Automatic installation method and system based on parts to be installed

Abstract

The invention provides an automatic installation method and system based on a to-be-installed part. The method comprises the steps that a grabbing part of the to-be-installed part is grabbed through a mechanical arm; a first relative position relation between the mounting part of the to-be-mounted part and the manipulator is obtained through positioning of the positioning field; acquiring the real-time coordinate position of the current manipulator; compensating the real-time coordinate position of the current manipulator according to the first relative position relationship between the mounting part of the to-be-mounted part and the manipulator to obtain the real-time coordinate position of the mounting part of the current to-be-mounted part; and the mechanical arm drives the manipulator and moves and mounts the mounting part of the to-be-mounted part to the mounting receiving position based on the real-time coordinate position of the mounting part of the current to-be-mounted part. According to the method and the system, the mounting part of the to-be-mounted part can be automatically and accurately mounted to the corresponding mounting receiving position by the manipulator.

Description

Technical Field

[0001] The present invention relates to the technical field of automated installation, and in particular to an automated installation method and system based on parts to be installed. Background Art

[0002] When installing an instrument (such as a pressure instrument) on a corresponding connection interface (such as a pressure output port), the traditional method is to manually install the instrument to be tested on the connection interface. However, with the development of intelligent technology, some companies or institutions use robotic arms to replace manual work to complete instrument installation, that is, the instrument to be tested is placed at the meter-taking position, and the robotic arm grabs the instrument from the meter-taking position and moves it to the corresponding connection interface. However, due to the large size differences between different instruments, if the robotic arm follows a fixed running trajectory, it may not be possible to accurately install the instrument connector on the connection interface. The reasons are mainly due to the following two aspects: On the one hand, during the instrument grabbing process by the robot, since the robot's gripper usually only grabs the case, even if the gripper's gripping depth is fixed, it is affected by the difference in case thickness of different instruments, or the case of the same thickness but the instrument connector is not located in the middle of the case thickness direction, after the robot grabs the instrument, if the instrument connector is moved to the connection interface according to the fixed trajectory, deviations are likely to occur. On the other hand, different instruments have connectors of different lengths. When the robot arm installs the instrument connector into the connection interface, the length of the instrument connector will directly affect whether it is successfully installed into the connection interface. For example, some instrument connectors are longer. If the robot arm still installs them according to the fixed insertion displacement, the connection interface will be excessively inserted, which may easily cause excessive squeezing of the connection interface and cause damage to the instrument or the connection interface. For another example, some instrument connectors are shorter. If they are still installed according to the fixed insertion displacement, the instrument connector cannot be fully installed into the connection interface, resulting in installation failure. Summary of the invention

[0003] In order to solve at least one of the above technical problems, the present invention proposes an automated installation method and system based on a part to be installed, which can enable a robot to automatically and accurately install the installation part of the part to be installed to the corresponding installation receiving position.

[0004] The first aspect of the present invention provides an automated installation method based on a component to be installed, the method comprising: The gripping part of the part to be loaded is gripped by the manipulator; Acquire a first relative position relationship between the installation position of the to-be-installed component and the manipulator by positioning in the positioning field; Get the real-time coordinate position of the current manipulator; Compensating the current real-time coordinate position of the manipulator according to the first relative position relationship between the installation part of the component to be installed and the manipulator to obtain the real-time coordinate position of the installation part of the component to be installed; The robot arm drives the robot hand and moves the installation part of the part to be installed to the installation receiving position based on the real-time coordinate position of the installation part of the part to be installed.

[0005] Further, the real-time coordinate position of the current manipulator is compensated according to the first relative position relationship between the installation part of the component to be installed and the manipulator to obtain the real-time coordinate position of the installation part of the component to be installed, which specifically includes: The first relative position relationship is the displacement vector between the installation position of the component to be installed and the manipulator; The real-time coordinate position of the current manipulator is added to the displacement vector to obtain the real-time coordinate position of the installation part of the current part to be installed.

[0006] Furthermore, the robot arm drives the robot hand and moves the installation part of the component to be installed to the installation receiving position based on the real-time coordinate position of the installation part of the component to be installed, which specifically includes: Get the coordinates of the installation receiving location; Determine a second relative position relationship between the installation position of the current component to be installed and the installation receiving position according to the real-time coordinate position of the installation position of the current component to be installed and the coordinate position of the installation receiving position; Determining an installation path according to a second relative position relationship between an installation position of the current component to be installed and an installation receiving position; The robot arm moves the installation part of the component to be installed to the installation receiving position according to the installation path.

[0007] Further, obtaining the first relative position relationship between the installation part of the to-be-installed component and the manipulator by positioning the positioning field specifically includes: Obtain the coordinate position of the installation part of the to-be-installed part through positioning in the positioning field; Obtain the coordinate position of the reference point of the manipulator; According to the coordinate position of the installation part of the component to be installed and the coordinate position of the reference point of the manipulator, a first relative position relationship between the installation part of the component to be installed and the manipulator is calculated.

[0008] Furthermore, the coordinate position of the installation part of the to-be-installed component is obtained through positioning of the positioning field, specifically including: The preset positioning field is formed by the sensing device, and the sensing device senses the azimuth distance information of the installation position of the component to be installed relative to the sensing device; The coordinate position of the installation part of the component to be installed is located according to the azimuth distance information of the installation part of the component to be installed relative to the sensing device.

[0009] Furthermore, the azimuth distance information of the installation position of the component to be installed relative to the sensing device sensed by the sensing device specifically includes: There are at least two sensing devices, and the at least two sensing devices are respectively arranged at different positions; At least two sensing devices sense the azimuth distance information of the installation position of the component to be installed relative to the corresponding sensing device from different directions respectively.

[0010] Furthermore, at least two sensing devices are used to sense the azimuth distance information of the installation position of the component to be installed relative to the corresponding sensing device from different directions, specifically including: There are two sensing devices, namely a first sensing device and a second sensing device. The first sensing device is used to sense the installation position of the component to be installed from a first orientation, and the second sensing device is used to sense the installation position of the component to be installed from a second orientation.

[0011] Furthermore, the method further comprises: The first sensing device senses the distance information of the installation position of the component to be installed relative to the first sensing device in a first orientation; Positioning and acquiring coordinate information of the installation part of the component to be installed in the first orientation according to the distance information of the installation part of the component to be installed in the first orientation relative to the first sensing device; Obtaining coordinate information of the reference point of the manipulator projected at the first position; Calculate a first relative displacement of the installation part of the part to be installed compared to the reference point of the manipulator in the first position according to the coordinate information of the reference point of the manipulator projected in the first position and the coordinate information of the installation part of the part to be installed in the first position; Keeping the spatial posture of the component to be installed unchanged, the robot arm drives the robot hand to move in a direction parallel to the first orientation, and makes the installation part of the component to be installed fall into the second orientation of the second sensing device; The distance information of the installation position of the component to be installed relative to the second sensing device is sensed by the second sensing device in the second orientation; Positioning and acquiring coordinate information of the installation part of the component to be installed in the second position according to the distance information of the installation part of the component to be installed relative to the second sensing device in the second position; Obtaining coordinate information of the reference point of the manipulator projected at the second position; Calculate a second relative displacement of the installation part of the part to be installed compared to the reference point of the manipulator in the second position according to the coordinate information of the reference point of the manipulator projected in the second position and the coordinate information of the installation part of the part to be installed in the second position; The combination of the first relative displacement and the second relative displacement is the first relative position relationship between the installation part of the component to be installed and the manipulator.

[0012] Further, the robot arm drives the robot hand to move in a direction parallel to the first orientation, and causes the installation part of the component to be installed to fall into the second orientation of the second sensing device, specifically including: Obtaining coordinate information of the reference point of the manipulator projected on the first orientation in real time; The coordinate information of the reference point of the manipulator projected on the first orientation is combined with the first relative displacement of the installation part of the component to be installed compared to the reference point of the manipulator on the first orientation to obtain the real-time coordinate information of the installation part of the component to be installed on the first orientation; Obtaining coordinate information of an intersection point between the second orientation and the first orientation at the first orientation; The robot arm drives the robot hand to move in a direction parallel to the first orientation, and makes the real-time coordinate information of the installation part of the to-be-installed part in the first orientation coincide with the coordinate information of the intersection point in the first orientation.

[0013] The second aspect of the present invention further proposes an automated installation system based on parts to be installed, comprising a memory and a processor, wherein the memory comprises an automated installation method program based on parts to be installed, and when the automated installation method program based on parts to be installed is executed by the processor, the steps of the automated installation method based on parts to be installed as described above are implemented.

[0014] The present invention proposes an automated installation method and system based on parts to be installed, which can calculate the real-time coordinate position of the installation part of the parts to be installed through the positioning field and the real-time coordinate position of the current manipulator. Therefore, regardless of whether the manipulator grasps the depth of the shell of the part to be installed, or faces installation parts of different lengths of parts to be installed, the real-time coordinate position of the installation part of the part to be installed can be accurately obtained before installation, thereby facilitating the manipulator to accurately install parts of different shapes and sizes to the installation receiving position, solving the problem that the existing manipulator can only install parts of the same shape and size, but cannot install parts of different shapes and sizes.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flow chart of an automated installation method based on a component to be installed according to the present invention is shown; Figure 2 A schematic diagram of a first state of the manipulator, the sensing device and the object to be tested of the present invention is shown; Figure 3 A schematic diagram showing a second state of the manipulator, the sensing device and the object to be tested of the present invention is shown; Figure 4A three-dimensional schematic diagram showing a first state of a manipulator according to an embodiment of the present invention; Figure 5 yes Figure 4 A three-dimensional schematic diagram of a second state of the manipulator; Figure 6 yes Figure 4 Schematic diagram of the three-dimensional exploded view of the robot.

[0017] Reference numerals: A housing 1 of a component to be installed, a mounting portion 2 of the component to be installed, a first sensing device 3, and a second sensing device 4; Robot 100; A fixed seat 10 and a pivot portion 11; Driving member 20, cylinder 21, telescopic rod 22; Floating seat 30, main body 31, first adapter portion 32; The clamping assembly 40 , the connecting arm 41 , the linkage member 42 , the first linkage rod 421 , the second linkage rod 422 , the pivoting portion 423 , the clamping member 43 , the second adapter portion 431 , the clamping portion 432 , and the auxiliary clamping block 433 . DETAILED DESCRIPTION

[0018] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0019] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0020] Figure 1 A flow chart of an automated installation method based on parts to be installed according to the present invention is shown.

[0021] like Figure 1 As shown, the first aspect of the present invention provides an automated installation method based on a component to be installed, the method comprising: S102, grabbing a grabbing portion of a component to be loaded by a robot arm; S104, obtaining a first relative position relationship between the installation position of the component to be installed and the manipulator by positioning in the positioning field; S106, obtaining the real-time coordinate position of the current manipulator; S108, compensating the real-time coordinate position of the current manipulator according to the first relative position relationship between the installation part of the component to be installed and the manipulator, to obtain the real-time coordinate position of the installation part of the component to be installed; S110, the robot arm drives the robot hand and moves the installation part of the component to be installed to the installation receiving position based on the real-time coordinate position of the installation part of the component to be installed.

[0022] In a specific embodiment, the parts to be installed are usually placed in the discharge area. The manipulator can grab the corresponding parts to be installed from the discharge area and move them to the positioning field for positioning to obtain the first relative position relationship between the installation part of the parts to be installed and the manipulator. Since the real-time coordinate position of the manipulator can be automatically obtained by the manipulator system, the current real-time coordinate position of the manipulator can be compensated according to the first relative position relationship between the installation part of the parts to be installed and the manipulator to obtain the real-time coordinate position of the installation part of the parts to be installed. Finally, according to the real-time coordinate position of the installation part of the parts to be installed, the installation part of the parts to be installed can be accurately moved and installed to the installation receiving position.

[0023] The installation method of the present invention can calculate the real-time coordinate position of the installation part of the part to be installed through the positioning field and the real-time coordinate position of the current manipulator. Therefore, no matter whether the manipulator grasps the depth of the shell of the part to be installed, or faces the installation parts of the parts to be installed of different lengths, the real-time coordinate position of the installation part of the part to be installed can be accurately obtained before installation, thereby facilitating the manipulator to accurately install the parts to be installed of different shapes and sizes to the installation receiving position, solving the problem that the existing manipulator can only install the parts to be installed of the same shape and size, but cannot install the parts to be installed of different shapes and sizes.

[0024] It can be understood that the part to be installed is a pressure gauge, and the grasping part can be the side, front, or back of the pressure gauge housing, but is not limited thereto. The manipulator can be a mechanical gripper or a mechanical suction cup. When it is a mechanical gripper, it can be a three-claw gripper, and the outer side of the pressure gauge housing can be grasped by the three-claw gripper; when it is a mechanical suction cup, it can adsorb the front or back of the pressure gauge housing. But it is not limited thereto.

[0025] According to an embodiment of the present invention, the real-time coordinate position of the current manipulator is compensated according to the first relative position relationship between the installation part of the component to be installed and the manipulator to obtain the real-time coordinate position of the installation part of the component to be installed, which specifically includes: The first relative position relationship is the displacement vector between the installation position of the component to be installed and the manipulator; The real-time coordinate position of the current manipulator is added to the displacement vector to obtain the real-time coordinate position of the installation part of the current part to be installed.

[0026] Preferably, the displacement vector between the installation part of the component to be installed and the manipulator refers to the displacement vector between the center position of the connection end surface of the installation part of the component to be installed and the reference point of the manipulator.

[0027] It can be understood that the installation part of the component to be installed includes a connecting external thread located on the side and a connecting end face away from the housing of the component to be installed. The installation receiving position is provided with an installation joint. During installation, the manipulator inserts the installation part of the component to be installed into the installation joint of the installation receiving position, and screws the installation joint into the connecting external thread of the installation part of the component to be installed, thereby sealing the connecting end face of the installation part of the component to be installed.

[0028] According to an embodiment of the present invention, the robot arm drives the robot hand and moves the installation part of the component to be installed to the installation receiving position based on the real-time coordinate position of the installation part of the component to be installed, which specifically includes: Get the coordinates of the installation receiving location; Determine a second relative position relationship between the installation position of the current component to be installed and the installation receiving position according to the real-time coordinate position of the installation position of the current component to be installed and the coordinate position of the installation receiving position; Determining an installation path according to a second relative position relationship between an installation position of the current component to be installed and an installation receiving position; The robot arm moves the installation part of the component to be installed to the installation receiving position according to the installation path.

[0029] According to a specific embodiment of the present invention, after the robot grasps the grasping portion of the component to be assembled, the method further includes: The robot arm drives the robot to move, and moves the parts to be assembled grasped by the robot arm to the positioning field. It can be understood that the positioning field can be independent of the robot arm.

[0030] According to a specific embodiment of the present invention, the positioning field includes a sensing device, which is used to sense a first relative position relationship between the installation location of the component to be installed and the manipulator.

[0031] It can be understood that the positioning field is located on the path from the table placement position to the installation receiving position, so that the manipulator can grasp the part to be installed from the table placement position and move it to the installation receiving position, and realize the calculation and acquisition of the first relative position relationship between the installation part of the part to be installed and the manipulator claw, thereby saving the overall installation time and improving the installation efficiency. Preferably, the positioning field is located near the installation receiving position, but is not limited thereto.

[0032] It can be understood that the positioning field is not physical but a virtual space, which is the spatial range in which the sensing device can sense the existence of an object and the coordinate position of the object.

[0033] It can be understood that the sensing device that forms the positioning field can also be set on the robot. When the robot grasps the part to be installed, the sensing device on the robot can locate the first relative position relationship between the installation part of the part to be installed and the robot, thereby realizing simultaneous grasping and positioning.

[0034] According to an embodiment of the present invention, obtaining a first relative position relationship between an installation location of a to-be-installed component and a manipulator by positioning in a positioning field specifically includes: Obtain the coordinate position of the installation part of the to-be-installed part through positioning in the positioning field; Obtain the coordinate position of the reference point of the manipulator; According to the coordinate position of the installation part of the component to be installed and the coordinate position of the reference point of the manipulator, a first relative position relationship between the installation part of the component to be installed and the manipulator is calculated.

[0035] It can be understood that the reference point of the manipulator can be a position point of the entity on the manipulator, such as the center of the mounting seat of the manipulator, or a relatively fixed spatial point outside the manipulator entity, such as the center of the clamping space of the manipulator, or the position point of the installation part of the standard part to be installed when the manipulator grabs the standard part to be installed, etc. In practical applications, a standard part to be installed can be selected first, and the position point of the installation part of the standard part to be installed when the manipulator grabs the standard part to be installed is used as the reference point of the manipulator. The reference point of the manipulator is to facilitate the use of the manipulator or an associated relative fixed point as a reference object, and to analyze the positional relationship of other objects relative to the reference point.

[0036] It can be understood that in the above step S106, obtaining the real-time coordinate position of the current manipulator is actually obtaining the real-time coordinate position of the reference point of the current manipulator. In the above step S108, compensating the real-time coordinate position of the current manipulator according to the first relative position relationship between the installation part of the part to be installed and the manipulator is actually compensating the real-time coordinate position of the reference point of the current manipulator according to the first relative position relationship.

[0037] According to an embodiment of the present invention, obtaining the coordinate position of the installation part of the to-be-installed component through positioning in the positioning field specifically includes: The preset positioning field is formed by the sensing device, and the sensing device senses the azimuth distance information of the installation position of the component to be installed relative to the sensing device; The coordinate position of the installation part of the component to be installed is located according to the azimuth distance information of the installation part of the component to be installed relative to the sensing device.

[0038] It can be understood that the sensing device can be a distance sensor, a photoelectric sensor, an acoustic wave sensor, etc., but is not limited to these, as long as it can easily sense the azimuth distance information of the installation part of the component to be installed relative to the sensing device, and locate the coordinate position of the installation part of the component to be installed based on the azimuth distance information of the installation part of the component to be installed relative to the sensing device.

[0039] In practical applications, the coordinate position of the sensing device can be obtained in advance, and then the coordinate position of the sensing device can be used as a reference, and combined with the azimuth distance information of the installation part of the component to be installed relative to the sensing device, the spatial displacement calculation and analysis can be performed to locate the coordinate position of the installation part of the component to be installed. But it is not limited to this.

[0040] According to an embodiment of the present invention, the azimuth distance information of the installation position of the component to be installed relative to the sensing device is sensed by the sensing device, specifically including: There are at least two sensing devices, and the at least two sensing devices are respectively arranged at different positions; At least two sensing devices sense the azimuth distance information of the installation position of the component to be installed relative to the corresponding sensing device from different directions respectively.

[0041] like Figure 2 and Figure 3 As shown, according to an embodiment of the present invention, at least two sensing devices sense the azimuth distance information of the installation part of the to-be-installed component relative to the corresponding sensing device from different directions, specifically including: There are two sensing devices, namely a first sensing device and a second sensing device. The first sensing device is used to sense the installation position of the component to be installed from a first orientation, and the second sensing device is used to sense the installation position of the component to be installed from a second orientation.

[0042] According to an embodiment of the present invention, the method further includes: The first sensing device senses the distance information of the installation position of the component to be installed relative to the first sensing device in a first orientation; Acquiring coordinate information of a first sensing device at a first position; Calculate and obtain the coordinate information of the installation part of the component to be installed in the first position according to the coordinate information of the first sensing device in the first position and the distance information of the installation part of the component to be installed relative to the first sensing device in the first position; Obtaining coordinate information of the reference point of the manipulator projected at the first position; According to the coordinate information of the reference point of the manipulator projected at the first position and the coordinate information of the installation part of the to-be-installed component at the first position, the first relative displacement of the installation part of the to-be-installed component compared to the reference point of the manipulator at the first position is calculated, such as Figure 2 As shown; Keeping the spatial posture of the component to be installed unchanged, the robot arm drives the robot hand to move in a direction parallel to the first orientation, and makes the installation part of the component to be installed fall into the second orientation of the second sensing device, such as Figure 3 As shown; The distance information of the installation position of the component to be installed relative to the second sensing device is sensed by the second sensing device in the second orientation; Acquiring coordinate information of a second sensing device at a second position; Calculate and obtain the coordinate information of the installation part of the component to be installed in the second position according to the coordinate information of the second sensing device in the second position and the distance information of the installation part of the component to be installed relative to the second sensing device in the second position; Obtaining coordinate information of the reference point of the manipulator projected at the second position; Calculate a second relative displacement of the installation part of the part to be installed compared to the reference point of the manipulator in the second position according to the coordinate information of the reference point of the manipulator projected in the second position and the coordinate information of the installation part of the part to be installed in the second position; The combination of the first relative displacement and the second relative displacement is the first relative position relationship between the installation part of the component to be installed and the manipulator.

[0043] Preferably, the first orientation and the second orientation are perpendicular to each other, but not limited thereto.

[0044] It can be understood that the profile of the installation part of the component to be installed is usually cylindrical, one end of the installation part of the component to be installed is connected to the shell of the component to be installed, and the other end is a connecting end surface.

[0045] In a specific embodiment, the first sensing device and the second sensing device are both distance sensors. When the component to be installed moves to the positioning field, the spatial posture of the component to be installed is that the central axis of the installation part of the cylindrical component to be installed is perpendicular to the first orientation and parallel to the second orientation.

[0046] It can be understood that when the robot arm drives the manipulator to move along the first orientation and toward the second sensing device according to the first relative displacement compensation, since the coordinate position of the manipulator's reference point can be known through the manipulator's self-sensing system, the robot arm actually controls the coordinate position of the manipulator's reference point. Therefore, in order to make the connecting end surface under the installation part of the part to be installed be located in the second orientation of the second sensing device, and then make the second sensing device able to successfully sense the connecting end surface under the installation part of the part to be installed, it is necessary to compensate and add the first relative displacement on the basis of the manipulator's reference point. In this way, the robot arm can achieve precise control of the position movement of the installation part of the part to be installed along the first orientation.

[0047] According to an embodiment of the present invention, the robot arm drives the robot hand to move along a direction parallel to the first orientation, and causes the installation part of the to-be-installed component to fall into the second orientation of the second sensing device, specifically including: Obtaining coordinate information of the reference point of the manipulator projected on the first orientation in real time; The coordinate information of the reference point of the manipulator projected on the first orientation is combined with the first relative displacement of the installation part of the component to be installed compared to the reference point of the manipulator on the first orientation to obtain the real-time coordinate information of the installation part of the component to be installed on the first orientation; Obtaining coordinate information of an intersection point between the second orientation and the first orientation at the first orientation; The robot arm drives the robot hand to move in a direction parallel to the first orientation, and makes the real-time coordinate information of the installation part of the to-be-installed part in the first orientation coincide with the coordinate information of the intersection point in the first orientation.

[0048] The second aspect of the present invention further proposes an automated installation system based on parts to be installed, comprising a memory and a processor, wherein the memory comprises an automated installation method program based on parts to be installed, and when the automated installation method program based on parts to be installed is executed by the processor, the steps of the automated installation method based on parts to be installed as described above are implemented.

[0049] According to a specific embodiment of the present invention, the structure of the manipulator is as follows: Figures 4 to 6 As shown, the manipulator 100 comprises: a fixed seat 10, a driving member 20, a floating seat 30 and at least two clamping assemblies 40, wherein the driving member 20 is mounted on the fixed seat 10 and is used to drive the floating seat 30 to move away from or close to the fixed seat 10; Each clamping assembly 40 includes a connecting arm 41, a linkage member 42 and a clamping member 43; one end of the connecting arm 41 is rotatably connected to the fixed seat 10, and the other end is rotatably connected to the corresponding linkage member 42; one end of the linkage member 42 is rotatably connected to the floating seat 30, and the other end is rotatably connected to the corresponding clamping member 43; The driving member 20 drives the floating seat 30 to move closer to or away from the fixed seat 10, and drives at least two clamping members 43 to be tightened or opened through the cooperation of the connecting arm 41 and the linkage member 42.

[0050] It can be understood that the driving member 20 can be a pneumatic driving member, an electric driving member, etc., but is not limited thereto. Preferably, the driving member 20 is a pneumatic driving member, which includes a cylinder 21 and a telescopic rod 22. The cylinder 21 is fixed on the fixed seat 10. One end of the telescopic rod 22 is installed in the cylinder 21, and the other end extends out of the cylinder 21 and is fixedly connected to the floating seat 30. In actual application, the cylinder 21 drives the telescopic rod 22 to perform telescopic movement, thereby driving the floating seat 30 to move closer to or away from the fixed seat 10. In other embodiments, the drive can also adopt an electric driving member, that is, the floating seat is driven to move by a motor-driven push-pull rod movement.

[0051] It can be understood that the manipulator 100 of the present invention can be adapted to clamp objects of different sizes, and achieves the effect of clamping various objects with a large stroke. At the same time, the present invention enables the clamping member 43 to basically maintain horizontal clamping of the object through the mutual cooperation of the connecting arm 41, the linkage member 42 and the clamping member 43. That is to say, in practical applications, as long as the manipulator 100 of the present invention is kept in the initial state of the maximum opening angle and placed at the height where the clamping member 43 is flush with the object, no matter how much the circumferential size of the object is, the subsequent driving member 20 drives the floating seat 30 to move close to the fixed seat 10. Under the mutual cooperation of the connecting arm 41, the linkage member 42 and the clamping member 43, at least two clamping members 43 can maintain a basically horizontal state and tighten toward the center, thereby accurately clamping the object. Compared with the large-stroke clamping jaws of the prior art, the present invention improves the accuracy of clamping various objects, and there is no need to adjust the height of the overall manipulator 100 in real time, which further simplifies the complexity of clamping objects.

[0052] According to an embodiment of the present invention, the linkage member 42 includes at least two linkage rods, and both ends of each linkage rod are respectively provided with a pivoting portion 423 pivotally connected to the floating seat 30 and the corresponding clamping member 43; Factors influencing the displacement of the clamping member 43 from the fixed seat 10 along the first direction include: the effective length of any linkage rod of the linkage member 42 projected in the first direction and the displacement of the floating seat 30 from the fixed seat 10 along the first direction; wherein the effective length is the distance between the two pivotal parts 423 of the corresponding linkage rod projected in the first direction.

[0053] Preferably, the pivoting portion 423 may be a pivot hole or a pivot, but is not limited thereto.

[0054] It should be noted that the distance between the two pivotal portions 423 of each linkage rod is equal to the distance between the two pivotal portions 423 of other linkage rods.

[0055] Preferably, at least two linkage rods are respectively linear linkage rods, and at least two linkage rods are parallel to each other.

[0056] According to the embodiment of the present invention, there is a negative correlation between the effective length of any linkage rod of the linkage member 42 projected in the first direction and the displacement of the floating seat 30 from the fixed seat 10 along the first direction.

[0057] According to the embodiment of the present invention, when the floating seat 30 moves toward the fixed seat 10 along the first direction, the displacement of the floating seat 30 from the fixed seat 10 along the first direction becomes smaller, and the connecting arm 41 pushes the linkage member 42 to rotate, so that at least two clamping members 43 are tightened, and the effective length of any linkage rod of the linkage member 42 projected in the first direction becomes larger; When the floating seat 30 moves away from the fixed seat 10 along the first direction, the displacement of the floating seat 30 from the fixed seat 10 along the first direction becomes larger, and the connecting arm 41 pulls the linkage member 42 to rotate, so that at least two clamping members 43 are opened, and the effective length of any linkage rod of the linkage member 42 projected in the first direction becomes smaller.

[0058] According to an embodiment of the present invention, the displacement of the clamping member 43 along the first direction from the fixed seat 10 is equal to the sum of the effective length of any linkage rod of the linkage member 42 projected in the first direction, the displacement of the floating seat 30 along the first direction from the fixed seat 10 and the fixed parameter K.

[0059] It can be understood that when the manipulator is positioned at a position where the clamping member 43 is flush with the object, the coordinate position of the fixed seat 10 remains unchanged at this time. The coordinate position of the fixed seat 10 can be used as a reference, and the displacement of the clamping member 43 from the fixed seat 10 along the first direction is actually equal to the sum of the effective length of any linkage rod projected in the first direction, the displacement of the floating seat 30 from the fixed seat 10 along the first direction, and other fixed parameter quantities. Other fixed parameter quantities can be the overlapping connection parts between the various components, and the values ​​of this part are fixed. If the driving member 20 drives the floating seat 30 to move toward the fixed seat 10, at this time, the displacement of the floating seat 30 from the fixed seat 10 along the first direction will become smaller, and at the same time, the connecting arm 41 pushes the linkage member 42 to rotate, so that the effective length of any linkage rod of the linkage member 42 projected in the first direction becomes larger. Based on the above equation, of the two variables, one variable (i.e., the displacement of the floating seat 30 from the fixed seat 10 along the first direction) becomes smaller, while the other variable (the effective length of any linkage rod projected in the first direction) becomes larger to compensate, thereby ensuring that the displacement of the clamping member 43 from the fixed seat 10 along the first direction remains basically unchanged, thereby achieving the effect of large-stroke horizontal clamping of objects.

[0060] According to an embodiment of the present invention, at least two pivot portions 11 are provided on the fixing seat 10 , one end of the connecting arm 41 is rotatably connected to the corresponding pivot portion 11 , and the other end of the connecting arm 41 is rotatably connected to the middle of any one linkage rod of the linkage member 42 .

[0061] It should be noted that the middle portion of the present invention refers to the area between the two pivotal portions 423 of the linkage rod.

[0062] It can be understood that, preferably, the other end of the connecting arm 41 is rotatably connected to the middle of a linkage rod of the linkage member 42 close to the connecting arm 41. In other embodiments, the other end of the connecting arm 41 can also be rotatably connected to the middle of a linkage rod of the linkage member 42 not close to the connecting arm 41. In such a connection method, it is necessary to set a clearance space for the linkage rod close to the connecting arm 41 to reserve the rotation space between the connecting arm 41 and the corresponding linkage rod.

[0063] According to an embodiment of the present invention, the floating seat 30 includes a body 31 and at least two first adapter portions 32 . The at least two first adapter portions 32 are connected to the body 31 and are respectively bent toward the fixed seat 10 at an angle a relative to the body 31 .

[0064] It can be understood that the measurement of angle a is as follows: first take a ray with the length direction of the first adapter 32 as angle a, then make a plane perpendicular to the first direction, then project the corresponding ray of the first adapter 32 onto the plane and make a corresponding projection line, take the reverse extension line of the projection line as another ray of angle a, and then measure the angle between the two rays to be angle a. It can be understood that angle a is greater than 90 degrees and less than 180 degrees. According to an embodiment of the present invention, the clamping member 43 includes a second adapter portion 431 and a clamping portion 432 . The clamping portion 432 is fixedly connected to the second adapter portion 431 . The clamping portion 432 is bent at an angle b relative to the second adapter portion 431 .

[0065] According to an embodiment of the present invention, the sum of angle b and angle a is greater than 180 degrees and less than or equal to 360 degrees. Preferably, the sum of angle b and angle a is equal to 270 degrees.

[0066] It can be understood that the displacement of the clamping portion 432 of the clamping member 43 from the fixed seat 10 along the first direction is equal to the sum of the effective length of any linkage rod of the linkage member 42 projected in the first direction, the displacement of the floating seat 30 from the fixed seat 10 along the first direction, and other fixed parameter quantities. The other fixed parameter quantities here may include the overlapping connection parts between the various components, and the part between the position where the second adapter 431 is pivotally connected to the corresponding linkage rod and the clamping portion 432.

[0067] According to an embodiment of the present invention, the linkage member 42 includes a first linkage rod 421 and a second linkage rod 422; One end of the first linkage rod 421 and one end of the second linkage rod 422 are rotatably connected to the same first adapter portion 32 of the floating seat 30, and are staggered. The other end of the first linkage rod 421 and the other end of the second linkage rod 422 are rotatably connected to the second adapter portion 431 of the clamping member 43 respectively, and are staggered.

[0068] According to the embodiment of the present invention, the first link rod 421, the second link rod 422, the first adapter portion 32 and the second adapter portion 431 together form a parallelogram, and the first link rod 421 and the second link rod 422 are parallel to each other, and the first adapter portion 32 and the second adapter portion 431 are parallel to each other.

[0069] It can be understood that since the first linkage rod 421, the second linkage rod 422, the first adapter portion 32 and the second adapter portion 431 together form a parallelogram, and the first adapter portion 32 remains parallel to the second adapter portion 431, and since the first adapter portion 32 will only move up and down with the floating seat 30 and will not rotate, the second adapter portion 431 that always remains parallel to the first adapter portion 32 will not rotate, thereby ensuring that the clamping member 43 can translate as a whole. In actual applications, when clamping objects of different sizes, it can be ensured that the clamping portion 432 always clamps the object in a horizontal direction, and the clamping surface of the clamping portion 432 can always be completely in contact with the clamping surface of the clamped object, thereby avoiding the risk of reduced friction and causing the object to fall due to the clamping surface of the clamping portion 432 not being able to completely fit the clamping surface of the clamped object.

[0070] According to an embodiment of the present invention, the clamping member 43 further includes an auxiliary clamping block 433, which is fixed to the clamping portion 432. The auxiliary clamping block 433 has the function of preventing slipping and preventing the surface of the object from being damaged by clamping. Preferably, the auxiliary clamping block 433 is made of rubber or synthetic resin, but is not limited thereto.

[0071] It can be understood that the robot 100 of the present invention can be installed at the end of a robot arm through a fixing base 10, and the robot arm drives the robot 100 to move as a whole to carry objects. However, the present invention is not limited thereto.

[0072] It can be understood that the first direction of the present invention refers to the relative movement direction between the floating seat 30 and the fixed seat 10, corresponding to Figure 4 and Figure 5 The x-axis direction in .

[0073] In order to better illustrate the manipulator 100 of the present invention, the working principle of the manipulator 100 of the present invention is introduced in detail below.

[0074] When it is necessary to clamp an object, the manipulator can keep the manipulator 100 in the initial state of the maximum opening angle and place it at a height where the clamping portion 432 is flush with the object. Then, the driving member 20 drives the floating seat 30 to move close to the fixed seat 10, and the connecting arm 41 pushes the first linkage rod 421 or the second linkage rod 422 of the linkage member 42 to rotate relative to the fixed seat 10, and deforms the parallelogram formed by the first linkage rod 421, the second linkage rod 422, the first adapter portion 32 and the second adapter portion 431, so as to tighten at least two clamping members 43 horizontally toward the middle to clamp the object. After that, the object can be carried to the corresponding placement position under the drive of the manipulator.

[0075] When it is necessary to release the object, the manipulator 100 holding the object can be moved to the corresponding placement position, and then the driving member 20 drives the floating seat 30 to move away from the fixed seat 10, and the connecting arm 41 pulls the first linkage rod 421 or the second linkage rod 422 of the linkage member 42 to rotate relative to the fixed seat 10, and causes the parallelogram formed by the first linkage rod 421, the second linkage rod 422, the first adapter portion 32 and the second adapter portion 431 to deform, prompting at least two clamping members 43 to open horizontally outward to release the object.

[0076] It can be understood that objects of different sizes can be instruments with different case diameters, for example, the case diameters of pressure instruments are 60 mm, 100 mm, 150 mm, etc. Since the manipulator 100 of the present invention has a large clamping stroke, it can be applied to clamp pressure instruments with different case diameters, for example: Figure 4 The manipulator can be in the working state of clamping a pressure gauge with a case diameter of 150mm. Figure 5 The manipulator 100 can be in a working state of clamping a pressure gauge with a case diameter of 60 mm. At the same time, the pressure gauge is usually placed horizontally, and at least two clamping members 43 of the manipulator 100 are clamped on the outer side of the circular case to grasp the pressure gauge. The at least two clamping members 43 of the manipulator 100 of the present invention can realize horizontal tightening and clamping the outer side of the case, ensuring that the manipulator 100 is accurately clamped to the outer side of the case, and during the clamping process, there is no need to adjust the height of the manipulator 100 in real time, further simplifying the complexity of accurate clamping.

[0077] The manipulator 100 of the present invention cooperates with the connecting arm 41, the linkage part 42 and the clamping part 43 so that the clamping part 43 can always maintain a horizontal clamping of the object. Compared with the large-stroke clamps in the prior art, the present invention improves the accuracy of clamping various objects, and there is no need to adjust the height of the entire manipulator 100 in real time, further simplifying the complexity of clamping the object.

[0078] It should be noted that the rotatable connection relationship described in the present invention can be achieved through the matching relationship between the pivot and the pivot hole. For example, if one component is rotatably connected to another component, pivot holes can be opened at corresponding positions of the two components, and then the pivot is passed through the pivot holes of the two components to achieve the rotatable connection. However, it is not limited to this.

[0079] The present invention proposes an automated installation method and system based on parts to be installed, which can calculate the real-time coordinate position of the installation part of the parts to be installed through the positioning field and the real-time coordinate position of the current manipulator. Therefore, regardless of whether the manipulator grasps the depth of the shell of the part to be installed, or faces installation parts of different lengths of parts to be installed, the real-time coordinate position of the installation part of the part to be installed can be accurately obtained before installation, thereby facilitating the manipulator to accurately install parts of different shapes and sizes to the installation receiving position, solving the problem that the existing manipulator can only install parts of the same shape and size, but cannot install parts of different shapes and sizes.

[0080] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automated installation method based on a component to be installed, characterized in that: The method comprises: The gripping part of the part to be loaded is gripped by the manipulator; Acquire a first relative position relationship between the installation position of the to-be-installed component and the manipulator by positioning in the positioning field; Get the real-time coordinate position of the current manipulator; Compensating the current real-time coordinate position of the manipulator according to the first relative position relationship between the installation part of the component to be installed and the manipulator to obtain the real-time coordinate position of the installation part of the component to be installed; The robot arm drives the robot hand and moves the installation part of the part to be installed to the installation receiving position based on the real-time coordinate position of the installation part of the part to be installed.

2. The automated installation method based on the parts to be installed according to claim 1, characterized in that: The real-time coordinate position of the current manipulator is compensated according to the first relative position relationship between the installation part of the component to be installed and the manipulator to obtain the real-time coordinate position of the installation part of the component to be installed, specifically including: The first relative position relationship is the displacement vector between the installation position of the component to be installed and the manipulator; The real-time coordinate position of the current manipulator is added to the displacement vector to obtain the real-time coordinate position of the installation part of the current part to be installed.

3. The automated installation method based on the parts to be installed according to claim 1, characterized in that: The robot arm drives the robot hand and moves the installation part of the part to be installed to the installation receiving position based on the real-time coordinate position of the installation part of the part to be installed, specifically including: Get the coordinates of the installation receiving location; Determine a second relative position relationship between the installation position of the current component to be installed and the installation receiving position according to the real-time coordinate position of the installation position of the current component to be installed and the coordinate position of the installation receiving position; Determining an installation path according to a second relative position relationship between an installation position of a current component to be installed and an installation receiving position; The robot arm moves the installation part of the component to be installed to the installation receiving position according to the installation path.

4. The automated installation method based on the parts to be installed according to claim 1, characterized in that: The first relative position relationship between the installation part of the to-be-installed component and the manipulator is obtained by positioning the positioning field, specifically including: Obtain the coordinate position of the installation part of the to-be-installed part through positioning in the positioning field; Obtain the coordinate position of the reference point of the manipulator; According to the coordinate position of the installation part of the component to be installed and the coordinate position of the reference point of the manipulator, a first relative position relationship between the installation part of the component to be installed and the manipulator is calculated.

5. The automated installation method based on the parts to be installed according to claim 4, characterized in that: The coordinate position of the installation part of the component to be installed is obtained through positioning in the positioning field, specifically including: The preset positioning field is formed by the sensing device, and the sensing device senses the azimuth distance information of the installation position of the component to be installed relative to the sensing device; The coordinate position of the installation part of the component to be installed is located according to the azimuth distance information of the installation part of the component to be installed relative to the sensing device.

6. The automated installation method based on the parts to be installed according to claim 5, characterized in that: The position distance information of the installation position of the component to be installed relative to the sensing device sensed by the sensing device specifically includes: There are at least two sensing devices, and the at least two sensing devices are respectively arranged at different positions; At least two sensing devices sense the azimuth distance information of the installation position of the component to be installed relative to the corresponding sensing device from different directions respectively.

7. The automated installation method based on the parts to be installed according to claim 6, characterized in that: At least two sensing devices are used to sense the azimuth distance information of the installation position of the component to be installed relative to the corresponding sensing device from different directions, specifically including: There are two sensing devices, namely a first sensing device and a second sensing device. The first sensing device is used to sense the installation position of the component to be installed from a first orientation, and the second sensing device is used to sense the installation position of the component to be installed from a second orientation.

8. The automatic installation method based on the parts to be installed according to claim 7, characterized in that: The method further comprises: The first sensing device senses the distance information of the installation position of the component to be installed relative to the first sensing device in a first orientation; Positioning and acquiring coordinate information of the installation part of the component to be installed in the first orientation according to the distance information of the installation part of the component to be installed in the first orientation relative to the first sensing device; Obtaining coordinate information of the reference point of the manipulator projected at the first position; Calculate a first relative displacement of the installation part of the part to be installed compared to the reference point of the manipulator in the first position according to the coordinate information of the reference point of the manipulator projected in the first position and the coordinate information of the installation part of the part to be installed in the first position; Keeping the spatial posture of the component to be installed unchanged, the robot arm drives the robot hand to move in a direction parallel to the first orientation, and makes the installation part of the component to be installed fall into the second orientation of the second sensing device; The distance information of the installation position of the component to be installed relative to the second sensing device is sensed by the second sensing device in the second orientation; Positioning and acquiring coordinate information of the installation part of the component to be installed in the second position according to the distance information of the installation part of the component to be installed relative to the second sensing device in the second position; Obtaining coordinate information of the reference point of the manipulator projected at the second position; Calculate a second relative displacement of the installation part of the part to be installed compared to the reference point of the manipulator in the second position according to the coordinate information of the reference point of the manipulator projected in the second position and the coordinate information of the installation part of the part to be installed in the second position; The combination of the first relative displacement and the second relative displacement is the first relative position relationship between the installation part of the component to be installed and the manipulator.

9. The automated installation method based on the parts to be installed according to claim 8, characterized in that: The robot arm drives the robot hand to move in a direction parallel to the first orientation, and causes the installation part of the component to be installed to fall into the second orientation of the second sensing device, specifically including: Obtaining coordinate information of the reference point of the manipulator projected on the first orientation in real time; The coordinate information of the reference point of the manipulator projected on the first orientation is combined with the first relative displacement of the installation part of the component to be installed compared to the reference point of the manipulator on the first orientation to obtain the real-time coordinate information of the installation part of the component to be installed on the first orientation; Obtaining coordinate information of an intersection point between the second orientation and the first orientation at the first orientation; The robot arm drives the robot hand to move in a direction parallel to the first orientation, and makes the real-time coordinate information of the installation part of the to-be-installed part in the first orientation coincide with the coordinate information of the intersection point in the first orientation.

10. An automated installation system based on parts to be installed, characterized in that: It comprises a memory and a processor, wherein the memory comprises an automated installation method program based on a component to be installed, and when the automated installation method program based on a component to be installed is executed by the processor, the steps of the automated installation method based on a component to be installed as claimed in any one of claims 1 to 9 are implemented.

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