A method for improving equipment docking accuracy by dynamically adjusting compensation

Abstract

The application discloses a kind of by dynamic adjustment compensation improves equipment docking precision method, through being cooperated with infrared ranging assembly and camera assembly of being set at the end surface of mechanical arm bottom mounting bracket and bottom, real-time adjustment, realize the improvement effect of docking precision in automatic assembly process.First, the end surface of mounting bracket is accurately adjusted in real time by two infrared ranging assemblies, then the light of the infrared ranging assembly set at the center of mounting bracket end surface is calculated and determined by the cooperation of camera assembly, the offset distance of mounting bracket center and positioning tool center is calculated and determined, the control processing system drives the up and down, left and right displacement of mechanical arm, further improves the docking precision, avoids the problems of low assembly precision and difficult to control assembly quality caused by manufacturing error and assembly deformation error, so as to realize efficient, high-precision equipment assembly automation docking.

Description

Technical Field

[0001] This invention relates to the field of automated equipment assembly technology, and in particular to a method for improving equipment docking accuracy through dynamic adjustment and compensation. Background Technology

[0002] Automated assembly refers to an assembly technology that uses automated machinery to replace manual labor, enabling the transfer, positioning, and connection of parts.

[0003] Automated assembly technology uses robots as assembly machinery, which greatly improves work efficiency. However, in the current production process, when moving and assembling parts, problems such as part damage or difficulty in connecting later may occur due to the low docking accuracy of the equipment. Therefore, we propose a method to improve the docking accuracy of the equipment through dynamic adjustment and compensation to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a method for improving equipment docking accuracy through dynamic adjustment and compensation.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A method for improving equipment docking accuracy through dynamic adjustment compensation involves using infrared ranging components and camera components symmetrically arranged at both ends of a cylindrical mounting frame at the bottom of a robotic arm, an infrared ranging component at the bottom of the middle section of the mounting frame, and a control processing system to control the robotic arm to adjust the docking accuracy with the parts to be assembled. Two infrared ranging components are located on one end face of the mounting frame, one at the center of the circular surface at the end of the mounting frame and the other at any point on the circular surface. The method includes the following steps:

[0007] S1. Move the robotic arm to a preset distance range of the docking equipment by setting a program through the control and processing system;

[0008] S2. The infrared ranging component at the end of the mounting bracket measures the distance between the end of the mounting bracket and the end of the positioning fixture, and the difference between the measured values ​​of the two infrared ranging components is the distance difference X.

[0009] S3. The control and processing system analyzes and judges the distance difference X, and adjusts the rotation angle of the robotic arm.

[0010] S4. The camera component acquires image information of the end of the positioning fixture, and the control processing system processes the offset distance D between the center of the circle where the end of the positioning fixture is located and the center of the circle where the end of the mounting frame is located.

[0011] S5. The control and processing system analyzes and determines the offset distance D, and adjusts the displacement of the robotic arm.

[0012] S6. The control and processing system controls the robotic arm to complete the docking task with the positioning fixture of the parts to be assembled.

[0013] Furthermore, the analysis and judgment of the distance difference X in step S3 specifically includes,

[0014] If the distance difference error range is met, the control processing system will not drive the robotic arm to rotate.

[0015] If the distance difference error range is not met, the control processing system drives the robotic arm to rotate by an angle and performs the following steps:

[0016] S31. The infrared ranging component measures the distance difference X' between the end of the mounting frame and the end of the positioning fixture.

[0017] S32. The control and processing system analyzes and judges the distance difference X' and adjusts the rotation angle of the robotic arm.

[0018] Furthermore, the distance difference error range is 0 ≤ X ≤ 0.5 cm.

[0019] Furthermore, the analysis and judgment of the offset distance D in step S5 specifically includes,

[0020] If the offset distance error range is met, the control processing system will not drive the robotic arm to move.

[0021] If the offset distance error range is not met, the control processing system drives the robotic arm to shift and performs the following steps:

[0022] S51, The camera component acquires image information of the end of the positioning fixture, and the control processing system processes the offset distance D' between the center of the end of the positioning fixture and the center of the end of the mounting frame.

[0023] S52. The control and processing system analyzes and judges the offset distance D' and adjusts the displacement of the robotic arm.

[0024] Furthermore, the offset distance error range is 0 ≤ D ≤ 0.3 cm.

[0025] Furthermore, the robotic arm can be adjusted in the up-down and left-right directions by a cylinder, and can rotate freely in a plane by a motor.

[0026] The beneficial effects of this invention are:

[0027] This invention improves docking accuracy during automated assembly by using infrared ranging components and a camera component in real time for adjustments. First, two infrared ranging components on the mounting frame end face accurately adjust the orientation of the mounting frame end face on the robotic arm in real time. Then, the camera component, in conjunction with the light from the infrared ranging components positioned at the center of the mounting frame end face, calculates the offset distance between the center of the mounting frame and the center of the positioning fixture. The control system then drives the robotic arm to move up and down and left and right, further improving docking accuracy. This avoids problems of low assembly accuracy and difficulty in controlling assembly quality caused by manufacturing errors and assembly deformation errors, thus achieving highly efficient and high-precision automated docking for equipment assembly. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a robotic arm structure that employs a method for improving equipment docking accuracy through dynamic adjustment compensation proposed in this invention.

[0029] Figure 2 This is a simplified schematic diagram of the infrared ranging component measuring the distance difference X between the end of the positioning tool and the end of the mounting frame in a method for improving equipment docking accuracy through dynamic adjustment compensation proposed in this invention.

[0030] Figure 3 This is a schematic diagram illustrating the offset between the center of the positioning tool end and the center of the mounting frame end in a method for improving equipment docking accuracy through dynamic adjustment compensation proposed in this invention.

[0031] In the diagram: 1. Robotic arm; 2. Mounting frame; 3. Infrared ranging component; 4. Camera component; 5. Mounting frame end; 6. Positioning fixture end. Detailed Implementation

[0032] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0033] Reference Figure 1 A method for improving equipment docking accuracy through dynamic adjustment compensation is proposed. This method utilizes infrared ranging components 3 and camera components 4 symmetrically positioned at both ends of a cylindrical mounting frame 2 at the bottom of a robotic arm 1. An infrared ranging component 1 located at the bottom of the middle section of the mounting frame 2, along with a control processing system, controls the robotic arm 1 to adjust the docking accuracy with the parts to be assembled. Two infrared ranging components 3 are located on one end face of the mounting frame 2, one at the center of the circular surface at the end 5 of the mounting frame, and the other at any point on the circular surface. The robotic arm 1 can achieve vertical and horizontal displacement adjustment via cylinders and free rotation within a plane via a motor. The infrared ranging components 4 transmit the measured distance data to the control processing system in real time.

[0034] The specific method includes the following steps:

[0035] S1. The control and processing system sets a program to move the robotic arm to a preset distance range of the docking equipment; the infrared ranging components at the center of both ends of the mounting frame and the infrared ranging components at the bottom of the middle section measure the distance between the robotic arm and the reference ground and wall, ensuring the initial movement of the robotic arm;

[0036] S2. The infrared ranging component at the end of the mounting bracket measures the distance between the end of the mounting bracket and the end of the positioning fixture, and the difference between the measured values ​​of the two infrared ranging components is the distance difference X.

[0037] Reference Figure 2 The distance between the infrared ranging component at the center of the mounting bracket end 5 and the end of the positioning fixture end 6 is X1, and the distance between the infrared ranging component at any point on the circular surface and the end of the positioning fixture end is X2. The difference between X1 and X2 is the distance difference X.

[0038] S3. The control and processing system analyzes and judges the distance difference X, and adjusts the rotation angle of the robotic arm; the orientation of the mounting frame end face on the robotic arm is accurately adjusted in real time by two infrared ranging components on the mounting frame end face.

[0039] The analysis and judgment of the distance difference X specifically includes:

[0040] If the distance difference error range is met, the control processing system will not drive the robotic arm to rotate an angle and will proceed to the next operation.

[0041] If the distance difference error range is not met, the control processing system drives the robotic arm to rotate by an angle and performs the following steps:

[0042] S31. The infrared ranging component measures the distance difference X' between the end of the mounting frame and the end of the positioning fixture.

[0043] S32. The control and processing system analyzes and judges the distance difference X', adjusts the rotation angle of the robotic arm, and repeats the adjustment until the measured distance difference X' meets the distance difference error range. The control and processing system does not drive the robotic arm to rotate the angle and proceeds to the next operation.

[0044] Specifically, the distance difference error range is 0 ≤ X ≤ 0.5 cm.

[0045] S4. The camera component acquires image information of the end of the positioning fixture, and the control processing system processes the offset distance D between the center of the circle where the end of the positioning fixture is located and the center of the circle where the end of the mounting frame is located.

[0046] Reference Figure 3The image information captured by the camera component at the end of the positioning fixture is circular with center O. The image also includes a light spot emitted by the infrared ranging component located at the center of the end of the mounting bracket. This light spot is the center O' of the end of the mounting bracket. The distance between the center O and O' is the offset distance D. The control processing system can calculate the horizontal displacement distance y and the vertical displacement distance z.

[0047] S5. The control and processing system analyzes and judges the offset distance D and adjusts the displacement of the robotic arm. The specific displacement distance is driven by the cylinder to move the robotic arm up and down and left and right. The movement distance is monitored in real time by the infrared ranging components at the center of the end face of the mounting frame and the bottom of the middle section.

[0048] The analysis and judgment of the offset distance D specifically includes:

[0049] If the offset distance error range is met, the control processing system will not drive the robotic arm to move.

[0050] If the offset distance error range is not met, the control processing system drives the robotic arm to shift, and the infrared sensor at the center of the mounting frame end face performs the following steps.

[0051] S51, The camera component acquires image information of the end of the positioning fixture, and the control processing system processes the offset distance D' between the center of the end of the positioning fixture and the center of the end of the mounting frame.

[0052] S52. The control and processing system analyzes and judges the offset distance D', adjusts the displacement of the robotic arm, and installs the infrared ranging component at the bottom of the middle section of the mounting frame.

[0053] Specifically, the offset distance error range is 0 ≤ D ≤ 0.3 cm.

[0054] S6. The control and processing system controls the robotic arm to complete the docking task with the positioning fixture of the parts to be assembled.

[0055] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for improving equipment docking accuracy through dynamic adjustment compensation, characterized in that: The robotic arm is controlled by infrared ranging components and camera components symmetrically arranged at both ends of a cylindrical mounting frame at the bottom of the robotic arm. An infrared ranging component at the bottom of the middle section of the mounting frame and a control processing system adjust the docking accuracy of the robotic arm with the positioning fixture of the part to be assembled. Two infrared ranging components are set on one end face of the mounting frame, one at the center of the circular surface at the end of the mounting frame and the other at any point on the circular surface. The process includes the following steps: S1. The robotic arm is moved by setting a program through the control and processing system. The distance between the robotic arm and the reference ground and wall is measured by the infrared ranging components at the center of both ends of the mounting frame and the infrared ranging component at the bottom of the middle section. This ensures the initial movement of the robotic arm and allows it to enter the preset distance range of the docking equipment. S2. The two infrared ranging components at the end of the mounting frame measure the distance between the end of the mounting frame and the end of the positioning fixture, and the difference between the measured values ​​of the two infrared ranging components is the distance difference X. S3. The control and processing system analyzes and judges the distance difference X. If it meets the distance difference error range, the control and processing system does not drive the robotic arm to rotate. If it does not meet the distance difference error range, the control and processing system drives the robotic arm to rotate and repeats the steps of measuring the distance difference, analyzing and judging and adjusting the rotation angle of the robotic arm by the infrared ranging component until the measured distance difference meets the distance difference error range. S4. The camera component acquires image information of the end of the positioning fixture. The control and processing system uses the light spot emitted by the infrared ranging component at the center of the end of the mounting frame as the center mark of the end of the mounting frame, identifies the center of the end of the positioning fixture, and calculates the offset distance D between the center of the end of the positioning fixture and the center of the end of the mounting frame. S5. The control processing system analyzes and judges the offset distance D. If it meets the offset distance error range, the control processing system does not drive the robotic arm to move. If it does not meet the offset distance error range, the control processing system drives the robotic arm to move and repeats the steps of the camera component acquiring images, calculating the offset distance, analyzing and judging, and adjusting the robotic arm displacement until the measured offset distance meets the offset distance error range. S6. The control and processing system controls the robotic arm to complete the docking task with the positioning fixture of the parts to be assembled.

2. The method for improving equipment docking accuracy by dynamically adjusting compensation according to claim 1, characterized in that: The distance difference error range is 0 ≤ X ≤ 0.5 cm.

3. The method for improving equipment docking accuracy by dynamically adjusting compensation according to claim 1, characterized in that: The offset distance error range is 0 ≤ D ≤ 0.3 cm.

4. The method for improving equipment docking accuracy by dynamically adjusting compensation according to claim 1, characterized in that: The robotic arm can be adjusted up and down and left and right by cylinders, and can rotate freely in a plane by motors.

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