An automatic skin placement system

Abstract

The present application relates to a kind of skin automatic placement system, belong to skin automation assembly field, solve the technical problem of low precision of skin placement in prior art.The system of the present application includes: adsorption device, mechanical arm, visual device and controller, when executing skin assembly task, controller controls mechanical arm and adsorption device according to teaching data and moves skin to preset position, then controller controls visual device and respectively takes photograph to skin and skeleton to obtain skin actual pose and skeleton actual pose;Controller carries out visual matching calculation according to skin actual pose and skeleton actual pose to obtain the actual transformation of the end of mechanical arm, and then controls the end of mechanical arm to adjust the pose of skin according to actual transformation, and then skin is positioned and placed on skeleton from preset position.The system of the present application, by respectively identifying the actual pose of skin and skeleton, is used to adjust teaching path, offsets adsorption error, and improves the precision of skin placement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of skin automatic assembly, and in particular to a skin automatic placing system. BACKGROUND

[0002] In the welding unit of complex components, the skin belongs to a special wing component, which poses a great challenge to the automatic welding process. The manufacturing process of the skin includes bending and sheet metal, which leads to poor consistency between the skins and makes it difficult to use traditional mechanical arms to grab. The existing skin placing system mainly uses the way of suction cup to suck the skin, but the suction cup is a soft connection, and the repeatability of the suction cup to suck the skin is about 0.5mm, which leads to the skin placing precision of the existing system, which cannot meet the high precision requirement of the welding process, especially in the occasion where the assembly gap needs to be controlled within 0.01mm. SUMMARY

[0003] In view of the above analysis, the embodiment of the present application aims to provide a skin automatic placing system to solve the technical problem of low precision of skin placing in the prior art.

[0004] In one aspect, the embodiment of the present application provides a skin automatic placing system, which comprises: an adsorption device, a mechanical arm, a visual device and a controller,

[0005] The adsorption device is arranged at the end of the mechanical arm and is used to adsorb the skin to be assembled;

[0006] The controller is connected with the mechanical arm, the adsorption device and the visual device respectively;

[0007] The controller stores the teaching data of the mechanical arm performing the skin assembly task;

[0008] When performing the skin assembly task, the controller controls the mechanical arm and the adsorption device according to the teaching data to make the adsorption device adsorb the skin to be assembled and move the skin to a preset position, and then the controller controls the visual device to take pictures of the skin and the skeleton respectively to obtain the actual pose of the skin and the actual pose of the skeleton at the preset position;

[0009] The controller performs visual matching calculation according to the actual pose of the skin and the actual pose of the skeleton to obtain the actual transformation of the end of the mechanical arm, and then controls the end of the mechanical arm to adjust the pose of the skin according to the actual transformation and place the skin from the preset position to the skeleton.

[0010] Based on the further improvement of the above system, the teaching data comprises: the skin grasping point coordinates, the skeleton teaching pose, the teaching path of the mechanical arm, and the skin teaching pose and the teaching transformation of the mechanical arm end at each path point on the teaching path.

[0011] Based on the further improvement of the above system, the controller comprises a visual matching calculation module.

[0012] The visual matching calculation module performs visual matching calculation according to the following formula to obtain the actual transformation of the mechanical arm end:

[0013] ;

[0014] ;

[0015] ;

[0016] In the formula, is the actual transformation of the mechanical arm end, is the teaching transformation of the mechanical arm end at the preset position, is the pose relative transformation of the skeleton, is the actual pose of the skeleton, is the teaching pose of the skeleton, is the pose relative transformation of the skin, is the actual pose of the skin at the preset position, is the teaching pose of the skin at the preset position.

[0017] Based on the further improvement of the above system, the controller controls the mechanical arm and the adsorption device according to the teaching data to make the adsorption device adsorb the skin to be assembled and move the skin to the preset position, comprising:

[0018] The skin to be assembled is positioned and placed at the preset grasping position;

[0019] The controller controls the mechanical arm to move from the initial position to the grasping position, and then makes the adsorption device adsorb the skin to be assembled according to the grasping point coordinates of the skin;

[0020] Then, the controller controls the mechanical arm to move the skin from the storage position to the preset position along the teaching path according to the teaching transformation of the mechanical arm.

[0021] Based on the further improvement of the above system, the system further comprises a turnover position changing machine, and the turnover position changing machine is connected with the controller.

[0022] The turnover position changing machine is used for placing the skin to be assembled, and is used for turning over the skin to be assembled to the preset grasping position.

[0023] Further improvement based on the above system, the positioning tool is further provided with at least two clamping devices, which are arranged along the edges of the framework, and the clamping devices are used to fix the framework on the positioning tool.

[0024] Further improvement based on the above system, the positioning tool is further provided with at least two guiding devices, which are arranged along the edges of the framework, and the guiding devices are used to guide and limit the skin during the process of positioning the skin on the framework by the mechanical arm.

[0025] Further improvement based on the above system, the guiding device comprises a base and a guiding column, wherein the guiding column is elastically connected to the base, and the outer wall of the guiding column is used to contact the skin.

[0026] Further improvement based on the above system, the mechanical arm is provided with a force control sensor, which is used to detect the force condition of the mechanical arm; and the controller is connected with the force control sensor.

[0027] The controller further comprises a flexible control module, which is used to flexibly control the mechanical arm according to the force condition of the mechanical arm.

[0028] The flexible control module flexibly controls the mechanical arm according to the force condition of the mechanical arm, including the following steps:

[0029] The external force on the end of the mechanical arm is converted into a speed adjustment amount and / or a position adjustment amount;

[0030] The speed of the end of the mechanical arm is adjusted according to the speed adjustment amount, and / or the moving distance of the end of the mechanical arm is adjusted according to the position adjustment amount.

[0031] Further improvement based on the above system, the adsorption device comprises a vacuum generator and at least three suction cups, the vacuum generator is connected with each suction cup through a gas path, the suction cup is used to adhere to the skin, the vacuum generator is used to provide suction force, and the controller is connected with the vacuum generator to control the opening and closing of the vacuum generator.

[0032] 1、In the present application, after the mechanical arm end absorbs the skin to be assembled and moves it to the preset position, the actual pose of the skin and the framework is respectively recognized by the visual device for visual matching, so as to adjust the teaching transformation of the mechanical arm end, so as to realize the correction of the skin pose, which can offset the adsorption error caused by soft connection such as adsorption connection, and obtain accurate placement pose, thereby improving the precision of skin placement.

[0033] 2. In this invention, the controller controls the robotic arm and the adsorption device to move the skin to a preset position according to the teaching data, and then performs visual matching to correct the skin posture, which helps to eliminate the cumulative error generated during the movement and facilitates control.

[0034] 3. In this invention, the skin is fed by a flipping and positioning machine, which ensures that each skin to be assembled can be accurately placed in the preset gripping position, so that the robotic arm can adsorb the skin according to the gripping point coordinates of the skin obtained by teaching, which helps to improve the placement accuracy of the skin.

[0035] 4. In this invention, the positioning fixture is not only equipped with a clamping device for fixing the skeleton, but also with a guiding device. The guiding device can help the robotic arm to accurately place the skin on the skeleton, reducing the positioning deviation caused by suction cup adsorption error.

[0036] 5. In this invention, while being guided by the guiding device, the robot arm is flexibly controlled according to the force applied to its end effector to ensure that the robot can operate with appropriate force and speed, avoid damage to the skin, and enable the robot arm to operate efficiently, safely and accurately.

[0037] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0038] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0039] Figure 1 This is a schematic diagram of the principle of the automated skin placement system according to an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the structure of the automated skin placement system according to an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the structure of the automated skin placement system according to an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the guiding device according to an embodiment of the present invention.

[0043] Figure label:

[0044] 1, mechanical arm; 2, guide device; 3, skin; 4, framework;

[0045] 5, positioning tool; 6, clamping device;

[0046] 21, base; 22, guide column; 221, straight section; 222, inclined section. DETAILED DESCRIPTION

[0047] The preferred embodiments of the present application will be described in detail below with reference to the drawings, wherein the drawings constitute a part of this application and are used to explain the principles of the embodiments of the present application, but are not used to limit the scope of the present application.

[0048] One embodiment of the present application provides a skin automatic placement system, as shown in Figure 1 and Figure 2 The skin automatic placement system comprises a suction device, a mechanical arm 1, a visual device and a controller,

[0049] The suction device is arranged at the end of the mechanical arm 1 and used to suck the skin 3 to be assembled;

[0050] The controller is connected with the mechanical arm 1, the suction device and the visual device respectively;

[0051] The controller stores teaching data of the mechanical arm 1 performing the skin 3 assembly task;

[0052] When performing the skin 3 assembly task, the controller controls the mechanical arm 1 and the suction device according to the teaching data to make the suction device suck the skin 3 to be assembled and move the skin 3 to a preset position, and then the controller controls the visual device to take pictures of the skin 3 and the framework 4 respectively to obtain actual poses of the skin 3 and the framework 4 at the preset position;

[0053] The controller performs visual matching calculation according to the actual poses of the skin 3 and the framework 4 to obtain actual transformation of the end of the mechanical arm 1, and then controls the end of the mechanical arm 1 to adjust the pose of the skin 3 according to the actual transformation and then positions and places the skin 3 from the preset position to the framework 4.

[0054] In implementation, the preset position is a position close to the framework 4, and specifically, the distance between the preset position and the framework 4 is 20mm to 50mm, preferably 30mm to 40mm.

[0055] In implementation, the controller can adopt an upper computer for facilitating human-computer interaction. The suction device is in communication connection with the controller through a communication module of the mechanical arm 1.

[0056] Compared with the prior art, in the embodiment of the present application, considering that the adsorption connection is a soft connection, an adsorption error will be generated after the end of the mechanical arm 1 adsorbs the skin 3, which will cause the attitude of the skin 3 to deviate, and this deviation cannot be accurately estimated, therefore, after the end of the mechanical arm 1 adsorbs the skin 3 to be assembled and moves it to the preset position, the skin 3 automatic placement system in the embodiment of the present application identifies the actual poses of the skin 3 and the skeleton 4 respectively for visual matching, so as to adjust the teaching transformation of the end of the mechanical arm 1, thereby realizing the pose correction of the skin 3, being able to offset the adsorption error caused by the soft connection such as adsorption connection, and obtaining an accurate placement pose, and improving the precision of the placement of the skin 3.

[0057] Meanwhile, in the embodiment of the present application, after the controller controls the mechanical arm 1 and the adsorption device to move the skin 3 to the preset position according to the teaching data, visual matching is performed to correct the attitude of the skin 3, thereby being beneficial to eliminating the positional deviation generated in the movement process and being convenient for control.

[0058] Before performing the actual assembly task, the teaching data is obtained by teaching to simulate the process of assembling the skin 3 to the skeleton 4, which can ensure that the mechanical arm 1 accurately learns and replicates the assembly action.

[0059] Specifically, the teaching data includes: a grasping point coordinate of the skin 3, a skeleton teaching pose, a teaching path of the mechanical arm 1, and a skin teaching pose and a teaching transformation of the end of the mechanical arm 1 at each path point on the teaching path.

[0060] Among them, the skin teaching pose and the skeleton teaching pose refer to the position and direction of the workpiece such as the skin 3 and the skeleton 4 in the robot coordinate determined by the teaching method. Specifically, during teaching, the operator sets the skin teaching pose and the skeleton teaching pose according to the assembly environment and task requirements of the skin 3.

[0061] The teaching path refers to the movement trajectory of the mechanical arm 1 when performing the assembly task, and the teaching transformation refers to the specific position and direction of the end of the mechanical arm 1 on the movement trajectory.

[0062] It should be noted that the front and back of the skeleton 4 are respectively provided with front skins and back skins. That is, the skin 3 includes two types of skins, i.e., front skins and back skins. The robot teaching needs to be performed on the two types of different skins 3.

[0063] The pose of the workpiece refers to the three-dimensional space state of the workpiece in the robot coordinate system, including the position and direction of the workpiece, wherein the position is the coordinate of the center point or the preselected reference point of the workpiece in space, and the direction is the rotation state of the workpiece relative to the robot coordinate, which can be described by Euler angles (pitch angle, yaw angle, roll angle).

[0064] It should be noted that in the assembly task, what is concerned is how to align a specific connection point of a component to a corresponding connection point of another component, and therefore in the embodiment of the present application, the pose of the skin 3 refers to the position and direction of the fitting points of the skin 3 on the skeleton 4, and the pose of the skeleton 4 refers to the position and direction of the fitting points of the skeleton 4 on the skin 3.

[0065] Specifically, the fitting points between the skin 3 and the skeleton 4 are selected as the gripping points, which is conducive to the accurate placement of the skin 3 on the skeleton 4 by the robot arm 1, so that the two are fitted.

[0066] Further specifically, during the demonstration, the coordinates of the gripping points of the skin 33 to be assembled are obtained by the following method:

[0067] Assembling the skin template onto the skeleton template;

[0068] Identifying the coordinates of the fitting points between the skin template and the skeleton template by the visual device;

[0069] Selecting the coordinates of at least three fitting points as the gripping point coordinates.

[0070] It should be noted that similarly, the skin template includes a front skin template and a reverse skin template, and therefore the above method needs to be used to obtain the gripping point coordinates of the front skin 3 and the gripping point coordinates of the reverse skin 3 respectively. During implementation, the corresponding gripping point coordinates are called according to the category of the skin 3 to be assembled.

[0071] In one embodiment, the visual device is a camera for capturing images and analyzing.

[0072] In the embodiment, the visual device analyzes the image of the skin 3 to determine the actual pose of the skin 3, i.e. the position and direction of the skin 3 in space. Similarly, the visual device analyzes the image of the skeleton 4 to determine the actual pose of the skeleton 4, i.e. the position and direction of the skeleton 4 in space.

[0073] In a specific embodiment, the suction device includes a vacuum generator and at least three suction cups, the vacuum generator is connected to each of the suction cups through an air path, the suction cups are used to fit the skin 3, the vacuum generator is used to provide suction force, and the controller is connected to the vacuum generator to control the opening and closing of the vacuum generator.

[0074] Among them, the suction device can provide a larger contact area and stronger suction force by setting at least three suction cups, which is suitable for different sizes and shapes of the skin 3.

[0075] In one embodiment, the controller includes a visual matching calculation module. The visual matching calculation module performs visual matching calculation according to the following formula to obtain the actual transformation of the end of the robot arm 1:

[0076] ;

[0077] ;

[0078] ;

[0079] wherein, is the actual transformation of the end of the robot arm 1, is the teaching transformation of the end of the robot arm 1 at the preset position, is the pose relative transformation of the skeleton 4, is the actual pose of the skeleton 4, is the teaching pose of the skeleton, is the pose relative transformation of the skin 3, is the actual pose of the skin 3 at the preset position, is the teaching pose of the skin at the preset position.

[0080] Specifically, the controller controls the robot arm 1 and the adsorption device according to the teaching data to make the adsorption device adsorb the skin 3 to be assembled and move the skin 3 to the preset position, which includes:

[0081] The skin 3 to be assembled is positioned and placed at the preset grabbing position;

[0082] The controller controls the robot arm to move from the initial position to the grabbing position, and then makes the adsorption device adsorb the skin 3 to be assembled according to the grabbing point coordinates of the skin 3;

[0083] Then, the controller controls the robot arm to move the skin 3 from the storage position to the preset position along the teaching path according to the teaching transformation of the robot arm 1.

[0084] Specifically, the system further includes a turnover position changing machine, which is connected with the controller. The turnover position changing machine is used for placing the skin 3 to be assembled and turning the skin 3 to be assembled to the preset grabbing position.

[0085] In implementation, the skin 3 to be assembled is first placed on the turnover position changing machine, and then the skin 3 is turned to the preset grabbing position by the turnover position changing machine. The robot arm 1 is first moved to the preset initial position, and then moved from the initial position to the grabbing position where the skin 3 is placed. The adsorption device adsorbs the skin 3. After the skin 3 is adsorbed, the robot arm 1 moves to the preset position along the teaching path. Then, the visual recognition system takes pictures of the skin 3 and the skeleton 4 respectively for visual matching. After adjusting the posture of the skin 3, the skin 3 is assembled to the skeleton 4. The adsorption device is controlled to be separated from the skin 3. The robot arm 1 returns to the initial position to prepare for the assembly task of the next skin 3.

[0086] In the embodiment of the present application, the skin 3 is fed by the turnover positioner, so that each skin 3 to be assembled can be accurately placed at the preset grabbing position, and the mechanical arm can adsorb the skin 3 according to the grabbing point coordinates of the skin 3 obtained by teaching, thereby improving the placement accuracy of the skin 3.

[0087] In one embodiment, as shown in Figure 3 The system further comprises a positioning tool 5, and at least two clamping devices 6 are arranged on the positioning tool 5, the clamping devices 6 are arranged along the edges of the framework 4, and the clamping devices 6 are used to fix the framework 4 on the positioning tool 5.

[0088] Preferably, at least two guide devices 2 are further arranged on the positioning tool 5, the guide devices 2 are arranged along the edges of the framework 4, and the guide devices 2 are used to guide and limit the skin 3 during the process of positioning and placing the skin 3 on the framework 4 by the mechanical arm 1.

[0089] In the embodiment of the present application, as shown in Figure 3 The positioning tool 5 not only has the clamping devices 6 for fixing the framework 4, but also has the guide devices 2, which can assist the mechanical arm 1 to accurately place the skin 3 on the framework 4, and reduce the positioning deviation caused by the adsorption error of the suction cup.

[0090] During implementation, after the end of the mechanical arm 1 adjusts the pose of the skin 3 according to the actual transformation, the skin 3 is positioned and placed on the framework 4 from the preset position under the limitation of the guide device 2.

[0091] As shown in Figure 4 The guide device 2 comprises a base 21 and a guide column 22, wherein the guide column 22 is elastically connected to the base 21, and the outer wall of the guide column 22 is used to contact the skin 3.

[0092] The outer wall of the guide column 22 is a curved surface, which can ensure that the guide column 22 and the skin 3 are in line contact instead of surface contact. Meanwhile, the guide column 22 is elastically connected to the base 21, which can balance the external force on the skin 3, thereby avoiding damage to the skin 3.

[0093] Further, the guide column 22 comprises a straight segment 221 and an inclined segment 222 connected to each other, and the inclined segment 222 is located above the guide column 22. The inclined segment 222 located at the upper part facilitates the mechanical arm 1 to place the skin 3 on the framework 4, and the straight segment 221 located at the lower part can limit the skin 3.

[0094] Further specifically, a spring is arranged between the guide column 22 and the base 21, so as to realize elastic connection.

[0095] Preferably, the mechanical arm 1 is provided with a force control sensor, which is used to detect the force condition of the mechanical arm 1; and the controller is connected with the force control sensor.

[0096] In implementation, the force control sensor is connected with the controller through a communication module of the mechanical arm 1.

[0097] The controller further comprises a flexible control module, which is used to perform flexible control on the mechanical arm 1 according to the force condition of the mechanical arm 1.

[0098] In implementation, when the mechanical arm 1 moves the skin 3 to the preset position, the flexible control module of the controller is started to perform flexible control on the mechanical arm 1. Specifically, when the skin 3 moves to the preset position and is close to the framework 4, the guide device 2 contacts the skin 3 when the mechanical arm 1 drives the skin 3 to continue approaching the framework 4, and the external force is applied to the skin 3 and conducted to the mechanical arm 1. Therefore, by detecting the force condition of the end of the mechanical arm 1 and performing flexible control on the mechanical arm 1 according to the force condition, it can be ensured that the skin 3 can be flexibly assembled and accurately positioned even under the assembly condition with small tolerance when the skin 3 contacts the guide device 2 with a certain depth.

[0099] In the embodiment of the application, the controller performs flexible control on the mechanical arm 1 according to the force condition of the end of the mechanical arm 1 while the guide device 2 guides, so as to ensure that the robot can operate with appropriate force and speed, avoid damaging the skin 3, and enable the mechanical arm 1 to realize efficient, safe and accurate operation.

[0100] Specifically, the force control sensor is a six-dimensional force control sensor.

[0101] The flexible control module performs flexible control on the mechanical arm 1 according to the force condition of the mechanical arm 1, including the following steps:

[0102] The external force on the end of the mechanical arm 1 is converted into a speed adjustment amount and / or a position adjustment amount;

[0103] The speed of the end of the mechanical arm 1 is adjusted according to the speed adjustment amount, and / or the moving distance of the end of the mechanical arm 1 is adjusted according to the position adjustment amount.

[0104] In the embodiment of the application, the controller performs flexible control on the mechanical arm 1 according to the force condition of the end of the mechanical arm 1 while the guide device 2 guides, so as to ensure that the robot can operate with appropriate force and speed, avoid damaging the skin 3, and enable the mechanical arm 1 to realize efficient, safe and accurate operation.

[0105] Wherein, the flexible control includes stiffness control, damping control and impedance control. Converting the feedback force signal to position adjustment amount is stiffness control; converting the feedback force signal to speed adjustment amount is damping control; converting the feedback force signal to speed adjustment amount and position adjustment amount is impedance control. The embodiment of the present application can select any one of the flexible control according to actual needs.

[0106] Exemplarily, the formula of converting the external force on the end of the mechanical arm 1 into speed adjustment amount and / or position adjustment amount is as follows:

[0107] ;

[0108] ;

[0109] In the formula, is the speed adjustment amount, is the external force on the end of the mechanical arm 1; is the damping coefficient, used to determine the strength of the speed adjustment; is the position adjustment amount, is the proportional stiffness coefficient, used to determine the strength of the position adjustment.

[0110] Those skilled in the art can understand that all or part of the processes of the above-mentioned embodiments can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. The computer readable storage medium includes a magnetic disk, an optical disk, a read-only memory, a random access memory, etc.

[0111] The above is only the preferred embodiment of the present application, but the protection scope of the present application is not limited to this. Any changes or replacements within the technical scope disclosed by the present application can be easily thought by those skilled in the art, and should be covered within the protection scope of the present application.

Claims

1. An automatic skin placement system, characterized in that, The system includes: an adsorption device, a robotic arm, a vision device, and a controller. The adsorption device is located at the end of the robotic arm and is used to adsorb the skin to be assembled. The controller is connected to the robotic arm, the adsorption device, and the vision device, respectively. The controller stores teaching data for the robotic arm to perform skin assembly tasks; When performing the skin assembly task, the controller controls the robotic arm and the adsorption device according to the teaching data, so that the adsorption device adsorbs the skin to be assembled and moves the skin to a preset position. Then, the controller controls the vision device to take pictures of the skin and the skeleton respectively to obtain the actual pose of the skin and the actual pose of the skeleton at the preset position. The controller performs visual matching calculations based on the actual pose of the skin and the actual pose of the skeleton to obtain the actual transformation of the robotic arm end effector, and then controls the robotic arm end effector to adjust the pose of the skin according to the actual transformation and position the skin from the preset position onto the skeleton. The teaching data includes: the coordinates of the gripping point of the skin, the teaching pose of the skeleton, the teaching path of the robotic arm, and the teaching pose of the skin and the teaching transformation of the end effector of the robotic arm at each path point on the teaching path. The controller includes: a visual matching calculation module; The visual matching calculation module performs visual matching calculations according to the following formula to obtain the actual transformation of the robotic arm's end effector: ； ； ； In the formula, For the actual transformation of the robotic arm's end effector, This is a teaching transformation of the robotic arm's end effector at a preset position. For the relative pose transformation of the skeleton This represents the actual pose of the skeleton. The teaching pose is for the skeleton. For the relative pose transformation of the skin, This represents the actual pose of the skin at the preset position. The teaching pose for the skin at the preset position.

2. The system according to claim 1, characterized in that, The controller controls the robotic arm and the adsorption device according to the taught data, causing the adsorption device to adsorb the skin to be assembled and move the skin to a preset position, including: The skin to be assembled is positioned at the preset gripping position; The controller controls the robotic arm to move from the initial position to the gripping position, and then causes the adsorption device to adsorb the skin to be assembled according to the gripping point coordinates of the skin; Then, the controller controls the robotic arm to move the skin from the storage position to the preset position along the teaching path according to the teaching transformation of the robotic arm.

3. The system according to claim 2, characterized in that, The system also includes a flip-type positioner, which is connected to the controller; The flipping and positioning machine is used to place the skin to be assembled and to flip the skin to be assembled to a preset gripping position.

4. The automatic skin placement system according to any one of claims 1-3, characterized in that, The system also includes a positioning fixture, on which at least two clamping devices are provided. The clamping devices are arranged at intervals along the edge of the skeleton and are used to fix the skeleton on the positioning fixture.

5. The automatic skin placement system according to claim 4, characterized in that, The positioning fixture is also provided with at least two guiding devices, which are arranged at intervals along the edge of the skeleton. The guiding devices are used to guide and limit the skin during the process of the robotic arm positioning the skin from the preset position onto the skeleton.

6. The system according to claim 5, characterized in that, The guiding device includes a base and a guide post, wherein the guide post is elastically connected to the base, and the outer wall of the guide post is used to contact the skin.

7. The system according to claim 6, characterized in that, The robotic arm is equipped with a force control sensor, which is used to detect the force applied to the robotic arm; the controller is connected to the force control sensor. The controller also includes a flexible control module, which performs flexible control on the robotic arm according to the force applied to the robotic arm. The flexible control module performs flexible control of the robotic arm based on the force applied to it, including the following steps: The external force at the end of the robotic arm is converted into a speed adjustment amount and / or a position adjustment amount; The speed of the robotic arm end effector is adjusted according to the speed adjustment amount, and / or the movement distance of the robotic arm end effector is adjusted according to the position adjustment amount.

8. The system according to any one of claims 1-3, characterized in that, The adsorption device includes a vacuum generator and at least three suction cups. The vacuum generator is connected to each suction cup via an air path. The suction cups are used to adhere to the skin. The vacuum generator is used to provide suction. The controller is connected to the vacuum generator to control the opening and closing of the vacuum generator.

Images