Hybrid force / position long-tube part robot automatic laying method, device and equipment

Abstract

The application relates to the field of aerospace, in particular to a force-position hybrid stringer part robot automatic laying method, device and equipment. The method comprises the following steps: based on preset first force-position hybrid information, controlling an industrial robot to grasp a target stringer part according to a stringer section and a stringer attitude of the target stringer part; after the industrial robot completes the grasping, combining a digital model and a laying track to replan an industrial robot track to obtain a registration track; after the industrial robot arrives at a position to be assembled, based on the registration track and a surface section of a wall plate to be laid, controlling the industrial robot to adjust the attitude of the target stringer part, and based on preset second force-position hybrid information, controlling the industrial robot to lay the target stringer part to the wall plate. Thus, by using a multi-modal sensor and auxiliary positioning hardware, the detection and control problems in the automatic assembly process of long strip-shaped metal plate parts represented by stringers are solved, and automatic assembly of specific parts is realized under complex working conditions such as unknown workpiece attitude and weak rigidity.

Description

Technical Field

[0001] This application relates to the aerospace field, and in particular to a method, apparatus and equipment for the automatic laying of long stringer parts by a robot using a force-position hybrid system. Background Technology

[0002] In the aerospace field, a stringer generally refers to a long strip of sheet metal parts that can be laid on the back of thin-walled metal panels to enhance the bending and torsional resistance of the panel structure. Stringers consist of a large number of parts, are inherently weak in rigidity, and their assembly requires ensuring positional accuracy and parallelism, necessitating repeated, time-consuming, and labor-intensive manual adjustments, resulting in a significant amount of repetitive work.

[0003] Among related technologies, robotic automatic stringer laying is a feasible solution to effectively improve aerospace assembly efficiency and reduce repetitive manual work.

[0004] However, the long girder structure itself is characterized by its long length, complex cross-sectional shape, and weak rigidity, especially its torsional resistance, which makes the automatic laying of the girder still quite difficult and urgently needs to be solved. Summary of the Invention

[0005] This application provides a method, apparatus, and equipment for the automatic laying of long stringer parts by a robot with force-position hybrid technology, which solves the detection and control problems in the automatic assembly process of long strip sheet metal parts represented by stringers, and realizes the automated assembly of specific parts under complex working conditions such as unknown workpiece posture and weak rigidity.

[0006] To achieve the above objectives, the first aspect of this application proposes a method for the automated robotic laying of long stringer parts with force-position hybrid technology, comprising the following steps:

[0007] The stringer section and stringer posture of the target stringer part are obtained, and based on the preset first force position mixing information, the industrial robotic arm is controlled to grasp the target stringer part according to the stringer section and stringer posture.

[0008] After the industrial robotic arm completes its grasping process, the trajectory of the industrial robotic arm is replanned using the trajectory laid out in the digital model to obtain the registration trajectory; and

[0009] After the industrial robotic arm reaches the assembly position, based on the registration trajectory and the cross-section of the surface to be laid on the wall panel, the industrial robotic arm is controlled to adjust the posture of the target stringer part, and based on the preset second force position mixing information, the industrial robotic arm is controlled to lay the target stringer part onto the wall panel.

[0010] According to one embodiment of this application, the controlled industrial robotic arm grasps the target stringer part based on the stringer cross-section and the stringer posture, including:

[0011] The spatial position and spatial orientation of the target stringer component are determined based on the stringer cross-section and the stringer orientation.

[0012] The grasping position and grasping posture of the industrial robotic arm are determined based on the spatial location and the spatial posture.

[0013] The target stringer component is grasped according to the grasping position and the grasping posture.

[0014] According to one embodiment of this application, the spatial position and the spatial attitude are respectively:

[0015]

[0016] in, The spatial position of the target stringer component. The spatial orientation of the target stringer component. The positioning QR code of the long truss frame is marked with its attitude in the coordinate system of the end-face measuring camera. The location of the long truss frame is marked by a QR code in the coordinate system of the end-face measuring camera. This refers to the position of the stringer component. The orientation of the stringer component. To determine the position of the coordinate system of the end-face measurement camera within the end effector. The end-face measurement camera measures the attitude of the coordinate system within the end effector. This refers to the position of the end effector of the industrial robotic arm. This refers to the posture of the end effector of an industrial robotic arm.

[0017] According to one embodiment of this application, the grasping position and the grasping posture are as follows:

[0018]

[0019] in, For the grab position, For the grasping posture, The position of the cross-sectional measurement line laser sensor in the end effector. The attitude of the cross-sectional laser sensor in the end effector is Δy. pick To allow for a certain distance.

[0020] According to one embodiment of this application, the registration trajectory includes a target position and a target pose of an industrial robotic arm, wherein the target position and the target pose are respectively:

[0021]

[0022] in, For the target location, The target pose is defined as follows. This refers to the position of the coordinate system of the part to be laid (the wall panel) within the coordinate system of the industrial robotic arm. The orientation of the coordinate system of the part to be covered with the wall panel in the coordinate system of the industrial robotic arm. The theoretical position of the stringer component to be laid in the digital model. Δy represents the theoretical orientation of the stringer component to be laid in the digital model. S This is the preset safe distance for starting the laying process.

[0023] According to one embodiment of this application, controlling the industrial robotic arm to adjust the posture of the target stringer part includes:

[0024] Based on preset orientation target point positions and preset orientation target point postures, the industrial robotic arm is controlled to adjust the posture of the target stringer part, wherein the preset orientation target point positions and preset orientation target point postures are respectively:

[0025]

[0026] in, The preset pose adjustment target point position, The preset pose of the target pose point. This indicates the current position of the industrial robotic arm holding the stringer component. Let l0 be the current posture of the industrial robotic arm gripping the stringer part, l0 be the position of the potential resultant force on the stringer part, and Δθ be the position of the force. C To predict the z-axis angular deviation, Δy V For the force control compensation distance in the vertical direction, Δy C For the cross-sectional measurement line laser sensor, the measured cross-sectional error along the y-direction is k. adj Here, L0 is the angle adjustment weighting coefficient, L0 is the dimension along the length of the stringer, and k is the weighting coefficient. v For admittance force control compliance parameters, F T F1 and F2 are the contact forces along the y-direction when the stringer parts come into contact with the wall panel, representing the target laying force.

[0027] The automatic robotic installation method for stringer parts based on force-position hybrid technology proposed in this application addresses the following: An industrial robotic arm is controlled to grasp the target stringer part based on its cross-section and posture, using preset first force-position hybrid information. After grasping, the robotic arm's trajectory is replanned using the installation trajectory in the digital model to obtain a registration trajectory. Once the robotic arm reaches the assembly position, it adjusts the posture of the target stringer part based on the registration trajectory and the cross-section of the panel to be installed. Finally, based on preset second force-position hybrid information, the robotic arm lays the target stringer part onto the panel. This method utilizes multimodal sensors and auxiliary positioning hardware to solve the detection and control problems in the automatic assembly of long, strip-shaped sheet metal parts, such as stringers, achieving automated assembly of specific parts under complex conditions such as unknown workpiece posture and weak rigidity.

[0028] To achieve the above objectives, a second aspect of this application provides a force-position hybrid robotic automated laying device for long stringer parts, comprising:

[0029] The first control module is used to acquire the stringer cross-section and stringer posture of the target stringer part, and control the industrial robotic arm to grasp the target stringer part according to the stringer cross-section and stringer posture based on the preset first force position mixing information.

[0030] The replanning module is used to replan the trajectory of the industrial robotic arm after the industrial robotic arm has finished grasping, and combine the trajectory laid in the digital model to obtain the registration trajectory.

[0031] The second control module is used to control the industrial robotic arm to adjust the posture of the target stringer part based on the registration trajectory and the cross-section of the surface to be laid on the wall panel after the industrial robotic arm reaches the assembly position, and to control the industrial robotic arm to lay the target stringer part onto the wall panel based on the preset second force-position mixing information.

[0032] According to one embodiment of this application, the first control module is specifically used for:

[0033] The spatial position and spatial orientation of the target stringer component are determined based on the stringer cross-section and the stringer orientation.

[0034] The grasping position and grasping posture of the industrial robotic arm are determined based on the spatial location and the spatial posture.

[0035] The target stringer component is grasped according to the grasping position and the grasping posture.

[0036] According to one embodiment of this application, the spatial position and the spatial attitude are respectively:

[0037]

[0038] in, The spatial position of the target stringer component. The spatial orientation of the target stringer component. The positioning QR code of the long truss frame is marked with its attitude in the coordinate system of the end-face measuring camera. The location of the long truss frame is marked by a QR code in the coordinate system of the end-face measuring camera. This refers to the position of the stringer component. The orientation of the stringer component. To determine the position of the coordinate system of the end-face measurement camera within the end effector. The end-face measurement camera measures the attitude of the coordinate system within the end effector. This refers to the position of the end effector of the industrial robotic arm. This refers to the posture of the end effector of an industrial robotic arm.

[0039] According to one embodiment of this application, the grasping position and the grasping posture are as follows:

[0040]

[0041] in, For the grab position, For the grasping posture, The position of the cross-sectional measurement line laser sensor in the end effector. The attitude of the cross-sectional laser sensor in the end effector is Δy. pick To allow for a certain distance.

[0042] According to one embodiment of this application, the registration trajectory includes a target position and a target pose of an industrial robotic arm, wherein the target position and the target pose are respectively:

[0043]

[0044] in, For the target location, The target pose is defined as follows. This refers to the position of the coordinate system of the part to be laid (the wall panel) within the coordinate system of the industrial robotic arm. The orientation of the coordinate system of the part to be covered with the wall panel in the coordinate system of the industrial robotic arm. The theoretical position of the stringer component to be laid in the digital model. Δy represents the theoretical orientation of the stringer component to be laid in the digital model. S This is the preset safe distance for starting the laying process.

[0045] According to one embodiment of this application, the second control module is specifically used for:

[0046] Based on preset orientation target point positions and preset orientation target point postures, the industrial robotic arm is controlled to adjust the posture of the target stringer part, wherein the preset orientation target point positions and preset orientation target point postures are respectively:

[0047]

[0048] in, The preset pose adjustment target point position, The preset pose of the target pose point. This indicates the current position of the industrial robotic arm holding the stringer component. Let l0 be the current posture of the industrial robotic arm gripping the stringer part, l0 be the position of the potential resultant force on the stringer part, and Δθ be the position of the force. C To predict the z-axis angular deviation, Δy V For the force control compensation distance in the vertical direction, Δy C For the cross-sectional measurement line laser sensor, the measured cross-sectional error along the y-direction is k. adj Here, L0 is the angle adjustment weighting coefficient, L0 is the dimension along the length of the stringer, and k is the weighting coefficient. v For admittance force control compliance parameters, F T F1 and F2 are the contact forces along the y-direction when the stringer parts come into contact with the wall panel, representing the target laying force.

[0049] The force-position hybrid robotic automatic placement device for long stringer parts proposed in this application, based on preset first force-position hybrid information, controls an industrial robotic arm to grasp the target long stringer part according to its cross-section and posture. After the robotic arm grasps the part, it re-plans the robotic arm trajectory using the placement trajectory in the digital model to obtain a registration trajectory. After the robotic arm reaches the assembly position, based on the registration trajectory and the cross-section of the surface to be placed on the wall panel, it controls the robotic arm to adjust the posture of the target long stringer part and, based on preset second force-position hybrid information, lays the target long stringer part onto the wall panel. Thus, by utilizing multimodal sensors and auxiliary positioning hardware, it solves the detection and control problems in the automatic assembly process of long strip sheet metal parts, such as long stringers, achieving automated assembly of specific parts under complex conditions such as unknown workpiece posture and weak rigidity.

[0050] To achieve the above objectives, a third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the force-position hybrid long stringer part robot automatic laying method as described in the above embodiments.

[0051] To achieve the above objectives, a fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the force-position hybrid long stringer part robotic automatic laying method as described in the above embodiments.

[0052] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0053] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0054] Figure 1 This is a flowchart of a method for automatically laying long stringer parts using a robot with force-position hybrid technology, according to an embodiment of this application.

[0055] Figure 2 This is a schematic diagram of a robotic automated laying system for long stringer parts according to an embodiment of this application;

[0056] Figure 3 This is a schematic diagram of the sensor arrangement of the end effector of an automated laying system for long stringer parts by a robot according to an embodiment of this application;

[0057] Figure 4 This is a schematic diagram of a force-position hybrid orientation adjustment laying process according to an embodiment of this application;

[0058] Figure 5 This is a block diagram of a force-position hybrid robotic automatic laying device for stringer parts according to an embodiment of this application;

[0059] Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application.

[0060] Reference numerals: 1-End effector, 2-Stringer part, 3-Stringer rack, 4-Stringer part, 5-(Six-axis) industrial robotic arm, 10-End face measuring camera, 11-Section measuring line laser sensor, 12-Six-dimensional force / torsion sensor, 20-Force-position hybrid stringer part robotic automatic laying device, 100-First control module, 200-Replanning module, 300-Second control module, 601-Memory, 602-Processor, 603-Communication interface. Detailed Implementation

[0061] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0062] The following describes, with reference to the accompanying drawings, the automatic laying method, apparatus and equipment for long stringer parts with force-position hybrid technology proposed in the embodiments of this application. First, the automatic laying method for long stringer parts with force-position hybrid technology proposed in the embodiments of this application will be described with reference to the accompanying drawings.

[0063] Figure 1 This is a flowchart of a method for automatically laying long stringer parts by robot according to an embodiment of this application.

[0064] Before introducing the force-position hybrid automatic laying method for long stringer parts by robot proposed in the embodiments of this application, let me briefly introduce the automatic laying system for long stringer parts by robot and the end effector 1 in the automatic laying system for long stringer parts by robot involved in the force-position hybrid automatic laying method.

[0065] like Figure 2 As shown, the automated placement system for long stringer parts includes: an end effector 1, long stringer parts 2, a long stringer rack 3, long stringer parts 4, and a (six-axis) industrial robotic arm 5. The end effector 1, carrying the gripped long stringer parts 2, is mounted at the end of the industrial robotic arm 5. The industrial robotic arm 5 provides the motion and orientation capabilities to move the long stringer parts 2. The industrial robotic arm 5 can also carry the end effector 1 to the long stringer rack 3 to measure the positioning QR code on the long stringer rack 3, obtaining the position information of the long stringer rack 3 and the long stringer parts 4 on it.

[0066] like Figure 3 As shown, the end effector 1 in the automated laying system for stringer parts by robot includes the following measuring devices: an end face measurement camera 10, a cross-section measurement line laser sensor 11, and a six-dimensional force / torsion sensor 12. The end face measurement camera 10 monitors the assembly process and determines the position of the stringer end face; the cross-section measurement line laser sensor 11 measures the gripping posture of the stringer part 2 and further measures the local normal vector of the panel to be assembled; the gripper and the six-dimensional force / torsion sensor 12 measure the force applied by the end effector 1 to the stringer part 2 during the gripping and laying process, and further determine the contact relationship between the stringer part 2 and the panel to be assembled through a contact model.

[0067] Specifically, such as Figure 1 As shown, the robotic automated laying method for the force-position hybrid stringer parts includes the following steps:

[0068] In step S101, the stringer cross-section and stringer posture of the target stringer part are obtained, and based on the preset first force position mixing information, the industrial robotic arm 5 is controlled to grab the target stringer part according to the stringer cross-section and stringer posture.

[0069] Specifically, during the gripping of stringer parts, it is first necessary to measure the stringer cross-section of the target stringer part and identify the stringer posture. Under the guidance of the preset first force position mixed information, the industrial robotic arm 5 is controlled to adjust the posture of the target stringer part according to the stringer cross-section and the stringer posture and then grip the target stringer part.

[0070] Furthermore, in some embodiments, controlling the industrial robotic arm 5 to grasp the target stringer part according to the stringer cross-section and stringer posture includes: determining the spatial position and spatial posture of the target stringer part according to the stringer cross-section and stringer posture; determining the grasping position and grasping posture of the industrial robotic arm 5 according to the spatial position and spatial posture; and grasping the target stringer part according to the grasping position and grasping posture.

[0071] In some embodiments, the spatial position and spatial orientation are respectively:

[0072]

[0073] in, The spatial location of the target stringer component. The spatial attitude of the target stringer component. The positioning QR code of the long truss frame 3 is marked with its attitude in the measurement coordinate system of the end face measuring camera 10. The positioning QR code of the long truss frame 3 is marked in the coordinate system of the end face measuring camera 10. This is the position of stringer part 4. The orientation of stringer part 4. The end-face measuring camera 10 measures the position of the coordinate system within the end effector 1. The end-face measurement camera 10 measures the attitude of the coordinate system in the end effector 1. This refers to the position of the end effector of industrial robotic arm 5. The posture of the end effector of the industrial robotic arm 5.

[0074] Furthermore, in some embodiments, the grasping position and grasping posture are as follows:

[0075]

[0076] in, To capture the location, To capture the posture, The position of the cross-section measurement line laser sensor 11 in the end effector 1. The attitude of the cross-section measurement line laser sensor 11 in the end effector 1 is Δy. pick To allow for a certain distance.

[0077] Specifically, combined Figure 2 and Figure 3 As shown, the industrial robotic arm 5, carrying the end effector 1, moves to the long truss rack 3 and uses the end face measuring camera 10 in the end effector 1 to measure the positioning QR code mark on the long truss rack 3. This allows the position of the positioning QR code mark on the long truss rack 3 within the measurement coordinate system of the end face measuring camera 10 to be determined. and posture The positions and orientations of each stringer component 4 on the stringer frame 3 are constrained by the contour bracket, and the positions of the stringer components 4 can be calculated independently. and posture Where i corresponds to different stringer parts 4 on the stringer frame 3; the end face measuring camera 10 measures the position of the coordinate system in the end effector 1. and posture The end effector position of the industrial robotic arm 5 can be obtained through calibration. and posture Data can be collected via a robotic arm controller. At this point, based on the principle of homogeneous transformation, the theoretical spatial position of the stringer component 4 within any stringer frame 3 can be obtained. and posture As shown in equation (1).

[0078] Furthermore, the origin of the coordinate system for stringer part 4 is defined as the theoretical position of the middle of the stringer, such as... Figure 3 As shown, a certain distance Δy is reserved before grabbing. pick The cross-section measuring line laser sensor 11 measures the position of the cross-section measuring line laser sensor 11 in the end effector 1. and posture Similarly, the attitude of the cross-section measurement line laser sensor 11 in the end effector 1 can be obtained through calibration. The end-face measuring camera 10 measures the attitude of the coordinate system in the end effector 1. Similarly, at this time, the industrial robotic arm 5 is driven to reach the gripping position of the stringer part 4 in the material to be gripped rack. and grasping posture As shown in equation (2).

[0079] Furthermore, the coordinate system position and x-axis deflection angle Δθ of the actual stringer part 4 are measured using the cross-section measurement line laser sensor 11. x Let be the increment of the theoretical position, and let the position difference be . H ΔP=[0 Δy h Δz h ] TThe attitude transformation matrix is H M represents the rotation of stringer part 4 about its length, and its rotation matrix is ​​denoted as... H M = rot x (Δθ x ).

[0080] It should be noted that the reference Figure 3 In the Cartesian coordinate system, the stringer part 4 translates along the x-axis and rotates along the y-axis and z-axis, which is constrained by the stringer frame 3.

[0081] After adjusting its posture, the industrial robotic arm 5 approaches the long stringer part 4 in the material rack and uses... replace use replace Recalculate the gripping position for gripping stringer part 4 and grasping posture After orientation adjustment, the coordinate system of the gripper and the six-dimensional force / torsion sensor 12 is considered to coincide with the coordinate system of the stringer part 4. At this time, along Directional movement, approaching the stringer part 4 in parallel.

[0082] Based on the preset first force-position hybrid information, the industrial robotic arm 5 adjusts the posture of the target stringer part according to the stringer cross-section and stringer posture, and grasps the target stringer part. During the approach process, the industrial robotic arm 5 can monitor the amount of movement along the feed direction, and two six-dimensional force / torsion sensors 12 can monitor the contact force between the end effector 1 and the stringer part 4. Figure 4 As shown, the contact forces F1 and F2 are mainly along the y-direction. The difference in contact forces reflects the small rotational error of the stringer part 4 along the z-direction. During this process, the cross-section measurement line laser sensor 11 continuously monitors the distance of the stringer part 4 along the y-direction and the rotation angle along the x-direction to ensure that the end effector 1 remains parallel and in contact with the stringer part 4, so that the contact forces F1 and F2 are equal and reach the threshold F in the y-direction. T Finally, the gripper and the gripper in the six-dimensional force / torsion sensor 12 merge, grasp the stringer part 4 in the material tray, and after moving in the opposite direction from the initial direction of movement, it becomes the stringer part 2 held by the end effector 1, and moves with the industrial robotic arm 5.

[0083] In step S102, after the industrial robotic arm 5 has finished grasping, the trajectory of the industrial robotic arm 5 is replanned by combining the trajectory laid in the digital model to obtain the registration trajectory.

[0084] It is understandable that when the industrial robotic arm 5 carries the stringer part 2, the trajectory of the industrial robotic arm 5 is replanned based on the laying trajectory in the digital model, the registered trajectory is calculated, and finally it moves to the laying position.

[0085] In some embodiments, the registration trajectory includes the target position and target orientation of the industrial robotic arm 5, wherein the target position and target orientation are respectively:

[0086]

[0087] in, For the target location, For the target posture, This indicates the position of the component whose coordinate system is to be laid within the coordinate system 5 of the industrial robotic arm. The orientation of the component whose wall panel needs to be laid is shown in the coordinate system of the industrial robotic arm. The theoretical position of the stringer component 2 to be laid is specified in the digital model. For the theoretical orientation of the stringer component 2 to be laid in the digital model, Δy S This is the preset safe distance for starting the laying process.

[0088] Specifically, such as Figure 3 As shown, before the laying task, the position of the coordinate system of the panel to be laid in the coordinate system of the industrial robotic arm can be obtained by registering the workpiece coordinate system. and posture For the stringer component 2 to be laid, the theoretical position and orientation specified in the digital model can be denoted as: and posture When attaching to the side surface of the wall panel, it should be noted that the wall panel may include flat wall panels and curved wall panels. For curved wall panels, the coordinate system of each stringer component 2 to be installed differs, but the x-axis of the local coordinate system is parallel to each other. The stringer is generally installed along the -y direction of the local coordinate system, with a preset safety distance of Δy at the start of installation. S At this point, the target position of the replanned industrial robotic arm trajectory is obtained. and posture As shown in equation (3).

[0089] Furthermore, the industrial robotic arm 5 moves along the space to the target position and target posture, and completes tasks such as obstacle avoidance during the movement. During the movement, two end face measuring cameras 10 monitor the surrounding environment of the stringer part 2 and the end effector 1 throughout the process to avoid potential collisions.

[0090] In step S103, when the industrial robotic arm 5 is at the assembly position, based on the registration trajectory and the cross-section of the surface to be laid on the wall panel, the industrial robotic arm 5 is controlled to adjust the posture of the target stringer part, and based on the preset second force position mixing information, the industrial robotic arm 5 is controlled to lay the target stringer part onto the wall panel.

[0091] Furthermore, in some embodiments, controlling the industrial robotic arm 5 to adjust the posture of the target stringer part includes: controlling the industrial robotic arm 5 to adjust the posture of the target stringer part based on a preset posture adjustment target point position and a preset posture adjustment target point, wherein the preset posture adjustment target point position and the preset posture adjustment target point are respectively:

[0092]

[0093] in, The preset pose adjustment target point position, The pose of the preset target point for posture adjustment. This indicates the current position of the industrial robotic arm 5 as it grips the stringer part. Let l0 be the current posture of the industrial robotic arm 5 gripping the stringer part 2, l0 be the position of the potential resultant force on the stringer part 2, and Δθ be the position of the force. C To predict the z-axis angular deviation, Δy V For the force control compensation distance in the vertical direction, Δy C For the cross-sectional measurement line laser sensor 11, the measured cross-sectional error along the y-direction is k. adj Here, L0 is the angle adjustment weighting coefficient, L0 is the dimension along the length of the stringer, and k is the weighting coefficient. v For admittance force control compliance parameters, F T The target laying force is F1 and F2 are the contact forces along the y-direction between the stringer part 2 and the wall panel.

[0094] Specifically, during the stringer component installation process, the cross-section of the wall panel to be installed is measured, and the industrial robotic arm 5 is controlled to adjust the posture of the target stringer component (i.e., stringer component 2) to approach the wall panel. Guided by the second force-position hybrid information, the industrial robotic arm 5 is controlled to install stringer component 2 onto the wall panel. Because the wall panel structure is relatively weak, and the stringer installation task requires high operational precision and parallelism, the wall panel exhibits a potential deformation tendency, causing the actual installation position of the stringer to deviate from the digital model position. When stringer component 2 approaches the wall panel's installation position... At the same time, the cross-section measuring line laser sensor 11 is used to measure the stringer part 2 and the wall panel, and the angle Δθ between the wall panel and the mounting surface of the stringer part 2 is measured. D The potential distance between the wall panel and the mounting plane of stringer component 2 is calculated by fitting the mounting plane of the wall panel using a radius circle when the wall panel component has a certain curvature. When the intersection angle exceeds a threshold, it is considered that the wall panel deformation is too large, and the task needs to be paused; when the intersection angle Δθ D If the error is less than a certain threshold and remains stable during the assembly of a batch of parts, it is considered that the wall panel assembly error is small. The cross-section measurement line laser sensor 11 outputs the position error Δy along the y-axis of the stringer coordinate system relative to the theoretical position for the stringer part 2 and the wall panel. D and rotational error Δθ along the x-direction DFurthermore, based on the target position of the industrial robotic arm 5 and target posture The calculated local area of ​​the wall panel structure to be installed is compared with the theoretical position. and theoretical stance The relative error of the measured position and measured attitude It can be represented as:

[0095]

[0096] Actual location and measured attitude It is the projection of the theoretical digital model of the panel part onto the deformation plane after potential deformation, when the position error Δy D and rotational error Δθ D When the distance is small, the measured position can guarantee the distance between the stringer parts 2. After adjustment, the industrial robotic arm 5 moves to the laying position. and posture along The direction allows the stringers to be laid onto the wall panels.

[0097] Furthermore, based on the preset second force-position hybrid information, the industrial robotic arm 5 is controlled to lay the target stringer part onto the wall panel. During the feeding process, the industrial robotic arm 5 monitors the amount of motion along the feeding direction. The cross-section measurement line laser sensor 11 monitors the posture of the stringer part 2 and its relative distance to the wall panel in real time. Two six-dimensional force / torsion sensors 12 monitor the contact force between the stringer part 4 and the wall panel. The contact forces F1 and F2 are mainly along the y-direction. The difference in contact forces represents the small rotational error of the stringer part relative to the wall panel in the z-direction, characterizing the potential deformation of the wall panel part in the z-direction. Two end-face measurement cameras 10 monitor the contact process between the end face and the wall panel throughout the process. The asymmetrical contact forces F1 and F2 characterize the potential error of the z-direction rotation and guide the industrial robotic arm 5 to lay the target stringer part onto the wall panel based on the preset second force-position hybrid information.

[0098] Therefore, this application can guide industrial robots to automatically grasp, transfer and lay stringer parts by collecting cross-sectional, end-face, position and force information. It has the characteristics of high positioning accuracy, accurate posture, smooth force control process and high assembly efficiency, and can effectively guide the automatic laying process of stringer parts by robots.

[0099] To facilitate understanding by those skilled in the art, the process of controlling the industrial robotic arm 5 to lay the target stringer part onto the wall panel based on preset second force position mixing information is further described below in conjunction with potential scenarios, such as Figure 4 As shown, when the stringer part 2 comes into contact with the wall panel, the industrial robotic arm 5 is currently gripping the stringer part 2 at the following position. and posture Both the stringer component 2 and the wall panel have relatively weak overall rigidity. The stringer component 2 is fully positioned on the robot and has already made contact with the wall panel. The contact forces along the y-direction are F1 and F2, respectively. The asymmetry of the forces on the stringer component 2 along the y-direction reflects the small rotational error along the z-direction. When the forces monitored by the two sets of grippers and the six-dimensional force / torsion sensor 12 are asymmetrical, the potential resultant force position l0 on the stringer component 2 is expressed as:

[0100]

[0101] Among them, l S The sensor is installed at a distance along the z-axis.

[0102] Furthermore, the measured cross-sectional error along the y-direction by the laser sensor 11 is Δy. C Telecentric attitude adjustment is performed around the z-axis, with the target point position determined. and posture As shown in equation (4). At this time, the potential motion trend of the industrial robotic arm 5 uniformly controls F1 and F2 to achieve the target laying force F. T Through iterative adjustments of the above posture process, the laying trajectory of the industrial robotic arm 5 can be dynamically planned to approach the wall panel and complete the laying process.

[0103] At this point, stringer part 2 is connected to the wall panel, and end effector 1 controls the gripper and six-dimensional force / torsion sensor 12 to release stringer part 2, completing the laying process of a single stringer part.

[0104] Finally, the accuracy of the robotic automated laying method for long stringer parts with force-position hybrid technology is analyzed, combined with... Figure 3 and Figure 4As shown, after the wall panel parts are positioned in this application, their main error is due to the small rotational errors along the x and z directions caused by the weak rigidity along the y direction, i.e. the laying direction. Their translational error is constrained by the replanning of the trajectory process of the industrial robotic arm 5, and their absolute accuracy is guaranteed by assembly tooling and other means. The errors of the stringer part 2 itself include translational and rotational errors in three directions in the Cartesian coordinate system. The translational error of the stringer part 2 along the x-direction is constrained by the relative positioning accuracy of the stringer rack 3 and the industrial robotic arm 5. The translational errors of the stringer part 2 along the y-direction and z-direction are constrained by the mechanical structure of the gripper and the six-dimensional force / torsion sensor 12 in the end effector 1. The rotational error of the stringer part 2 along the x-direction is measured by the cross-section measurement line laser sensor 11 and is constrained by the mechanical structure of the gripper and the six-dimensional force / torsion sensor 12. It is also adjusted by the attitude adjustment process of measuring the cross-section of the wall panel to be laid and adjusting the attitude of the stringer part 2. The rotational error of the stringer part 2 along the y-direction is ensured by the repeatability positioning accuracy of the industrial robotic arm 5 itself to ensure the parallelism of a batch of strings. The rotational error of the stringer part 2 along the z-direction is constrained by the online attitude adjustment process based on the preset second force position hybrid information.

[0105] In summary, the force-position hybrid robotic automatic laying method for stringer parts of this application can utilize multimodal sensors and auxiliary positioning hardware to achieve precise positioning and compliant laying of weakly rigid strip stringer parts. It constrains the error between the weakly rigid strip stringer parts and the weakly rigid wall panels in all directions, improving the absolute accuracy and repeatability of stringer parts during the laying process. As an automated robot control method, it enhances the intelligence and automation of the stringer laying and assembly process, and has the beneficial effects of reducing repetitive labor and improving assembly quality.

[0106] The automatic robotic installation method for long stringer parts based on force-position hybrid technology proposed in this application involves controlling an industrial robotic arm to grasp the target stringer part according to its cross-section and posture, based on preset first force-position hybrid information. After the robotic arm grasps the part, it re-plans the robotic arm trajectory using the installation trajectory in the digital model to obtain a registration trajectory. When the robotic arm reaches the assembly position, it adjusts the posture of the target stringer part based on the registration trajectory and the cross-section of the panel to be installed, and then lays the target stringer part onto the panel based on preset second force-position hybrid information. Thus, by utilizing multimodal sensors and auxiliary positioning hardware, the method solves the detection and control problems in the automatic assembly process of long strip-shaped sheet metal parts, such as stringers, achieving automated assembly of specific parts under complex conditions such as unknown workpiece posture and weak rigidity.

[0107] Next, referring to the accompanying drawings, we describe the automatic laying device for long stringer parts by robot according to an embodiment of this application, which involves force and position mixing.

[0108] Figure 5This is a block diagram of a force-position hybrid long stringer part robotic automatic laying device according to an embodiment of this application.

[0109] like Figure 5 As shown, the force-position hybrid long stringer parts robot automatic laying device 20 includes: a first control module 100, a replanning module 200, and a second control module 300.

[0110] The first control module 100 is used to acquire the stringer cross-section and stringer posture of the target stringer part, and control the industrial robotic arm to grasp the target stringer part according to the stringer cross-section and stringer posture based on the preset first force position mixing information.

[0111] The replanning module 200 is used to replan the trajectory of the industrial robotic arm after the industrial robotic arm has finished grasping, and combine the trajectory laid in the digital model to obtain the registration trajectory.

[0112] The second control module 300 is used to control the industrial robotic arm to adjust the posture of the target stringer part based on the registration trajectory and the cross section of the wall panel to be laid when the industrial robotic arm is at the assembly position, and to control the industrial robotic arm to lay the target stringer part to the wall panel based on the preset second force position mixing information.

[0113] Furthermore, in some embodiments, the first control module 100 is specifically used for:

[0114] Determine the spatial position and spatial orientation of the target stringer component based on the stringer cross-section and stringer orientation.

[0115] The grasping position and grasping posture of the industrial robotic arm are determined based on its spatial location and spatial posture.

[0116] Grab the target stringer component based on the gripping position and gripping posture.

[0117] Furthermore, in some embodiments, the spatial position and spatial orientation are respectively:

[0118]

[0119] in, The spatial location of the target stringer component. The spatial attitude of the target stringer component. The positioning QR code of the long truss frame is marked with its attitude in the coordinate system of the end-face measuring camera. The location of the long truss frame is marked by a QR code in the coordinate system of the end-face measuring camera. This refers to the position of the stringer component. The orientation of the stringer component. To determine the position of the coordinate system of the end-face measurement camera within the end effector. The end-face measurement camera measures the attitude of the coordinate system within the end effector. This refers to the position of the end effector of the industrial robotic arm. This refers to the posture of the end effector of an industrial robotic arm.

[0120] Furthermore, in some embodiments, the grasping position and grasping posture are as follows:

[0121]

[0122] in, To capture the location, To capture the posture, The position of the cross-sectional measurement line laser sensor in the end effector. The attitude of the cross-sectional laser sensor in the end effector is Δy. pick To allow for a certain distance.

[0123] Furthermore, in some embodiments, the registration trajectory includes the target position and target pose of the industrial robotic arm, wherein the target position and target pose are respectively:

[0124]

[0125] in, For the target location, For the target posture, This refers to the position of the coordinate system of the part to be laid (the wall panel) within the coordinate system of the industrial robotic arm. The orientation of the coordinate system of the part to be covered with the wall panel in the coordinate system of the industrial robotic arm. The theoretical position of the stringer component to be laid in the digital model. Δy represents the theoretical orientation of the stringer component to be laid in the digital model. S This is the preset safe distance for starting the laying process.

[0126] Furthermore, in some embodiments, the second control module 300 is specifically used for:

[0127] Based on preset orientation target point positions and preset orientation target point postures, the industrial robotic arm is controlled to adjust the posture of the target stringer part. The preset orientation target point positions and preset orientation target point postures are as follows:

[0128]

[0129] in, The preset pose adjustment target point position, The pose of the preset target point for posture adjustment. This indicates the current position of the industrial robotic arm holding the stringer component. Let l0 be the current posture of the industrial robotic arm gripping the stringer part, l0 be the position of the potential resultant force on the stringer part, and Δθ be the position of the force. C To predict the z-axis angular deviation, Δy V For the force control compensation distance in the vertical direction, Δy C For the cross-sectional measurement line laser sensor, the measured cross-sectional error along the y-direction is k. adj Here, L0 is the angle adjustment weighting coefficient, L0 is the dimension along the length of the stringer, and k is the weighting coefficient. v For admittance force control compliance parameters, F T F1 and F2 are the contact forces along the y-direction when the stringer parts come into contact with the wall panel, representing the target laying force.

[0130] It should be noted that the foregoing explanation of the embodiment of the automatic laying method for long stringer parts by robot with force-position hybrid technology also applies to the automatic laying device for long stringer parts by robot with force-position hybrid technology in this embodiment, and will not be repeated here.

[0131] The force-position hybrid robotic automatic placement device for long stringer parts proposed in this application, based on preset first force-position hybrid information, controls an industrial robotic arm to grasp the target long stringer part according to its cross-section and posture. After the robotic arm grasps the part, it re-plans the robotic arm trajectory using the placement trajectory in the digital model to obtain a registration trajectory. After the robotic arm reaches the assembly position, based on the registration trajectory and the cross-section of the surface to be placed on the wall panel, it controls the robotic arm to adjust the posture of the target long stringer part and, based on preset second force-position hybrid information, lays the target long stringer part onto the wall panel. Thus, by utilizing multimodal sensors and auxiliary positioning hardware, it solves the detection and control problems in the automatic assembly process of long strip sheet metal parts, such as long stringers, achieving automated assembly of specific parts under complex conditions such as unknown workpiece posture and weak rigidity.

[0132] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0133] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0134] When the processor 602 executes the program, it implements the force-position hybrid long stringer part robot automatic laying method provided in the above embodiments.

[0135] Furthermore, electronic devices also include:

[0136] Communication interface 603 is used for communication between memory 601 and processor 602.

[0137] The memory 601 is used to store computer programs that can run on the processor 602.

[0138] The memory 601 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0139] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0140] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.

[0141] The processor 602 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0142] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for the automatic laying of long stringer parts by a robot involving force and position mixing.

[0143] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0144] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0145] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A force-position hybrid stringer part robotic layup method, characterized by, The method adopts a long string part robot automatic laying system, the long string part robot automatic laying system includes an end effector, a long string part, a long string rack and an industrial robot arm, the end effector includes an end face measurement camera, a cross section measurement line laser sensor and a six-dimensional force / torque sensor, wherein the method comprises the following steps: Obtain the long string section and the long string attitude of the target long string part, and based on the preset first force-position hybrid information, control the industrial robot arm to grasp the target long string part according to the long string section and the long string attitude; After the industrial robot arm completes grasping, the industrial robot arm trajectory is replanned in combination with the laying trajectory in the numerical model to obtain a registration trajectory; After the industrial robot arm arrives at the position to be assembled, based on the registration trajectory and the surface section of the wallboard to be laid, the industrial robot arm adjusts the attitude of the target long string part, and based on the preset second force-position hybrid information, the industrial robot arm lays the target long string part to the wallboard; Wherein, the control of the industrial robot arm adjusting the attitude of the target long string part comprises: Based on the preset pose target point position and the preset pose target point attitude, the industrial robot arm adjusts the attitude of the target long string part, wherein the preset pose target point position and the preset pose target point attitude are respectively: wherein, is the preset pose target point position, is the preset pose target point pose, is the current position of the industrial robot arm holding the long string part, is the current pose of the industrial robot arm holding the long string part, l0 is the potential resultant force position of the long string part, Δθ C is the predicted z-direction angle deviation, Δy V is the vertical force control compensation distance, Δy C is the cross-section measurement line laser sensor measured cross-section error along the y direction, k adj is the angle adjustment weight coefficient, L0 is the length direction dimension of the long string part, k v is the admittance force control compliance parameter, F T is the target laying force, F1, F2 are the contact forces along the y direction between the long string part and the wall panel.

2. The method of claim 1, wherein, The control of the industrial robot arm grasping the target long string part according to the long string section and the long string attitude comprises: Determine the spatial position and the spatial attitude of the target long string part according to the long string section and the long string attitude; Determine the grasping position and the grasping attitude of the industrial robot arm according to the spatial position and the spatial attitude; Grasp the target long string part according to the grasping position and the grasping attitude.

3. The method of claim 2, wherein, The spatial position and the spatial attitude are respectively: wherein, is the spatial position of the target long string part, is the spatial pose of the target long string part, is the pose of the positioning two-dimensional code mark of the long string rack in the end face measurement camera measurement coordinate system, is the position of the positioning two-dimensional code mark of the long string rack in the end face measurement camera measurement coordinate system, is the position of the long string part on the long string rack, is the pose of the long string part on the long string rack, i corresponds to different long string parts on the long string rack, is the position of the end face measurement camera measurement coordinate system in the end effector, is the pose of the end face measurement camera measurement coordinate system in the end effector, is the position of the industrial robot end, is the pose of the industrial robot end.

4. The method of claim 3, wherein, The grasping position and the grasping attitude are respectively: wherein is the grasp position, is the grasp pose, is the position of the cross-sectional measuring line laser sensor in the end effector, is the pose of the cross-sectional measuring line laser sensor in the end effector, Ay pick is the reserved distance.

5. The method of claim 1, wherein, The registration trajectory includes the target position and the target attitude of the industrial robot arm, wherein the target position and the target attitude are respectively: wherein, is the target position, is the target pose, is the position of the wall panel part coordinate system in the industrial robot coordinate system, is the pose of the wall panel part coordinate system in the industrial robot coordinate system, is the theoretical position of the longeron part to be laid in the numerical model, is the theoretical pose of the longeron part to be laid in the numerical model, Δy S is the safety distance for preset laying start.

6. A force-position hybrid stringer part robotic layup apparatus, characterized by, The device adopts a long string part robot automatic laying system, the long string part robot automatic laying system includes an end effector, a long string part, a long string rack and an industrial robot arm, the end effector includes an end face measurement camera, a cross section measurement line laser sensor and a six-dimensional force / torque sensor, wherein the device comprises: A first control module is configured to obtain the long string section and the long string attitude of the target long string part, and based on the preset first force-position hybrid information, control the industrial robot arm to grasp the target long string part according to the long string section and the long string attitude; A replanning module is configured to, after the industrial robot arm completes grasping, replan the industrial robot arm trajectory in combination with the laying trajectory in the numerical model to obtain a registration trajectory; and A second control module is configured to, after the industrial robot arm arrives at the position to be assembled, based on the registration trajectory and the surface section of the wallboard to be laid, control the industrial robot arm to adjust the attitude of the target long string part, and based on the preset second force-position hybrid information, control the industrial robot arm to lay the target long string part to the wallboard; Wherein, the second control module is specifically configured to: Based on the preset pose target point position and the preset pose target point attitude, the industrial robot arm is controlled to adjust the attitude of the target longer beam part, wherein the preset pose target point position and the preset pose target point attitude are respectively: wherein, is the preset pose target point position, is the preset pose target point pose, is the current position of the industrial robot arm holding the long string part, is the current pose of the industrial robot arm holding the long string part, l0 is the potential resultant force position of the long string part, Δθ C is the predicted z-direction angle deviation, Δy V is the vertical force control compensation distance, Δy C is the measured cross-section error along the y-direction of the cross-section measurement line laser sensor, k adj is the angle adjustment weight coefficient, L0 is the length direction dimension of the long string part, k v is the admittance force control compliance parameter, F T is the target laying force, F1, F2 are the contact forces along the y-direction between the long string part and the wall panel.

7. The apparatus of claim 6, wherein, The first control module is specifically configured to: determine the spatial position and the spatial attitude of the target longer beam part according to the longer beam section and the longer beam attitude; determine the grabbing position and the grabbing attitude of the industrial robot arm according to the spatial position and the spatial attitude; grab the target longer beam part according to the grabbing position and the grabbing attitude.

8. An electronic device, comprising: comprise: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the force-position hybrid longer beam part robot automatic laying method according to any one of claims 1-5.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the force-position hybrid longer beam part robot automatic laying method according to any one of claims 1-5.

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