An automated installation method and system based on a piece to be installed

Abstract

The application provides an automatic installation method and system based on a to-be-installed part, the method comprising: grabbing a to-be-installed part by a mechanical hand; obtaining a first relative position relationship between an installation part of the to-be-installed part and the mechanical hand by a positioning field; obtaining a real-time coordinate position of the current mechanical hand; compensating the real-time coordinate position of the current mechanical hand according to the first relative position relationship between the installation part of the to-be-installed part and the mechanical hand to obtain a real-time coordinate position of the installation part of the current to-be-installed part; and moving the installation part of the to-be-installed part to an installation receiving position by driving the mechanical hand by a mechanical arm based on the real-time coordinate position of the installation part of the current to-be-installed part. The method and system can realize automatic and accurate installation of the mechanical hand to the corresponding installation receiving position.

Description

Technical Field

[0001] This invention relates to the field of automated installation technology, and in particular to an automated installation method and system based on the component to be installed. Background Technology

[0002] Traditionally, when installing instruments (such as pressure gauges) onto corresponding connection interfaces (such as pressure output ports), the instruments to be tested are manually installed. However, with the development of intelligent technology, some enterprises or institutions use robotic arms to replace manual installation. The instrument to be tested is placed in the pick-up position, the robotic arm picks it up from the pick-up position, and moves it to the corresponding connection interface. However, due to significant differences in the size of different instruments, if the robotic arm follows a fixed trajectory, it may not be possible to accurately install the instrument's connector onto the connection interface. This is mainly due to two reasons: Firstly, during the robotic arm's gripping process, the grippers typically only grasp the instrument casing. Even if the gripping depth is fixed, differences in casing thickness, or even for casings of the same thickness but where the instrument connector is not located in the middle of the casing thickness direction, can lead to deviations when the robotic arm moves the instrument connector to the connection interface following a fixed trajectory after picking up the instrument. On the other hand, different instruments have different connector lengths. When the robotic arm inserts the instrument connector into the connection interface, the length of the connector will directly affect whether it can be successfully inserted. For example, if some instrument connectors are long, and the robotic arm still installs them according to a fixed insertion displacement, it will over-insert into the connection interface, which may over-compress the connection interface and cause damage to the instrument or the connection interface. On the other hand, if some instrument connectors are short, and the robotic arm still installs them according to a fixed insertion displacement, the instrument connector will not be fully installed into the connection interface, resulting in installation failure. Summary of the Invention

[0003] To address at least one of the aforementioned technical problems, this invention proposes an automated installation method and system based on the component to be installed, which enables a robotic arm to automatically and accurately install the component to be installed to the corresponding installation and receiving position.

[0004] The first aspect of this invention proposes an automated installation method based on a component to be installed, the method comprising:

[0005] The robotic arm grasps the gripping part of the part to be installed;

[0006] The initial relative positional relationship between the installation location of the part to be installed and the robot arm is obtained by positioning the positioning field.

[0007] Obtain the current real-time coordinates of the robotic arm;

[0008] The real-time coordinate position of the robot is compensated based on the first relative positional relationship between the installation location of the part to be installed and the robot, so as to obtain the real-time coordinate position of the installation location of the part to be installed.

[0009] The robotic arm drives the robotic 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.

[0010] Furthermore, based on the first relative positional relationship between the installation location of the part to be installed and the robot arm, the real-time coordinate position of the current robot arm is compensated to obtain the real-time coordinate position of the installation location of the part to be installed, specifically including:

[0011] The first relative positional relationship is the displacement vector between the installation part of the part to be installed and the robot arm;

[0012] The displacement vector is added to the current real-time coordinate position of the robot arm to obtain the real-time coordinate position of the installation part of the current component to be installed.

[0013] Furthermore, the robotic arm drives the robotic hand and, based on the real-time coordinates of the mounting location of the part to be installed, moves the mounting location of the part to be installed to the installation receiving location, specifically including:

[0014] Obtain the coordinates of the installation and receiving location;

[0015] Based on the real-time coordinates of the installation location of the component to be installed and the coordinates of the installation receiving location, the second relative positional relationship between the installation location and the installation receiving location of the component to be installed is determined.

[0016] The installation path is determined based on the second relative positional relationship between the current installation location of the component to be installed and the installation receiving location;

[0017] The robotic arm moves the installation part of the component to be installed to the installation receiving position according to the installation path.

[0018] Furthermore, the positioning field determines the first relative positional relationship between the installation location of the part to be installed and the robot arm, specifically including:

[0019] The coordinates of the installation location of the part to be installed are obtained by positioning the field.

[0020] Obtain the coordinates of the robot arm's reference point;

[0021] Based on the coordinates of the installation location of the part to be installed and the coordinates of the reference point of the robot, the first relative positional relationship between the installation location of the part to be installed and the robot is calculated.

[0022] Furthermore, the coordinates of the installation location of the part to be installed are obtained through positioning field positioning, specifically including:

[0023] The preset positioning field is formed by a sensing device, which senses the orientation and distance information of the installation part of the component to be installed relative to the sensing device.

[0024] Based on the orientation distance information of the mounting part of the component to be mounted relative to the sensing device, the coordinate position of the mounting part of the component to be mounted is located.

[0025] Furthermore, the sensing device senses the azimuth distance information of the mounting location of the component to be mounted relative to the sensing device, specifically including:

[0026] There are at least two sensing devices, and the at least two sensing devices are respectively set in different orientations;

[0027] At least two sensing devices sense the azimuth distance information of the mounting location of the component to be installed relative to the corresponding sensing device from different orientations.

[0028] Furthermore, at least two sensing devices sense the azimuth distance information of the mounting location of the component to be mounted relative to the corresponding sensing device from different orientations, specifically including:

[0029] 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 position, and the second sensing device is used to sense the installation position of the component to be installed from a second position.

[0030] Furthermore, the method also includes:

[0031] The distance information between the mounting part of the component to be installed and the first sensing device is sensed in the first position by the first sensing device.

[0032] Based on the distance information of the installation part of the component to be installed relative to the first sensing device in the first position, the coordinate information of the installation part of the component to be installed in the first position is obtained.

[0033] Obtain the coordinate information of the reference point projection of the robotic arm in the first position;

[0034] Based on the coordinate information of the reference point projection of the robot arm in the first position and the coordinate information of the installation part of the part to be installed in the first position, calculate the first relative displacement of the installation part of the part to be installed relative to the reference point of the robot arm in the first position.

[0035] Keeping the spatial orientation of the part to be installed unchanged, the robotic arm drives the robotic hand to move in a direction parallel to the first orientation, and makes the installation part of the part to be installed fall into the second orientation of the second sensing device.

[0036] The distance information between the mounting part of the component to be installed and the second sensing device is sensed in the second position by the second sensing device.

[0037] Based on the distance information of the installation part of the component to be installed relative to the second sensing device in the second position, the coordinate information of the installation part of the component to be installed in the second position is obtained.

[0038] Obtain the coordinate information of the reference point projection of the robotic arm in the second position;

[0039] Based on the coordinate information of the reference point projection of the robot arm in the second position and the coordinate information of the installation part of the part to be installed in the second position, calculate the second relative displacement of the installation part of the part to be installed relative to the reference point of the robot arm in the second position.

[0040] The combination of the first relative displacement and the second relative displacement constitutes the first relative positional relationship between the installation location of the part to be installed and the robot arm.

[0041] Furthermore, the robotic arm drives the robotic hand to move in a direction parallel to the first orientation, and causes the mounting part of the component to be mounted to fall onto the second orientation of the second sensing device, specifically including:

[0042] Real-time acquisition of the coordinate information of the reference point projection of the robot arm in the first position;

[0043] The coordinate information of the reference point of the robot arm projected in the first position is combined with the first relative displacement of the installation part of the part to be installed relative to the reference point of the robot arm in the first position to obtain the real-time coordinate information of the installation part of the part to be installed in the first position.

[0044] Obtain the coordinates of the intersection point of the second and first positions in the first position;

[0045] The robotic arm drives the robotic hand to move in a direction parallel to the first position, and makes the real-time coordinate information of the installation part of the part to be installed in the first position coincide with the coordinate information of the intersection point in the first position.

[0046] A second aspect of the present invention also proposes an automated installation system based on a component to be installed, comprising a memory and a processor, wherein the memory includes a program for an automated installation method based on a component to be installed, and when the program for the automated installation method based on a component to be installed is executed by the processor, it implements the steps of the automated installation method based on a component to be installed as described above.

[0047] This invention proposes an automated installation method and system based on the component to be installed. By using a positioning field and the real-time coordinates of the current robotic arm, the real-time coordinates of the installation location of the component can be calculated. Therefore, regardless of differences in the depth to which the robotic arm grasps the component's shell, or whether the component's installation location is of different lengths, the real-time coordinates of the installation location can be accurately obtained before installation. This facilitates the robotic arm's precise installation of components of different shapes and sizes to the receiving position, solving the problem that existing robotic arms can only install components of the same shape and size, and cannot install components of different shapes and sizes.

[0048] Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description or may be learned by practice of the invention. Attached Figure Description

[0049] Figure 1 A flowchart of an automated installation method based on a component to be installed according to the present invention is shown;

[0050] Figure 2 A schematic diagram of the first state of the robotic arm, sensing device, and device under test of the present invention is shown.

[0051] Figure 3 A schematic diagram of the second state of the robotic arm, sensing device, and device under test of the present invention is shown.

[0052] Figure 4 A perspective view of the first state of a robotic arm according to an embodiment of the present invention is shown;

[0053] Figure 5 yes Figure 4 A three-dimensional schematic diagram of the second state of the robotic arm;

[0054] Figure 6 yes Figure 4 A three-dimensional exploded diagram of the robotic arm.

[0055] Figure label:

[0056] 1. Housing of the component to be installed; 2. Mounting part of the component to be installed; 3. First sensing device; 4. Second sensing device;

[0057] 100 robotic arms;

[0058] Fixed base 10, pivot part 11;

[0059] Drive component 20, cylinder 21, telescopic rod 22;

[0060] Floating seat 30, main body 31, first adapter 32;

[0061] Clamping assembly 40, connecting arm 41, linkage member 42, first linkage rod 421, second linkage rod 422, pivot part 423, clamping member 43, second adapter part 431, clamping part 432, auxiliary clamping block 433. Detailed Implementation

[0062] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0063] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0064] Figure 1 A flowchart of an automated installation method based on the component to be installed according to the present invention is shown.

[0065] like Figure 1 As shown, the first aspect of the present invention proposes an automated installation method based on a component to be installed, the method comprising:

[0066] S102, the gripping part of the part to be loaded is gripped by the robotic arm;

[0067] S104, The first relative positional relationship between the installation part of the part to be installed and the robot arm is obtained by positioning the positioning field;

[0068] S106, Obtain the real-time coordinate position of the current robotic arm;

[0069] S108, based on the first relative positional relationship between the installation part to be installed and the robot arm, the real-time coordinate position of the current robot arm is compensated to obtain the real-time coordinate position of the installation part to be installed.

[0070] S110, driven by a robotic arm, 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.

[0071] In a specific embodiment, the part to be installed is usually placed in the feeding area. The robot can pick up the corresponding part from the feeding area and move it to the positioning field to obtain the first relative positional relationship between the installation part and the robot. Since the real-time coordinate position of the robot can be automatically obtained by the robot system, the real-time coordinate position of the robot can be compensated according to the first relative positional relationship between the installation part and the robot to obtain the real-time coordinate position of the installation part of the part to be installed. Finally, according to the real-time coordinate position of the installation part of the part to be installed, the installation part of the part to be installed can be accurately moved and installed to the installation receiving position.

[0072] The installation method of this invention can calculate the real-time coordinate position of the installation part of the component to be installed by using the positioning field and the real-time coordinate position of the current robot arm. Therefore, regardless of whether there is a difference in the depth at which the robot arm grasps the shell of the component to be installed, or whether the component to be installed has different lengths, the real-time coordinate position of the installation part of the component to be installed can be accurately obtained before installation. This facilitates the robot arm to accurately install components of different shapes and sizes to the installation receiving position, solving the problem that existing robots can only install components of the same shape and size and cannot install components of different shapes and sizes.

[0073] It is understood that the component to be installed is a pressure gauge, and the gripping part can be the side, front, or back of the pressure gauge housing, but is not limited to these. The robotic arm can be a mechanical gripper or a mechanical suction cup. When it is a mechanical gripper, it can be a three-jaw gripper, which grips the outer side of the pressure gauge housing; when it is a mechanical suction cup, it can suction the front or back of the pressure gauge housing. But it is not limited to these.

[0074] According to an embodiment of the present invention, the real-time coordinate position of the current robot arm is compensated based on a first relative positional relationship between the mounting location of the part to be mounted and the robot arm to obtain the real-time coordinate position of the mounting location of the part to be mounted, specifically including:

[0075] The first relative positional relationship is the displacement vector between the installation part of the part to be installed and the robot arm;

[0076] The displacement vector is added to the current real-time coordinate position of the robot arm to obtain the real-time coordinate position of the installation part of the current component to be installed.

[0077] Preferably, the displacement vector between the mounting part of the part to be mounted and the robot arm refers to the displacement vector between the center position of the connecting end face of the mounting part of the part to be mounted and the reference point of the robot arm. However, it is not limited to this.

[0078] It is understood that the mounting portion of the part to be mounted includes the external connecting thread on the side and the connecting end face away from the housing of the part to be mounted. A mounting connector is provided at the mounting receiving position. During installation, the robot arm inserts the mounting portion of the part to be mounted into the mounting connector at the mounting receiving position, and screws the mounting connector into the external connecting thread of the mounting portion of the part to be mounted, sealing the connecting end face of the mounting portion of the part to be mounted.

[0079] According to an embodiment of the present invention, a robotic arm drives a robotic hand to move and install the mounting part of the part to be installed to the installation receiving position based on the real-time coordinate position of the mounting part of the part to be installed, specifically including:

[0080] Obtain the coordinates of the installation and receiving location;

[0081] Based on the real-time coordinates of the installation location of the component to be installed and the coordinates of the installation receiving location, the second relative positional relationship between the installation location and the installation receiving location of the component to be installed is determined.

[0082] The installation path is determined based on the second relative positional relationship between the current installation location of the component to be installed and the installation receiving location;

[0083] The robotic arm moves the installation part of the component to be installed to the installation receiving position according to the installation path.

[0084] According to a specific embodiment of the present invention, after the gripping portion of the part to be loaded is grasped by the robotic arm, the method further includes:

[0085] The robotic arm drives the robotic hand to move and moves the part to be loaded that has been grasped by the robotic hand to the positioning field. It can be understood that the positioning field can be independent of the robotic hand.

[0086] According to a specific embodiment of the present invention, the positioning field includes a sensing device for sensing a first relative positional relationship between the mounting part of the workpiece to be mounted and the robot arm.

[0087] It is understood that the positioning field is located on the path from the placement position to the installation receiving position, so that the robot can calculate and obtain the first relative positional relationship between the installation part of the part and the robot gripper during the process of the robot grabbing the part to be installed from the placement position and moving it to the installation receiving position, thus saving overall installation time and improving installation efficiency. Preferably, the positioning field is located near the installation receiving position, but it is not limited to this.

[0088] It is understandable that the positioning field is not physical, but a virtual space, which is the spatial range within which the sensing device can sense the existence of an object and the coordinate position of the object.

[0089] It is understandable that the sensing devices that form the positioning field can also be set on the robotic arm. When the robotic arm grasps the part to be installed, the sensing devices on the robotic arm can locate the first relative positional relationship between the installation part of the part to be installed and the robotic arm, so as to realize the synchronous operation of grasping and positioning.

[0090] According to an embodiment of the present invention, the first relative positional relationship between the mounting part of the component to be mounted and the robot arm is obtained by positioning the positioning field, specifically including:

[0091] The coordinates of the installation location of the part to be installed are obtained by positioning the field.

[0092] Obtain the coordinates of the robot arm's reference point;

[0093] Based on the coordinates of the installation location of the part to be installed and the coordinates of the reference point of the robot, the first relative positional relationship between the installation location of the part to be installed and the robot is calculated.

[0094] It's understandable that the reference point of a robotic arm can be a physical location on the robotic arm, such as the center of the robotic arm's mounting base, or a relatively fixed spatial point outside the robotic arm's physical structure, such as the center of the robotic arm's gripping space, or the location of the mounting part of the standard workpiece when the robotic arm grasps it. In practical applications, a standard workpiece can be selected first, and the location of the mounting part of the standard workpiece when the robotic arm grasps it can be used as the robotic arm's reference point. The reference point of a robotic arm is used to facilitate the analysis of the positional relationship of other objects relative to the reference point, using the robotic arm or associated relatively fixed points as reference frames.

[0095] It can be understood that in step S106 above, obtaining the real-time coordinate position of the current robot arm is actually obtaining the real-time coordinate position of the reference point of the current robot arm. In step S108 above, compensating the real-time coordinate position of the current robot arm according to the first relative positional relationship between the installation part to be installed and the robot arm is actually compensating the real-time coordinate position of the reference point of the current robot arm according to the first relative positional relationship.

[0096] According to an embodiment of the present invention, the coordinate position of the mounting part of the component to be installed is obtained by positioning the positioning field, specifically including:

[0097] The preset positioning field is formed by a sensing device, which senses the orientation and distance information of the installation part of the component to be installed relative to the sensing device.

[0098] Based on the orientation distance information of the mounting part of the component to be mounted relative to the sensing device, the coordinate position of the mounting part of the component to be mounted is located.

[0099] It is understood that the sensing device can be a distance sensor, photoelectric sensor, acoustic 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, it is acceptable.

[0100] In practical applications, the coordinates of the sensing device can be obtained in advance. Then, using the coordinates of the sensing device as a reference, and combining the azimuth distance information of the mounting part of the component to be installed relative to the sensing device, spatial displacement calculation and analysis can be performed to locate the coordinates of the mounting part of the component to be installed. However, this is not the only method.

[0101] According to an embodiment of the present invention, the azimuth distance information of the mounting location of the component to be mounted relative to the sensing device is sensed by the sensing device, specifically including:

[0102] There are at least two sensing devices, and the at least two sensing devices are respectively set in different orientations;

[0103] At least two sensing devices sense the azimuth distance information of the mounting location of the component to be installed relative to the corresponding sensing device from different orientations.

[0104] 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 mounting location of the component to be mounted relative to the corresponding sensing device from different orientations, specifically including:

[0105] 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 position, and the second sensing device is used to sense the installation position of the component to be installed from a second position.

[0106] According to an embodiment of the present invention, the method further includes:

[0107] The distance information between the mounting part of the component to be installed and the first sensing device is sensed in the first position by the first sensing device.

[0108] Obtain the coordinate information of the first sensing device in the first position;

[0109] Based on 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, the coordinate information of the installation part of the component to be installed in the first position is calculated and obtained.

[0110] Obtain the coordinate information of the reference point projection of the robotic arm in the first position;

[0111] Based on the coordinates of the robot's reference point projection in the first position and the coordinates of the installation location of the part to be installed in the first position, the first relative displacement of the installation location of the part to be installed relative to the robot's reference point in the first position is calculated, such as... Figure 2 As shown;

[0112] While maintaining the spatial orientation of the component to be loaded, the robotic arm drives the robotic hand to move in a direction parallel to the first orientation, causing the mounting portion of the component to fall onto the second orientation of the second sensing device, such as... Figure 3 As shown;

[0113] The distance information between the mounting part of the component to be installed and the second sensing device is sensed in the second position by the second sensing device.

[0114] Obtain the coordinate information of the second sensing device in the second position;

[0115] Based on the coordinate information of the second sensing device in the second position and the distance information of the mounting part of the component to be installed relative to the second sensing device in the second position, the coordinate information of the mounting part of the component to be installed in the second position is calculated and obtained.

[0116] Obtain the coordinate information of the reference point projection of the robotic arm in the second position;

[0117] Based on the coordinate information of the reference point projection of the robot arm in the second position and the coordinate information of the installation part of the part to be installed in the second position, calculate the second relative displacement of the installation part of the part to be installed relative to the reference point of the robot arm in the second position.

[0118] The combination of the first relative displacement and the second relative displacement constitutes the first relative positional relationship between the installation location of the part to be installed and the robot arm.

[0119] Preferably, the first and second orientations are perpendicular to each other. However, this is not the only possibility.

[0120] It is understandable that the outline of the mounting part of the component to be installed is usually cylindrical, with one end of the mounting part connected to the shell of the component to be installed, and the other end being the connecting end face.

[0121] In a specific embodiment, both the first sensing device and the second sensing device are distance sensors. When the component to be installed moves to the positioning field, the spatial orientation of the component to be installed is such 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.

[0122] It is understandable that when the robotic arm drives the robotic hand to move towards the second sensing device along the first orientation and according to the first relative displacement compensation, the coordinate position of the reference point of the robotic hand can be known through the robotic arm's self-sensing system. Therefore, the robotic arm actually controls the coordinate position of the reference point of the robotic hand. In order to ensure that the connecting end face under the installation part of the part to be installed is located in the second orientation of the second sensing device, and thus enable the second sensing device to successfully sense the connecting end face under the installation part of the part to be installed, it is necessary to compensate for the reference point of the robotic hand and add the first relative displacement. Only in this way can the precise control of the position movement of the installation part of the part to be installed along the first orientation be achieved.

[0123] According to an embodiment of the present invention, a robotic arm drives a robotic hand to move along a direction parallel to a first orientation, and causes the mounting portion of the component to be mounted to fall onto a second orientation of a second sensing device, specifically including:

[0124] Real-time acquisition of the coordinate information of the reference point projection of the robot arm in the first position;

[0125] The coordinate information of the reference point of the robot arm projected in the first position is combined with the first relative displacement of the installation part of the part to be installed relative to the reference point of the robot arm in the first position to obtain the real-time coordinate information of the installation part of the part to be installed in the first position.

[0126] Obtain the coordinates of the intersection point of the second and first positions in the first position;

[0127] The robotic arm drives the robotic hand to move in a direction parallel to the first position, and makes the real-time coordinate information of the installation part of the part to be installed in the first position coincide with the coordinate information of the intersection point in the first position.

[0128] A second aspect of the present invention also proposes an automated installation system based on a component to be installed, comprising a memory and a processor, wherein the memory includes a program for an automated installation method based on a component to be installed, and when the program for the automated installation method based on a component to be installed is executed by the processor, it implements the steps of the automated installation method based on a component to be installed as described above.

[0129] According to a specific embodiment of the present invention, the structure of the robotic arm is as follows: Figures 4 to 6 As shown, the robotic arm 100 includes: a fixed base 10, a drive unit 20, a floating base 30, and at least two clamping assemblies 40. The drive unit 20 is mounted on the fixed base 10 and is used to drive the floating base 30 to move away from or towards the fixed base 10.

[0130] 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 base 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 base 30, and the other end is rotatably connected to the corresponding clamping member 43.

[0131] The driving component 20 drives the floating seat 30 to move closer to or further away from the fixed seat 10, and through the cooperation of the connecting arm 41 and the linkage component 42, it drives at least two clamping components 43 to tighten or open.

[0132] It is understood that the driving component 20 can be a pneumatic driving component, an electric driving component, etc., but is not limited to these. Preferably, the driving component 20 is a pneumatic driving component, which includes a cylinder 21 and a telescopic rod 22. The cylinder 21 is fixed on the fixed base 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 practical applications, the cylinder 21 drives the telescopic rod 22 to extend and retract, thereby causing the floating seat 30 to move closer to or away from the fixed base 10. In other embodiments, the driving component can also be an electric driving component, that is, a motor is used to drive the push-pull rod to move to drive the floating seat.

[0133] It is understood that the robotic arm 100 of the present invention can adapt to gripping objects of different sizes, achieving the effect of gripping various objects with a large stroke. Simultaneously, through the cooperation of the connecting arm 41, the linkage 42, and the gripping member 43, the gripping member 43 can maintain a basically horizontal gripping position. That is, in practical applications, once the robotic arm 100 is positioned at its initial maximum opening angle and the gripping member 43 is level with the object, regardless of the object's circumferential dimensions, the subsequent drive member 20 drives the floating seat 30 to move closer to the fixed seat 10. Under the cooperative action of the connecting arm 41, the linkage 42, and the gripping member 43, at least two gripping members 43 can maintain a basically horizontal state and tighten towards the center, thereby accurately gripping the object. Compared to the large-stroke grippers of the prior art, the present invention improves the accuracy of gripping various objects and eliminates the need for real-time adjustment of the overall height of the robotic arm 100, further simplifying the complexity of object gripping.

[0134] According to an embodiment of the present invention, the linkage 42 includes at least two linkage rods, and each linkage rod has a pivot portion 423 at both ends that is pivotally connected to the floating seat 30 and the corresponding clamping member 43.

[0135] The factors influencing the displacement of the clamping member 43 from the fixed seat 10 along the first direction include: the effective length of any one of the linkage rods 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 projected in the first direction between the two pivots 423 of the corresponding linkage rod.

[0136] Preferably, the pivot portion 423 can be a pivot hole or a pivot, but is not limited thereto.

[0137] It should be noted that the distance between the two pivots 423 of each linkage is equal to the distance between the two pivots 423 of the other linkage.

[0138] Preferably, at least two linkages are linear linkages, and at least two linkages are parallel to each other.

[0139] According to an embodiment of the present invention, the effective length of any linkage rod projection of the linkage member 42 in the first direction is negatively correlated with the displacement of the floating seat 30 from the fixed seat 10 along the first direction.

[0140] According to an embodiment of the present invention, when the floating seat 30 moves toward the fixed seat 10 in the first direction, the displacement of the floating seat 30 from the fixed seat 10 in the first direction becomes smaller, the connecting arm 41 pushes the linkage 42 to rotate, so that at least two clamping members 43 are tightened, and the effective length of any linkage rod of the linkage 42 projected in the first direction becomes larger.

[0141] 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 increases, the connecting arm 41 pulls the linkage 42 to rotate, causing at least two clamping members 43 to open, and causing the effective length of any linkage rod projection of the linkage 42 in the first direction to decrease.

[0142] According to an embodiment of the present invention, the displacement of the clamping member 43 from the fixed seat 10 along the first direction is equal to the effective length of any one of the linkage rods 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 the sum of the fixed parameter K.

[0143] It is understandable that when the robotic arm is positioned so that the gripper 43 is flush with the object, the coordinate position of the fixed base 10 remains unchanged. Using the coordinate position of the fixed base 10 as a reference, the displacement of the gripper 43 along the first direction from the fixed base 10 is actually equal to the sum of the effective length of any linkage projection in the first direction, the displacement of the floating base 30 along the first direction from the fixed base 10, and other fixed parameters. These other fixed parameters can be the overlapping connections between various components, and their values ​​are fixed. If the driving component 20 drives the floating base 30 towards the fixed base 10, the displacement of the floating base 30 along the first direction from the fixed base 10 will decrease. Simultaneously, the connecting arm 41 pushes the linkage 42 to rotate, causing the effective length of any linkage projection of the linkage 42 in the first direction to increase. Based on the above equation, 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 projection 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. Therefore, the effect of horizontally clamping objects with a large stroke can be achieved.

[0144] According to an embodiment of the present invention, the fixed base 10 is provided with at least two pivot portions 11, 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 of the linkage rods of the linkage member 42.

[0145] It should be noted that the middle part of the present invention refers to the area between the two pivot parts 423 of the linkage rod.

[0146] It is 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 near the connecting arm 41. In other embodiments, the other end of the connecting arm 41 may also be rotatably connected to the middle of a linkage rod of the linkage member 42 not near the connecting arm 41. In this connection method, the linkage rod near the connecting arm 41 needs to be provided with a clearance space to retain the rotation space between the connecting arm 41 and the corresponding linkage rod.

[0147] 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 being connected to the body 31 and respectively bent at an angle α relative to the body 31 toward the fixed seat 10.

[0148] It can be understood that the measurement of angle α is as follows: First, take the length direction of the first transition part 32 as a ray of angle α. Then, construct a plane perpendicular to the first direction. Next, project the corresponding ray of the first transition part 32 onto this plane and construct the corresponding projection line. The backward extension of the projection line is taken as another ray of angle α. Then, measure the angle between the two rays, which is angle α. It can be understood that angle α is greater than 90 degrees and less than 180 degrees.

[0149] 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 being fixedly connected to the second adapter portion 431, and the clamping portion 432 being bent at an angle b relative to the second adapter portion 431.

[0150] 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.

[0151] 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 effective length of the projection of any linkage rod of the linkage member 42 in the first direction, the displacement of the floating seat 30 from the fixed seat 10 along the first direction, and the sum of other fixed parameters. These other fixed parameters may include the overlapping connection portions between the various components, and the portion of the second adapter 431 pivotally connected between the position of the corresponding linkage rod and the clamping portion 432.

[0152] According to an embodiment of the present invention, the linkage 42 includes a first linkage rod 421 and a second linkage rod 422;

[0153] One end of the first linkage rod 421 and one end of the second linkage rod 422 are respectively rotatably connected to the same first transition part 32 of the floating seat 30, and are staggered.

[0154] 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 431 of the clamping member 43, and are offset from each other.

[0155] According to an embodiment of the present invention, the first linkage rod 421, the second linkage rod 422, the first adapter 32 and the second adapter 431 together form a parallelogram, and the first linkage rod 421 and the second linkage rod 422 are parallel to each other, and the first adapter 32 and the second adapter 431 are parallel to each other.

[0156] It is understandable that since the first linkage rod 421, the second linkage rod 422, the first adapter 32, and the second adapter 431 together form a parallelogram, and the first adapter 32 and the second adapter 431 remain parallel, and since the first adapter 32 only moves up and down with the floating seat 30 and does not rotate, the second adapter 431, which always remains parallel to the first adapter 32, will also not rotate. This ensures that the clamping member 43 can be translated as a whole. In practical applications, when clamping objects of different sizes, it can ensure that the clamping part 432 always clamps the object in the horizontal direction, and that the clamping surface of the clamping part 432 can always be completely in contact with the clamping surface of the clamped object. This avoids the risk of reduced friction and objects falling because the clamping surface of the clamping part 432 cannot be completely in contact with the clamping surface of the clamped object.

[0157] 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 part 432. The auxiliary clamping block 433 has the functions of preventing slippage and preventing damage to the surface of the object by clamping. Preferably, the auxiliary clamping block 433 is made of rubber or synthetic resin. However, it is not limited to this.

[0158] It is understood that the robotic arm 100 of the present invention can be mounted on the end of a robotic arm via a fixed base 10, and the robotic arm 100 can be driven to move as a whole to move objects. However, it is not limited to this.

[0159] 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 the diagram.

[0160] To better illustrate the robotic arm 100 of the present invention, the working principle of the robotic arm 100 of the present invention will be described in detail below.

[0161] When an object needs to be clamped, the robotic arm 100 can be positioned at its initial maximum opening angle, with the clamping part 432 at the same height as the object. Then, the drive unit 20 drives the floating seat 30 to move closer to the fixed seat 10. 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, causing the parallelogram formed by the first linkage rod 421, the second linkage rod 422, the first adapter part 32, and the second adapter part 431 to deform, causing at least two clamping members 43 to tighten horizontally towards the center to clamp the object. Afterward, the object can be transported to the corresponding placement position under the drive of the robotic arm.

[0162] When it is necessary to release an object, the robotic arm can move the robotic arm 100 holding the object to the corresponding placement position. Then, the drive member 20 drives the floating seat 30 to move away from the fixed seat 10. 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 32 and the second adapter 431 to deform, causing at least two grippers 43 to open outward horizontally to release the object.

[0163] It is understood that objects of different sizes can be instruments with different case diameters. For example, pressure gauges may have case diameters of 60mm, 100mm, 150mm, etc. Because the robotic arm 100 of this invention has a large gripping stroke, it can be used to grip pressure gauges with different case diameters, for example: Figure 4 The robotic arm can be used to hold pressure gauges with a case diameter of 150mm. Figure 5 The robotic arm can be configured to grip a pressure gauge with a watch case diameter of 60mm. The pressure gauge is typically placed horizontally, and the robotic arm 100 uses at least two gripping members 43 to hold it against the outer surface of the circular watch case. The robotic arm 100's at least two gripping members 43 can horizontally tighten and grip the outer surface of the watch case, ensuring precise gripping without requiring real-time height adjustments, further simplifying the process of precise gripping.

[0164] The robotic arm 100 of the present invention, through the cooperation of the connecting arm 41, the linkage 42 and the clamping member 43, enables the clamping member 43 to always keep the object horizontally clamped. Compared with the large stroke grippers of the prior art, the present invention improves the accuracy of clamping various objects, and does not require real-time adjustment of the overall height of the robotic arm 100, further simplifying the complexity of clamping objects.

[0165] It should be noted that the rotatable connection described in this invention can be achieved through the fit between a pivot and a pivot hole. For example, if one component is rotatably connected to another component, pivot holes can be provided at corresponding positions on both components, and then the rotatable connection can be achieved by passing a pivot through the pivot holes of the two components. However, this is not the only possibility.

[0166] This invention proposes an automated installation method and system based on the component to be installed. By using a positioning field and the real-time coordinates of the current robotic arm, the real-time coordinates of the installation location of the component can be calculated. Therefore, regardless of differences in the depth to which the robotic arm grasps the component's shell, or whether the component's installation location is of different lengths, the real-time coordinates of the installation location can be accurately obtained before installation. This facilitates the robotic arm's precise installation of components of different shapes and sizes to the receiving position, solving the problem that existing robotic arms can only install components of the same shape and size, and cannot install components of different shapes and sizes.

[0167] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automated installation method based on components to be installed, characterized in that, The method includes: The robotic arm grasps the gripping part of the part to be installed; The initial relative positional relationship between the installation location of the part to be installed and the robot arm is obtained by positioning the positioning field. Obtain the current real-time coordinates of the robotic arm; The real-time coordinate position of the robot is compensated based on the first relative positional relationship between the installation location of the part to be installed and the robot, so as to obtain the real-time coordinate position of the installation location of the part to be installed. The robotic arm drives the robotic 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. Specifically, the first relative positional relationship between the installation location of the part to be installed and the robot arm is obtained by positioning the positioning field, including: The preset positioning field is formed by a sensing device, which senses the orientation and distance information of the installation part of the component to be installed relative to the sensing device. Based on the orientation distance information of the mounting part of the component to be mounted relative to the sensing device, the coordinate position of the mounting part of the component to be mounted is located. Obtain the coordinates of the robot arm's reference point; Based on the coordinates of the installation location of the part to be installed and the coordinates of the reference point of the robot, the first relative positional relationship between the installation location of the part to be installed and the robot is calculated.

2. The automated installation method based on the component to be installed according to claim 1, characterized in that, The real-time coordinate position of the robot arm is compensated based on the first relative positional relationship between the installation location of the part to be installed and the robot arm to obtain the real-time coordinate position of the installation location of the part to be installed. Specifically, this includes: The first relative positional relationship is the displacement vector between the installation part of the part to be installed and the robot arm; The displacement vector is added to the current real-time coordinate position of the robot arm to obtain the real-time coordinate position of the installation part of the current component to be installed.

3. The automated installation method based on the component to be installed according to claim 1, characterized in that, The robotic arm drives the robotic hand and moves the mounting part of the part to the installation receiving position based on the real-time coordinate position of the mounting part. Specifically, this includes: Obtain the coordinates of the installation and receiving location; Based on the real-time coordinates of the installation location of the component to be installed and the coordinates of the installation receiving location, the second relative positional relationship between the installation location and the installation receiving location of the component to be installed is determined. The installation path is determined based on the second relative positional relationship between the current installation location of the component to be installed and the installation receiving location; The robotic 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 component to be installed according to claim 1, characterized in that, The sensing device detects the orientational distance information of the mounting location of the component to be mounted relative to the sensing device, specifically including: There are at least two sensing devices, and the at least two sensing devices are respectively set in different orientations; At least two sensing devices sense the azimuth distance information of the mounting location of the component to be installed relative to the corresponding sensing device from different orientations.

5. The automated installation method based on the component to be installed according to claim 4, characterized in that, The mounting location of the component to be mounted is sensed from different orientations by at least two sensing devices, 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 position, and the second sensing device is used to sense the installation position of the component to be installed from a second position.

6. The automated installation method based on the component to be installed according to claim 5, characterized in that, The method further includes: The distance information between the mounting part of the component to be installed and the first sensing device is sensed in the first position by the first sensing device. Based on the distance information of the installation part of the component to be installed relative to the first sensing device in the first position, the coordinate information of the installation part of the component to be installed in the first position is obtained. Obtain the coordinate information of the reference point projection of the robotic arm in the first position; Based on the coordinate information of the reference point projection of the robot arm in the first position and the coordinate information of the installation part of the part to be installed in the first position, calculate the first relative displacement of the installation part of the part to be installed relative to the reference point of the robot arm in the first position. Keeping the spatial orientation of the part to be installed unchanged, the robotic arm drives the robotic hand to move in a direction parallel to the first orientation, and makes the installation part of the part to be installed fall into the second orientation of the second sensing device. The distance information between the mounting part of the component to be installed and the second sensing device is sensed in the second position by the second sensing device. Based on the distance information of the installation part of the component to be installed relative to the second sensing device in the second position, the coordinate information of the installation part of the component to be installed in the second position is obtained. Obtain the coordinate information of the reference point projection of the robotic arm in the second position; Based on the coordinate information of the reference point projection of the robot arm in the second position and the coordinate information of the installation part of the part to be installed in the second position, calculate the second relative displacement of the installation part of the part to be installed relative to the reference point of the robot arm in the second position. The combination of the first relative displacement and the second relative displacement constitutes the first relative positional relationship between the installation location of the part to be installed and the robot arm.

7. The automated installation method based on the component to be installed according to claim 6, characterized in that, The robotic arm drives the robotic hand to move along a direction parallel to the first orientation, and causes the mounting part of the component to be mounted to fall onto the second orientation of the second sensing device, specifically including: Real-time acquisition of the coordinate information of the reference point projection of the robot arm in the first position; The coordinate information of the reference point of the robot arm projected in the first position is combined with the first relative displacement of the installation part of the part to be installed relative to the reference point of the robot arm in the first position to obtain the real-time coordinate information of the installation part of the part to be installed in the first position. Obtain the coordinates of the intersection point of the second and first positions in the first position; The robotic arm drives the robotic hand to move in a direction parallel to the first position, and makes the real-time coordinate information of the installation part of the part to be installed in the first position coincide with the coordinate information of the intersection point in the first position.

8. An automated installation system based on components to be installed, characterized in that, The device includes a memory and a processor. The memory includes a program for an automated installation method based on a component to be installed. When executed by the processor, the program implements the steps of the automated installation method based on a component to be installed as described in any one of claims 1-7.

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