other through the communication bus. At least one processor can call the logic instructions in at least one memory to execute all or part of the steps of the robot multi-axis hole automatic assembly method based on the equivalent dual-axis model provided in the above-mentioned embodiments.

[0121] In addition, the logic instructions in the at least one memory mentioned above can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each method embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0122] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0123] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course by hardware. Based on this understanding, the above technical solution can essentially or in other words be embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the robot multi-axis hole automatic assembly method based on an equivalent dual-axis model described in each embodiment or some parts of the embodiment.

[0124] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. Based on this understanding, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and sometimes in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0125] In this patent, the terms "include", "comprises" or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "includes..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot multi-axis hole automatic assembly method based on an equivalent biaxial model, characterized in that: The method comprises: S100, obtaining the force and torque zero point values ​​of the sensor in the sensor coordinate system before the first operation; S200, selecting two shafts from the multi-axis component as equivalent double shafts, and selecting two shaft holes from the multi-hole component as equivalent double holes; S300, controlling the equivalent double axes to approach and contact the equivalent double holes; S400, adjusting the posture of the equivalent dual-axis so that the equivalent dual-axis can enter the equivalent dual hole after rotation; S500, rotating the equivalent dual axes so that the equivalent dual axes are aligned with the equivalent dual holes in a vertical direction; S600, controlling the equivalent dual-axis to move vertically downward; Step S400 is specifically as follows: S410, establish a dual-axis coordinate system {P dual }, the midpoint of the line connecting the centers of the upper surfaces of the two shafts in the equivalent double shaft is taken as the origin O p , the direction of the line connecting the centers of the upper surfaces of the two shafts is Y p , with the axis direction of the shaft as Z p , with the direction perpendicular to the axis of the shaft as X p ; S420, establish a double hole coordinate system {H dual }, the midpoint of the line connecting the centers of the upper surfaces of the two axial holes in the equivalent double hole is taken as the origin O h , the direction of the line connecting the centers of the upper surfaces of the two shaft holes is Y h , with the axis direction of the shaft hole as Z h , with the direction perpendicular to the axis of the shaft hole as X h ; S430, adjusting the equivalent two-axis posture so that Z p O p X p Plane and Z h O h X h Plane overlap; S440, control the equivalent dual axis rotation Y p The equivalent double shaft is rotated in the direction so that the equivalent double shaft enters the equivalent double hole; In step S430, Z p O p X p Plane and Z h O h X h Plane coincidence also includes: S431, acquiring force and torque information after gravity compensation according to the force and torque zero point value and the gravity of the multi-axis component; S432, equating the force and torque information after gravity compensation to the dual-axis coordinate system to obtain the force and torque information in the dual-axis coordinate system; S433, comparing the force and torque information in the dual-axis coordinate system at the current moment with the expected force and expected torque to obtain the expected force and expected torque deviation at the current moment; S434, obtaining the moving speed of the origin of the dual-axis coordinate system at the current moment according to the force and torque deviation at the current moment; S435, obtaining the position of the origin of the dual-axis coordinate system at the current moment based on the moving speed of the origin of the dual-axis coordinate system at the current moment; S436, moving the origin of the dual-axis coordinate system to the position at the current moment based on the moving speed of the origin of the dual-axis coordinate system at the current moment; S437, repeating step S433, so that the force and torque information after gravity compensation at the current moment meets the preset range of the reference force and torque; S438, after maintaining the preset number of control cycles, the adjustment ends; The force and torque information in the dual-axis coordinate system is obtained in step S432 as follows: Where: w p is the force and torque information in the biaxial coordinate system, w s is the force and torque information after gravity compensation, is the rotation matrix of the dual-axis coordinate system relative to the sensor coordinate system, I is the unit matrix, O is the zero matrix, B is the torque effect of the sensor coordinate system translated to the origin of the dual-axis coordinate system, is the coordinate of the origin of the dual-axis coordinate system in the sensor coordinate system.

2. The robot multi-axis hole automatic assembly method based on the equivalent biaxial model as claimed in claim 1 is characterized in that: The deviation between the expected force and the expected torque at the current moment in step S433 is specifically: Δw p (t)=w p (t)-w ref In the formula: Δw p (t) is the deviation between the expected force and the expected torque at the current moment, w p (t) is the force and torque information in the dual-axis coordinate system at the current moment, w ref Z p O p X p Plane and Z h O h X h Information on the forces and moments expected when the planes are coincident.

3. The robot multi-axis hole automatic assembly method based on the equivalent biaxial model as claimed in claim 1 is characterized in that: The moving speed of the origin of the dual-axis coordinate system at the current moment obtained in step S434 is specifically: Where: is the moving speed of the origin of the dual-axis coordinate system at the current moment, K p is the proportional gain coefficient, T d is the differential coefficient, Δt is the control period, Δw p (t-1) is the force and torque deviation at the previous moment.

4. The robot multi-axis hole automatic assembly method based on the equivalent biaxial model as claimed in claim 1, characterized in that: The specific position of the origin of the dual-axis coordinate system at the current moment is obtained in step S435: Where: P(t) is the position of the origin of the dual-axis coordinate system at the current moment, and P(t-1) is the position of the origin of the dual-axis coordinate system at the previous moment.

5. A robot multi-axis hole automatic assembly device based on an equivalent biaxial model, used to implement the robot multi-axis hole automatic assembly method based on an equivalent biaxial model as described in any one of claims 1 to 4, characterized in that: include: A first main module is used to obtain the force and torque zero point values ​​of the sensor in the sensor coordinate system before the first operation; The second main module is used to select two shafts from the multi-axis component as equivalent double shafts, and select two shaft holes from the multi-hole component as equivalent double holes; The third main module is used to control the equivalent double axes to approach and contact the equivalent double holes; A fourth main module is used to adjust the posture of the equivalent dual-axis so that the equivalent dual-axis can enter the equivalent dual hole after rotation; A fifth main module, used for rotating the equivalent double shafts so that the equivalent double shafts are aligned with the equivalent double holes in a vertical direction; The sixth main module is used to control the equivalent dual-axis vertical downward movement.

6. An electronic device, characterized in that: include: at least one processor, at least one memory, and a communication interface; in The processor, memory and communication interface communicate with each other; The memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the robot multi-axis hole automatic assembly method based on an equivalent dual-axis model as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the robot multi-axis hole automatic assembly method based on an equivalent dual-axis model as claimed in any one of claims 1 to 4.

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