Industrial robot processing system and control method for narrow space components

Abstract

The present invention provides an industrial robot processing system for narrow space components and a control method thereof, and relates to the field of industrial system processing control and regulation. The present invention uses two industrial robots to work together, and can complete operations such as hole making in a narrow space. In addition, obstacle constraints are used to impose constraints on the robot trajectory planning link. After obtaining a preliminary feasible trajectory, the planned path is adjusted using simulation. Through theoretical planning and offline simulation and correction, safe and reliable processing task planning is achieved, which improves the robot assembly efficiency and stability, and provides optimization space for the robot trajectory planning link.

Description

Technical Field

[0001] The present invention relates to the field of industrial system processing control and regulation, and in particular to an industrial robot processing system for narrow space components and a control method thereof. Background Art

[0002] For large narrow space components, due to the poor openness of the components, traditional CNC machine tools are difficult to meet the processing requirements, so manual drilling is usually used to drill into the components for manual operations, resulting in low processing efficiency and poor product processing consistency. Industrial robots have the characteristics of high degree of freedom, wide range of motion, and low cost, and are widely used in palletizing, welding, grasping and other fields. Applying industrial robots to the field of narrow space component processing can meet the needs of internal operations of narrow space components.

[0003] However, due to its serial structure, the absolute positioning accuracy of industrial robots is low, which makes it difficult to meet the precision requirements of narrow space component processing. With the development of visual inspection, the detection accuracy and efficiency are constantly improving. Applying visual inspection to the processing and manufacturing field can realize the development of system equipment towards automation and intelligence. Measuring the positioning error of industrial robots through visual inspection equipment and realizing the positioning error compensation of industrial robots is a way to realize the processing of narrow space components. Summary of the invention

[0004] Purpose of the invention: To propose an industrial robot processing system for narrow space components, and further propose a control method based on the above industrial robot processing system to solve the above problems existing in the prior art.

[0005] In a first aspect of the present invention, an industrial robot processing system for narrow space components is provided. The industrial robot processing system includes a tooling platform, a first ground rail, a second ground rail, a first industrial robot, a second industrial robot, and a C-Track optical dynamic tracking system.

[0006] The first ground rail and the second ground rail are fixed on both sides of the tooling platform, and are used to carry the first industrial robot and the second industrial robot to a designated position respectively;

[0007] The tooling platform is fixed with a narrow space component to be processed;

[0008] The end of the first industrial robot is connected to an end effector through a first flange, a marking point is attached and fixed to the end effector, and the end effector is used to realize operation in a narrow space component;

[0009] The end of the second industrial robot is connected to a binocular vision system through a second flange, wherein the binocular vision system is composed of a first monocular camera, a second monocular camera and an auxiliary light source, and is used to observe the marking point on the end effector;

[0010] The binocular vision system, the tooling platform, the first industrial robot, the first flange, and the end effector correspond to the binocular vision system coordinate system, the tooling platform coordinate system, the first industrial robot base coordinate system, the first flange coordinate system, and the end effector coordinate system respectively;

[0011] The C-Track optical dynamic tracking system is used to calibrate the conversion matrix between the binocular vision system coordinate system and the first industrial robot base coordinate system, the conversion matrix between the first industrial robot base coordinate system and the first flange coordinate system, and the conversion matrix between the first flange coordinate system and the end effector coordinate system.

[0012] Based on the industrial robot processing system for narrow space components proposed in the first aspect, the second aspect of the present invention proposes a control method thereof, the steps are as follows:

[0013] Step a, generating an end effector coordinate system tracking model file for binocular vision system tracking;

[0014] Step b, determining the processing positions of the first ground rail and the second ground rail, and determining the processing motion paths and posture information of the first industrial robot and the second industrial robot;

[0015] Step c: the first industrial robot carries the end effector and the second industrial robot carries the binocular vision system into the narrow space component;

[0016] Step d, the binocular vision system measures the measured pose of the end effector coordinate system in real time, and calculates the deviation between the measured pose and the theoretical pose;

[0017] Step e: According to the deviation value between the measured posture and the theoretical posture, the first industrial robot is controlled to perform posture error compensation until the posture deviation of the end effector coordinate system is less than a set threshold value;

[0018] Step f, the end effector performs a task on the narrow space component to be processed;

[0019] Step g: repeat steps c, d, e, and f until all processing tasks of the narrow space components to be processed are completed.

[0020] In a further embodiment of the second aspect, step a specifically includes: step a101, evenly fixing the marking points on the end effector, setting up the C-Track optical dynamic tracking system in front of the end effector, and ensuring that the marking points are within the field of view of the C-Track optical dynamic tracking system;

[0021] Step a102: Use the C-Track optical dynamic tracking system to establish an end-effector coordinate system tracking model, use a light pen to mark the marking points, and export a file containing the coordinate values ​​of the marking points in the end-effector coordinate system.

[0022] In a further embodiment of the second aspect, step b specifically includes: importing the end effector coordinate system tracking model file into the offline programming simulation software platform, and obtaining the first ground rail position, the second ground rail position, the first industrial robot posture, the second industrial robot posture, and the theoretical posture of the end effector coordinate system in the binocular vision system coordinate system corresponding to different processing tasks of the narrow space components according to the actual processing requirements of the narrow space components, and ensuring that the marking points on the end effector are within the field of view of the binocular vision system.

[0023] In a further embodiment of the second aspect, step c specifically comprises:

[0024] Step c101, placing the narrow space component to be processed on the tooling platform and fixing it by a positioning clamping device;

[0025] Step c102: According to the digital simulation plan, the first industrial robot carries the end effector and the second industrial robot carries the binocular vision system, and they enter the narrow space component according to the planned trajectory and point position.

[0026] In a further embodiment of the second aspect, step d specifically comprises:

[0027] Step d101, the binocular vision system photographs the marking points on the end effector to obtain the coordinate values ​​of each marking point in the binocular vision system coordinate system;

[0028] Step d102, calculating the theoretical position and posture of the end effector coordinate system in the binocular vision system coordinate system according to the coordinate value of the marking point in the end effector coordinate system obtained in step a102; the binocular vision system measures the measured position and posture of the end effector coordinate system in real time;

[0029] Step d103: Based on the theoretical pose and the measured pose, the pose deviation of the end effector coordinate system is calculated.

[0030] In a further embodiment of the second aspect, step e specifically comprises:

[0031] If the end effector coordinate system posture deviation is less than or equal to the preset threshold, skip step e and go directly to step f;

[0032] If the posture deviation of the end effector coordinate system is greater than a preset threshold, the posture correction value of the first industrial robot is calculated according to the transformation matrix between the binocular vision system coordinate system and the first industrial robot base coordinate system, the transformation matrix between the first industrial robot base coordinate system and the first flange coordinate system, and the transformation matrix between the first flange coordinate system and the end effector coordinate system, and the posture correction of the first industrial robot is performed until the posture deviation of the end effector coordinate system is less than or equal to the preset threshold, the movement of the first industrial robot is stopped, and the process jumps to step f.

[0033] During the posture correction process of the first industrial robot, the binocular vision system measures and calculates the posture deviation of the end effector coordinate system in real time and feeds it back to the first industrial robot.

[0034] The third aspect of the present invention provides a controller, which includes a processor, a memory, a communication interface and a communication bus. The processor, the memory and the communication interface communicate with each other through the communication bus; the memory is used to store a plurality of executable instructions, and the executable instructions enable the processor to execute the control method of the industrial robot processing system for narrow space components as described in the second aspect.

[0035] A fourth aspect of the present invention provides a computer-readable storage medium storing a plurality of executable instructions. When the executable instructions are executed on an electronic device, the electronic device executes the control method of the industrial robot processing system for narrow space components as described in the second aspect.

[0036] Beneficial effects: The present invention uses two industrial robots to work together, and can complete operations such as hole making in a narrow space. And by using obstacle constraints, constraints are imposed on the robot trajectory planning link. After obtaining the preliminary feasible trajectory, the planned path is adjusted by simulation. Through theoretical planning and offline simulation and correction, safe and reliable processing task planning is achieved, which improves the robot assembly efficiency and stability, and provides optimization space for the robot trajectory planning link. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the scene layout of the industrial robot processing system for narrow space components.

[0038] Figure 2 The present invention is a flow chart of a control method for an industrial robot processing system for components in narrow spaces.

[0039] Figure 3 This is a schematic diagram of the structure of the end effector in the first industrial robot.

[0040] Figure 4 This is a schematic diagram of the structure of the second industrial robot and its binocular vision system.

[0041] Figure 5 The original working image taken by the binocular vision system.

[0042] Figure numerals: first industrial robot 1, second industrial robot 2, end effector 3, binocular vision system 4, narrow space component 5, tooling platform 6, first ground rail 7, second ground rail 8, C-Track optical dynamic tracking system 9, light pen 10, marking point 11, first monocular camera 12, second monocular camera 13, auxiliary light source 14, flange adapter 15, first flange 16, second flange 17. DETAILED DESCRIPTION

[0043] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.

[0044] Embodiment 1:

[0045] like Figure 1 As shown, this embodiment discloses an industrial robot processing system for narrow space components, which includes a first industrial robot 1, a main industrial robot hole-making multifunctional end effector 3, a second industrial robot 2, a binocular vision measurement device, a narrow space component 5, a tooling platform 6, and a ground rail. The first industrial robot 1 is used to perform hole-making processing on the inner wall of the narrow space component 5. The hole-making multifunctional end effector 3 of the first industrial robot 1 is installed on the flange of the main industrial robot, and is guided to the target point by the second industrial robot 2 to complete the processing of the target hole. The second industrial robot 2 is equipped with a binocular vision system 4. The end effectors 3 of the two can be quickly replaced to achieve functional interchangeability; the second industrial robot 2 guides the first industrial robot 1 to perform precise positioning, and the binocular vision measurement equipment is connected to the second industrial robot 2 to perform visual measurement on the end processing and assembly process of the first industrial robot 1 to ensure that the first industrial robot 1 is accurately positioned according to the predetermined point. The narrow space component 5 is located on the tooling platform 6 and is the workpiece to be processed. It is used to verify the feasibility of the system. The tooling platform 6 is built with an aluminum profile frame to support and fix the workpiece to be processed (narrow space component 5). The ground rail is installed on the ground to drive the robot to move to a specified position, expand the robot's operating radius, and improve its use efficiency.

[0046] The structure of the end effector 3 in the first industrial robot 1 is as follows Figure 3As shown. A marking point 11 is pasted and fixed on the end effector 3. The multifunctional end effector 3 of the first industrial robot 1 is composed of a grating ruler, a dust cover, a pressure foot module, a dust removal pipeline, a slide feed module, a spindle module, etc. The grating ruler detects the position of the feed module in real time and feeds back to the controller to determine whether the feed is in place. If it is not in place, the feed position is adjusted. The dust removal module is composed of a dust cover and a dust removal pipeline, which discharges the debris of the processing module in time to prevent the debris from splashing and blocking the sensor and causing wear on the processing surface. The pressure angle module is used for normal alignment to improve the vertical accuracy of hole making. The spindle module cooperates with the slide feed module to realize the robot's hole making processing task.

[0047] Figure 4 The structure of the second industrial robot 2 and its binocular vision system 4 is shown. The binocular vision system 4 of the second industrial robot 2 is composed of a first monocular camera 12, a second monocular camera 13 and an auxiliary light source 14; the flange adapter 15 is used to connect the second flange 17 of the industrial robot with the binocular vision system 4, and the monocular camera is composed of components such as a visual sensor, which is used to observe environmental features and realize the visual guidance function.

[0048] Embodiment 2:

[0049] This embodiment provides a method for assembling and controlling components in a narrow space by using the processing system disclosed in Embodiment 1 with two robots. Figure 2 , the specific steps are as follows:

[0050] Step a: Generate a coordinate system tracking model file of the multifunctional end effector 3 for tracking by the binocular vision system 4.

[0051] Step b: Determine the processing positions of the first ground rail 7 and the second ground rail 8, and the processing motion paths and posture information of the first industrial robot 1 and the second industrial robot 2 through a numerical simulation planning method.

[0052] Step c: The first industrial robot 1 carries the multifunctional end effector 3 and the second industrial robot 2 carries the binocular vision system 4 into the narrow space component 5 .

[0053] Step d: The binocular vision system 4 measures the coordinate system posture of the multifunctional end effector 3 in real time, and calculates its deviation from the theoretical posture.

[0054] Step e: According to the calculated coordinate system deviation of the multifunctional end effector 3 , the first industrial robot 1 is controlled to perform posture error compensation until the coordinate system posture deviation of the multifunctional end effector 3 is less than a set threshold.

[0055] Step f: The multifunctional end effector 3 performs operations such as drilling holes on the narrow space component 5 to be processed.

[0056] Step g: According to the numerical simulation plan, complete all processing tasks required for the narrow space component 5 to be processed.

[0057] As a preferred embodiment, the above step a includes:

[0058] Step a101: Evenly stick and fix the marking point 11 on the multifunctional end effector 3, and set up the C-Track optical dynamic tracking system 9 in front of the multifunctional end effector 3 to ensure that the marking point 11 is within the field of view of the C-Track optical dynamic tracking system 9;

[0059] Step a102: Use the C-Track optical dynamic tracking system 9 and the light pen 10 to establish a tool coordinate system tracking model of the multifunctional end effector 3, and fix the model to the marking point 11, and export a file containing the coordinate value of the marking point 11 in the tool coordinate system.

[0060] As a preferred embodiment, the above step b includes:

[0061] Step b101: Import the system digital model into the offline programming simulation software platform, and according to the actual processing requirements of the narrow space component 5, obtain the positions of the first ground rail 7 and the second ground rail 8, the positions of the first industrial robot 1 and the second industrial robot 2 (Xi, Yi, Zi, Rxi, RYi, Rzi) corresponding to different processing tasks of the narrow space component 5, and the theoretical position of the coordinate system of the multifunctional end effector 3 in the coordinate system of the binocular vision system 4, and ensure that the marking point 11 on the multifunctional end effector 3 is within the field of view of the binocular vision system 4. Figure 5 What is shown is the original working image taken by the binocular vision system 4.

[0062] As a preferred embodiment, the above step c includes:

[0063] Step c101: placing the narrow space component 5 to be processed on the tooling platform 6 and fixing it by a positioning clamping device;

[0064] Step c102: According to the digital simulation plan, the first industrial robot 1 carries the multifunctional end effector 3 and the second industrial robot 2 carries the binocular vision system 4, and enters the narrow space component 5 according to the planned trajectory and point position.

[0065] As a preferred embodiment, the above step d includes:

[0066] Step d101: the binocular vision system 4 photographs the marking points 11 on the multifunctional end effector 3 to obtain the coordinate values ​​of each marking point 11 in the coordinate system of the binocular vision system 4;

[0067] Step d102: Calculate the position X3, Y3, Z3, Rx3, RY3, and Rz3 of the coordinate system of the multifunctional end effector 3 in the coordinate system of the binocular vision system 4 according to the coordinate value of the marking point 11 in the coordinate system of the multifunctional end effector 3 obtained in step a;

[0068] Step d103: according to the theoretical pose of the coordinate system of the multifunctional end effector 3 in the coordinate system of the binocular vision system 4 by offline programming and the actual pose of the coordinate system of the multifunctional end effector 3 in the coordinate system of the binocular vision system 4 measured by the binocular vision system 4, the pose deviations △X, △Y, △Z, △RX, △RY, △RZ of the coordinate system of the multifunctional end effector 3 are calculated;

[0069] As a preferred embodiment, the above step e includes:

[0070] Step e101: if the coordinate system posture deviation of the multifunctional end effector 3 is not greater than the preset threshold, it is considered that the coordinate system posture deviation of the multifunctional end effector 3 is small, and step e can be skipped;

[0071] Step e102: If the posture deviation of the coordinate system of the multifunctional end effector 3 is greater than a preset threshold, a posture correction value of the first industrial robot 1 is calculated according to the conversion matrix between the coordinate system of the binocular vision system 4 and the base coordinate system of the first industrial robot 1, the conversion matrix between the base coordinate system of the first industrial robot 1 and the coordinate system of the first flange 16, and the conversion matrix between the coordinate system of the first flange 16 and the coordinate system of the multifunctional end effector 3, and the posture correction of the first industrial robot 1 is performed;

[0072] Step e103: During the posture correction process of the first industrial robot 1, the binocular vision system 4 measures and calculates the posture deviation of the coordinate system of the multifunctional end effector 3 in real time, and sends it to the first industrial robot 1 for posture correction;

[0073] Step e104: until the multifunctional end-effector tool coordinate system posture deviation is no greater than a preset threshold, the first industrial robot 1 stops moving and the process jumps to step f.

[0074] As a preferred embodiment, the above step g includes: repeating the above steps c, d, e, and f until all processing tasks of the narrow space component 5 to be processed are completed.

[0075] In practical applications, the operation logic of the control method for the industrial robot processing system for narrow space components disclosed in the above embodiment can be written into a set of executable instructions, which are written into a storage medium and run on an electronic device. More specific examples of the computer-readable storage medium mentioned in this embodiment may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. The computer-readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The readable signal medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program used by or in combination with an instruction execution system, an apparatus, or a device.

[0076] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A control method for an industrial robot processing system for narrow space components, characterized in that: The industrial robot processing system for narrow space components includes a tooling platform, two ground rails fixed on the tooling platform, two groups of industrial robots respectively arranged on the two ground rails, and a C-Track optical dynamic tracking system; wherein: The first ground rail and the second ground rail are fixed on both sides of the tooling platform, and are used to carry the first industrial robot and the second industrial robot to a designated position respectively; A narrow space component to be processed is fixed on the tooling platform; The end of the first industrial robot is connected to an end effector through a first flange, a marking point is attached and fixed to the end effector, and the end effector is used to realize operation in a narrow space component; The end of the second industrial robot is connected to a binocular vision system through a second flange, wherein the binocular vision system is composed of a first monocular camera, a second monocular camera and an auxiliary light source, and is used to observe the marking point on the end effector; The binocular vision system, the tooling platform, the first industrial robot, the first flange, and the end effector correspond to the binocular vision system coordinate system, the tooling platform coordinate system, the first industrial robot base coordinate system, the first flange coordinate system, and the end effector coordinate system respectively; The C-Track optical dynamic tracking system is used to calibrate the conversion matrix between the binocular vision system coordinate system and the first industrial robot base coordinate system, the conversion matrix between the first industrial robot base coordinate system and the first flange coordinate system, and the conversion matrix between the first flange coordinate system and the end effector coordinate system; The control method comprises the following steps: Step a, generating an end effector coordinate system tracking model file for binocular vision system tracking; Step b, determining the processing positions of the first ground rail and the second ground rail, and determining the processing motion paths and posture information of the first industrial robot and the second industrial robot, specifically including: importing the end effector coordinate system tracking model file into the offline programming simulation software platform, and obtaining the first ground rail position, the second ground rail position, the first industrial robot posture, the second industrial robot posture, and the theoretical posture of the end effector coordinate system in the binocular vision system coordinate system corresponding to different processing tasks of the narrow space component according to the actual processing requirements of the narrow space component, and ensuring that the marking point on the end effector is within the field of view of the binocular vision system; Step c: the first industrial robot carries the end effector and the second industrial robot carries the binocular vision system into the narrow space component; Step d, the binocular vision system measures the measured pose of the end effector coordinate system in real time, and calculates the deviation between the measured pose and the theoretical pose; Step e: According to the deviation value between the measured posture and the theoretical posture, the first industrial robot is controlled to perform posture error compensation until the posture deviation of the end effector coordinate system is less than a set threshold value; Step f, the end effector performs a task on the narrow space component to be processed; Step g: repeat steps c, d, e, and f until all processing tasks of the narrow space components to be processed are completed.

2. The control method of the industrial robot processing system for narrow space components according to claim 1 is characterized in that: Step a further comprises: Step a101, evenly fix the marking points on the end effector, set up the C-Track optical dynamic tracking system in front of the end effector, and ensure that the marking points are within the field of view of the C-Track optical dynamic tracking system; Step a102: Use the C-Track optical dynamic tracking system to establish an end-effector coordinate system tracking model, use a light pen to mark the marking points, and export a file containing the coordinate values ​​of the marking points in the end-effector coordinate system.

3. The control method of the industrial robot processing system for narrow space components according to claim 1, characterized in that: Step c further comprises: Step c101, placing the narrow space component to be processed on the tooling platform and fixing it by a positioning clamping device; Step c102: According to the digital simulation plan, the first industrial robot carries the end effector and the second industrial robot carries the binocular vision system, and they enter the narrow space component according to the planned trajectory and point position.

4. The control method of the industrial robot processing system for narrow space components according to claim 2, characterized in that: Step d further comprises: Step d101, the binocular vision system photographs the marking points on the end effector to obtain the coordinate values ​​of each marking point in the binocular vision system coordinate system; Step d102, the binocular vision system measures the measurement posture of the end effector coordinate system in real time; Step d103: Based on the theoretical pose and the measured pose, the pose deviation of the end effector coordinate system is calculated.

5. The control method of the industrial robot processing system for narrow space components according to claim 4, characterized in that: Step e further comprises: If the end effector coordinate system posture deviation is less than or equal to the preset threshold, skip step e and go directly to step f; If the posture deviation of the end effector coordinate system is greater than a preset threshold, the posture correction value of the first industrial robot is calculated according to the transformation matrix between the binocular vision system coordinate system and the first industrial robot base coordinate system, the transformation matrix between the first industrial robot base coordinate system and the first flange coordinate system, and the transformation matrix between the first flange coordinate system and the end effector coordinate system, and the posture correction of the first industrial robot is performed until the posture deviation of the end effector coordinate system is less than or equal to the preset threshold, the movement of the first industrial robot is stopped, and the process jumps to step f.

6. The control method of the industrial robot processing system for narrow space components according to claim 5, characterized in that: During the posture correction process of the first industrial robot, the binocular vision system measures and calculates the posture deviation of the end effector coordinate system in real time and feeds it back to the first industrial robot.

7. A controller, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store a plurality of executable instructions, and the executable instructions enable the processor to execute the control method of the industrial robot processing system for narrow space components according to any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that: The storage medium stores a plurality of executable instructions, and when the executable instructions are executed on the electronic device, the electronic device executes the control method of the industrial robot processing system for narrow space components as described in any one of claims 1 to 6.

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