Control method and control device for automatic assembly of motor bracket by collaborative robot

Abstract

The invention provides a control method and device for a collaborative robot to automatically assemble a motor support, the collaborative robot is in communication connection with a PLC through a socket communication protocol, and the method comprises the steps that the collaborative robot is controlled to clamp materials from a material taking position, and a material taking completion signal is sent to the PLC; under the condition that no motor support exists in the current air conditioner outdoor unit, the PLC sends an assembly allowing signal to the collaborative robot, and the collaborative robot is controlled to enter a torque mode to execute discharging operation; the torque value of a contact point between the motor support and the current air conditioner outdoor unit is monitored in real time; under the condition that the torque value exceeds a given range, the assembly force of the collaborative robot is adjusted according to the torque value; and under the condition that the adjustment duration reaches the set duration and the assembly is not successful, the collaborative robot is controlled to send out an alarm signal. The problem that in the prior art, assembly fails due to the fact that an external unit base hole site is easily misaligned during assembly of an industrial robot is solved.

Description

Technical Field

[0001] The present invention relates to the field of robot assembly, and in particular to a control method, a control device and a computer program product for automatically assembling a motor bracket by a collaborative robot. Background Art

[0002] As product designs become more complex, assembly workers on mechanical assembly lines face higher production efficiency and precision requirements. An effective way to meet these requirements is to automate the physical assembly process. The automated assembly process usually requires an appropriate number of motor brackets, which are connected to the drive unit through the motor. The motor bracket is also called the motor base or motor stator bracket. The assembly of the motor bracket needs to be controlled by precise torque to ensure that the motor is installed reliably. The traditional assembly method uses manual installation of the motor bracket, which relies on the knowledge and experience of the workers, has low assembly efficiency, and is prone to damage to the motor.

[0003] Assembling the motor bracket is an important part of air conditioner production. In the traditional air conditioner motor bracket assembly process, manual assembly or industrial robot assembly is usually required. Manual assembly is inefficient, and industrial robot assembly is prone to misalignment of the external unit base hole, resulting in assembly failure. The assembly hole is extremely small, and it is inevitable that there will be millimeter-level errors when the industrial robot moves. In addition, the motor bracket is heavy, and the error will be even greater. When using an industrial robot, the abnormal rate of misalignment of the hole is very high. Summary of the invention

[0004] The main purpose of the present application is to provide a control method, a control device and a computer program product for automatically assembling a motor bracket by a collaborative robot, so as to at least solve the problem in the prior art that the industrial robot assembly easily fails due to misalignment of the holes of the external machine base.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a control method for automatically assembling a motor bracket by a collaborative robot is provided, wherein the collaborative robot and a PLC are communicatively connected via a socket communication protocol, and the control method comprises: controlling the collaborative robot to clamp a material from a material picking position and sending a material picking completion signal to the PLC, wherein the material is a motor bracket to be assembled; when there is no motor bracket in the current air-conditioning outdoor unit, the PLC sends an assembly permission signal to the collaborative robot, and controls the collaborative robot to enter a torque mode to perform a material discharge operation, wherein the current air-conditioning outdoor unit is an air-conditioning outdoor unit currently transmitted to an assembly work area of ​​the collaborative robot on a conveyor belt, and the material discharge operation is an operation of assembling the motor bracket onto the current air-conditioning outdoor unit; real-time monitoring of the torque value of the contact point between the motor bracket and the current air-conditioning outdoor unit; when the torque value exceeds a given range, adjusting the assembly force of the collaborative robot according to the torque value; when the adjustment time reaches a set time and the assembly is unsuccessful, controlling the collaborative robot to send an alarm signal, wherein the alarm signal is used to prompt that the collaborative robot has failed to assemble, and the adjustment time is the time for adjusting the torque value to within the given range.

[0006] Optionally, controlling the collaborative robot to clamp the material from the material picking position includes: controlling the collaborative robot to determine whether the material is on the clamp, the clamp being a device on the robotic arm of the collaborative robot for clamping the material; in case the material is on the clamp of the collaborative robot, controlling the collaborative robot to put the material currently on the clamp into a material recovery rack; controlling the collaborative robot to re-clamp the material from the material picking position; and in case the material is not on the clamp of the collaborative robot, controlling the collaborative robot to clamp the material from the material picking position.

[0007] Optionally, before controlling the collaborative robot to determine whether the material is on the fixture, the method further includes: controlling the collaborative robot to receive a material arrival signal sent by the PLC, wherein the material arrival signal indicates that the material has arrived at the material picking position.

[0008] Optionally, after sending the material picking completion signal to the PLC, the method also includes: controlling the collaborative robot and the PLC to wait for the air-conditioning outdoor unit to be in place; detecting whether the motor bracket is in the current air-conditioning outdoor unit; if the motor bracket is in the current air-conditioning outdoor unit, releasing the current air-conditioning outdoor unit and updating the next air-conditioning outdoor unit of the current air-conditioning outdoor unit to the current air-conditioning outdoor unit.

[0009] Optionally, controlling the collaborative robot to enter the torque mode to perform the material discharge operation includes: controlling the collaborative robot to move the material to a target material discharge starting point, the target material discharge starting point being a position at a set distance from a material discharge point, the material discharge point being a hole position on the current air-conditioning outdoor unit where the motor bracket is to be assembled; controlling the collaborative robot to read servo current loop parameters; translating the servo current loop parameters into current torque parameters, and performing the material discharge operation.

[0010] Optionally, the torque value includes a first torque value and a second torque value, the first torque value is the torque value of the torque in the x-axis direction in the base coordinate system, and the second torque value is the torque value of the torque in the y-axis direction in the base coordinate system. When the torque value exceeds a given range, the assembly force is adjusted according to the torque value, including: establishing the base coordinate system with a discharge point as a base, the discharge point being a hole position of the motor bracket to be assembled on the current air-conditioning outdoor unit; obtaining the first torque value and the second torque value; when the first torque value is greater than the given range, controlling the collaborative robot to reduce the assembly force and move along the first direction of the x-axis for assembly, the first direction being from 0 to negative 0 on the x-axis. infinity direction; when the first torque value is less than the given range, the collaborative robot is controlled to increase the assembly force and move along the second direction of the x-axis for assembly, and the second direction is the direction from 0 to positive infinity on the x-axis; when the second torque value is greater than the given range, the collaborative robot is controlled to reduce the assembly force and move along the third direction of the y-axis for assembly, and the third direction is the direction from 0 to negative infinity on the y-axis; when the second torque value is less than the given range, the collaborative robot is controlled to increase the assembly force and move along the fourth direction of the y-axis for assembly, and the fourth direction is the direction from 0 to positive infinity on the y-axis.

[0011] Optionally, after real-time monitoring of the torque value of the contact point between the motor bracket and the current air-conditioning outdoor unit, the method further includes: when the torque value is within the given range, continuing to perform the discharge operation until the assembly is successful, and controlling the collaborative robot to send a first assembly completion signal to the PLC, wherein the first assembly completion signal is a signal sent by the collaborative robot after the automatic assembly is successful.

[0012] Optionally, when the adjustment time reaches the set time and the assembly is unsuccessful, after controlling the collaborative robot to send out an alarm signal, the method also includes: the PLC receives a second assembly completion signal and controls the baffle to open at the same time to release the current air-conditioning outdoor unit, the second assembly completion signal is a signal triggered on the touch screen of the main control cabinet after manual assembly is completed, and the baffle is used to prevent the current air-conditioning outdoor unit from being transmitted on the conveyor belt.

[0013] According to another aspect of the present application, a control device for automatically assembling a motor bracket by a collaborative robot is provided, wherein the collaborative robot is connected to a PLC via a socket communication protocol, and the device comprises: a first control unit, for controlling the collaborative robot to clamp a material from a material picking position and send a material picking completion signal to the PLC, wherein the material is a motor bracket to be assembled; and a second control unit, for controlling the collaborative robot to enter a torque mode to perform a material discharge operation when there is no motor bracket in the current air-conditioning outdoor unit, and the current air-conditioning outdoor unit is the motor bracket currently being transmitted to the conveyor belt. The air-conditioning outdoor unit in the assembly work area of ​​the collaborative robot, the discharging operation is the operation of assembling the motor bracket onto the current air-conditioning outdoor unit; the monitoring unit is used to monitor the torque value of the contact point between the motor bracket and the current air-conditioning outdoor unit in real time; the adjustment unit is used to adjust the assembly force according to the torque value when the torque value exceeds a given range; the third control unit is used to control the collaborative robot to send an alarm signal when the adjustment time reaches a set time and the assembly is unsuccessful, the alarm signal is used to prompt the collaborative robot that the assembly has failed, and the adjustment time is the time to adjust the torque value to within the given range.

[0014] According to another aspect of the present application, a computer program product is provided, comprising computer instructions, wherein when the computer instructions are executed by a processor, any one of the methods described above is implemented.

[0015] Applying the technical solution of the present application, in a control method for automatically assembling a motor bracket by a collaborative robot, the collaborative robot and the PLC are connected by a socket communication protocol. First, the collaborative robot is controlled to clamp the material from the material picking position and send a material picking completion signal to the PLC, where the material is the motor bracket to be assembled; then, when there is no motor bracket in the current air-conditioning outdoor unit, the PLC sends an assembly permission signal to the collaborative robot to control the collaborative robot to enter the torque mode to perform a material discharge operation, where the current air-conditioning outdoor unit is the air-conditioning outdoor unit currently transmitted to the assembly work area of ​​the collaborative robot on the conveyor belt, and the material discharge operation is an operation of assembling the motor bracket onto the current air-conditioning outdoor unit; then, the torque value of the contact point between the motor bracket and the current air-conditioning outdoor unit is monitored in real time; then, when the torque value exceeds a given range, the assembly force of the collaborative robot is adjusted according to the torque value; finally, when the adjustment time reaches the set time and the assembly is unsuccessful, the collaborative robot is controlled to send an alarm signal, where the alarm signal is used to prompt that the collaborative robot has failed to assemble, and the adjustment time is the time to adjust the torque value to within the given range. This application achieves the functions of automatic material incoming, automatic material picking, automatic torque translation and assembly through the mutual cooperation of PLC and collaborative robots. Socket communication is used to realize the communication between the robot and PLC. PLC acts as a server and the robot acts as a client. After picking up the material, it goes to the waiting position to wait for the air-conditioning outdoor unit to be in place. At the same time, the collaborative robot sends character B (i.e. the above-mentioned material picking completion signal) to the PLC to indicate that the material picking is completed. The PLC receives the character B sent by the collaborative robot and starts waiting for the air-conditioning outdoor unit to be in place. After reading the air-conditioning outdoor unit in place, it detects whether there is a bracket in the outdoor unit. If there is, it releases it. If there is no bracket, it sends character C (i.e. the above-mentioned assembly permission signal) to the collaborative robot to indicate that the material is allowed to be released. The collaborative robot receives character C and performs the material release operation in the torque mode at the same time, monitoring the torque of the contact point between the motor bracket and the outdoor unit. The robotic arm adjusts the force according to the feedback of the torque sensor to ensure that the bracket is placed in the outdoor unit smoothly and accurately. If the torque value exceeds the given torque range, it means that the motor bracket has not been put in place, and an alarm will be issued to prompt the on-site staff to handle it. The present application solves the problem in the prior art that the industrial robot assembly is prone to misalignment of the external machine base hole position, resulting in assembly failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for executing a control method for automatically assembling a motor bracket by a collaborative robot provided in an embodiment of the present application is shown;

[0017] Figure 2 A schematic flow chart of a control method for automatically assembling a motor bracket by a collaborative robot according to an embodiment of the present application is shown;

[0018] Figure 3 A socket communication diagram of a collaborative robot assembling a motor bracket according to an embodiment of the present application is shown;

[0019] Figure 4 A site layout diagram of a collaborative robot automatically assembling a motor bracket according to an embodiment of the present application is shown;

[0020] Figure 5 A schematic flow chart of a control method for automatically assembling a motor bracket by a collaborative robot according to an embodiment of the present application is shown;

[0021] Figure 6 A structural block diagram of a control device for automatically assembling a motor bracket of a collaborative robot provided according to an embodiment of the present application is shown.

[0022] The above drawings include the following reference numerals:

[0023] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] As introduced in the background technology, the manual assembly efficiency in the prior art is low, and the industrial robot assembly is prone to misalignment of the external machine base hole position, resulting in assembly failure. The assembly hole position is extremely small, and the industrial robot will inevitably have a millimeter-level error when moving. In addition, the motor bracket is heavy, and the error will be even greater. When using the industrial robot, the abnormal rate of misalignment of the hole position is very high. In order to solve the problem that the industrial robot assembly is prone to misalignment of the external machine base hole position in the prior art, resulting in assembly failure, the embodiments of the present application provide a control method, control device and computer program product for the automatic assembly of the motor bracket by a collaborative robot.

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0029] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal for executing a control method for automatically assembling a motor bracket of a collaborative robot according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0030] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the control method of the automatic assembly of the motor bracket of the collaborative robot in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0031] In this embodiment, a control method for automatically assembling a motor bracket by a collaborative robot running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0032] Figure 2 FIG. 1 is a flow chart of a control method for automatically assembling a motor bracket by a collaborative robot according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0033] Step S201, controlling the collaborative robot to pick up materials from a material picking position and sending a material picking completion signal to the PLC, wherein the material is a motor bracket to be assembled.

[0034] Specifically, the clamp on the robot arm of the collaborative robot is activated to accurately grasp the motor bracket to be assembled. This process is based on the precise control of the visual positioning system and force feedback sensor to ensure that the motor bracket can be accurately taken out from the material picking position. After the material picking is completed, the collaborative robot clamps the motor bracket firmly and sends a material picking completion signal to the PLC through the Socket communication protocol, such as Figure 3 As shown in the figure, after the collaborative robot completes the material picking, it sends character B to the PLC. Character B represents the material picking completion signal. The sending of this signal marks the completion of the material picking stage. The PLC will schedule the next operation based on this signal. The robot's automated operation avoids the uncertainty of manual material picking and significantly improves the efficiency of the assembly line.

[0035] It should be noted that from a long-term maintenance perspective, software solutions are usually more economical than physical wiring because they reduce the cost of physical hardware replacement and maintenance. Moreover, Socket communication is software-based and does not require physical connection, so there are no physical connection failures, such as poor contact, line damage, connector failure, etc. Socket communication allows remote access and diagnosis, which means that troubleshooting can be performed even when the device cannot be reached physically. In this application, the data sent and received can be detected in real time (also Figure 3 The characters A / B / C / D are used to determine the current status of the device. If a fault occurs, it can be handled more conveniently and quickly.

[0036] Step S202, when there is no motor bracket in the current air-conditioning outdoor unit, the PLC sends an assembly permission signal to the collaborative robot, controlling the collaborative robot to enter the torque mode to perform a discharge operation. The current air-conditioning outdoor unit is the air-conditioning outdoor unit that is currently transmitted to the assembly work area of ​​the collaborative robot on the conveyor belt, and the discharge operation is an operation of assembling the motor bracket onto the current air-conditioning outdoor unit.

[0037] Specifically, when the PLC detects that there is no motor bracket in the air conditioner outdoor unit currently transmitted to the collaborative robot assembly workspace, it will send an assembly permission signal to the collaborative robot such as Figure 3 As shown in the figure, the PLC sends character C to the collaborative robot, which indicates the above-mentioned assembly permission signal. This signal authorizes the robot to start assembling the motor bracket to the air conditioner outdoor unit. The collaborative robot enters the torque mode and is ready to perform delicate material discharge operations. The signal sent by the PLC is based on the intelligent judgment of the current state of the air conditioner outdoor unit, ensuring the orderly progress of the assembly process. By checking whether there is already a motor bracket in the air conditioner outdoor unit, repeated assembly or assembly errors are prevented, ensuring the accuracy and efficiency of assembly.

[0038] Step S203, monitoring the torque value of the contact point between the motor bracket and the current air conditioner outdoor unit in real time.

[0039] Specifically, during the assembly process, the torque sensor monitors the torque changes at the contact point between the motor bracket and the air conditioner outdoor unit in real time. This monitoring is achieved by reading the collaborative robot servo current loop parameters and translating them into torque parameters. Real-time torque monitoring ensures that the assembly operation is carried out at an appropriate torque value, avoiding assembly problems caused by excessive or insufficient force.

[0040] Step S204: When the torque value exceeds a given range, adjusting the assembly force of the collaborative robot according to the torque value.

[0041] Specifically, if the torque monitoring system detects that the torque value exceeds the preset range, the collaborative robot will automatically adjust its assembly force. This adjustment is achieved by optimizing the servo motor current parameters of the collaborative robot to ensure that the torque value returns to a safe and effective assembly range. By adjusting the force, the assembly operation can be more precise and avoid the motor bracket being incorrectly installed due to improper force.

[0042] Step S205, when the adjustment time reaches the set time and the assembly is unsuccessful, the collaborative robot is controlled to send an alarm signal, the alarm signal is used to prompt the collaborative robot that the assembly has failed, and the adjustment time is the time to adjust the torque value to within the given range.

[0043] Specifically, if the collaborative robot fails to successfully assemble the motor bracket within the set time of the torque value adjustment, it will trigger an alarm signal. This signal indicates that the assembly operation has encountered a problem and requires on-site staff to intervene. Through timely alarms, assembly failures can be quickly identified and resolved, avoiding long-term stagnation of the production line. Through automated and intelligent control, the assembly efficiency and quality of the air conditioner motor bracket are significantly improved, labor costs are reduced, and the flexibility and reliability of the production line are enhanced.

[0044] In the present embodiment, in the control method of the collaborative robot for automatically assembling a motor bracket, the collaborative robot and the PLC are connected through a socket communication protocol. First, the collaborative robot is controlled to clamp the material from the material picking position and send a material picking completion signal to the PLC. The material is the motor bracket to be assembled. Then, when there is no motor bracket in the current air-conditioning outdoor unit, the PLC sends an assembly permission signal to the collaborative robot to control the collaborative robot to enter the torque mode to perform a material discharge operation. The current air-conditioning outdoor unit is the air-conditioning outdoor unit currently transmitted to the assembly work area of ​​the collaborative robot on the conveyor belt. The material discharge operation is an operation of assembling the motor bracket onto the current air-conditioning outdoor unit. Thereafter, the torque value of the contact point between the motor bracket and the current air-conditioning outdoor unit is monitored in real time. Thereafter, when the torque value exceeds a given range, the assembly force of the collaborative robot is adjusted according to the torque value. Finally, when the adjustment time reaches the set time and the assembly is unsuccessful, the collaborative robot is controlled to send an alarm signal. The alarm signal is used to prompt that the collaborative robot has failed to assemble. The adjustment time is the time to adjust the torque value to within the given range. This application achieves the functions of automatic material incoming, automatic material picking, automatic torque translation and assembly through the mutual cooperation of PLC and collaborative robots. Socket communication is used to realize the communication between the robot and PLC. PLC acts as a server and the robot acts as a client. After picking up the material, it goes to the waiting position to wait for the air-conditioning outdoor unit to be in place. At the same time, the collaborative robot sends character B (i.e. the above-mentioned material picking completion signal) to the PLC to indicate that the material picking is completed. The PLC receives the character B sent by the collaborative robot and starts waiting for the air-conditioning outdoor unit to be in place. After reading the air-conditioning outdoor unit in place, it detects whether there is a bracket in the outdoor unit. If there is, it releases it. If there is no bracket, it sends character C (i.e. the above-mentioned assembly permission signal) to the collaborative robot to indicate that the material is allowed to be released. The collaborative robot receives character C and performs the material release operation in the torque mode at the same time, monitoring the torque of the contact point between the motor bracket and the outdoor unit. The robotic arm adjusts the force according to the feedback of the torque sensor to ensure that the bracket is placed in the outdoor unit smoothly and accurately. If the torque value exceeds the given torque range, it means that the motor bracket has not been put in place, and an alarm will be issued to prompt the on-site staff to handle it. The present application solves the problem in the prior art that the industrial robot assembly is prone to misalignment of the external machine base hole position, resulting in assembly failure.

[0045] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the control method for automatic assembly of a motor bracket by a collaborative robot of the present application will be described in detail below in conjunction with specific embodiments.

[0046] In order to ensure the accuracy of material supply and the consistency of assembly operation, in an optional implementation manner, the above step S201 includes:

[0047] Step S2011, controlling the collaborative robot to determine whether there is the material on a fixture, where the fixture is a device on the robotic arm of the collaborative robot for clamping the material;

[0048] Step S2012, when there is the material on the fixture of the collaborative robot, controlling the collaborative robot to put the material currently on the fixture into a material recovery rack;

[0049] Step S2013, controlling the collaborative robot to re-grip the material from the material picking position;

[0050] Step S2014: When the material is not on the clamp of the collaborative robot, control the collaborative robot to clamp the material from the material picking position.

[0051] In the above embodiment, before starting the assembly process, whether there is material in the fixture is determined by diffuse reflection photoelectric detection on the fixture of the collaborative robot, which ensures that the state of the fixture is known before the robot performs material picking or assembly operations, avoiding invalid or erroneous operations due to the presence of materials on the fixture. If it is detected that there is already material on the fixture, the robot will execute the operation of placing the current material into the material recovery rack. The material recovery rack is an area designed for temporary storage of materials not required for the current assembly. After confirming that the fixture is empty (or the material has been placed in the recovery rack), the collaborative robot will execute the action of re-gripping the material from the material picking position. If it is confirmed that there is no material on the fixture, the robot will directly grip the material from the material picking position. The robot can replenish materials in time according to production needs to maintain the continuous operation of the assembly line. In short, it ensures the accuracy of material supply and the consistency of assembly operations, improves production efficiency, reduces material waste and operational errors, and is a key link in achieving efficient and automated assembly.

[0052] In order to reduce the material waiting time and speed up the assembly process, in an optional implementation manner, before the above step S2011, the method further includes:

[0053] Step S301, controlling the collaborative robot to receive a material arrival signal sent by the PLC, wherein the material arrival signal indicates that the material has arrived at the material picking position.

[0054] In the above embodiment, if Figure 4As shown in the figure, the dotted arrow indicates the transmission direction of the air conditioner outdoor unit, and the solid arrow indicates the feeding mechanism of the motor bracket material. The diffuse reflection photoelectric detection is used to detect whether the material is in place. After the photoelectric detection indicates that the motor bracket material is in place, the character A is sent to the collaborative robot. The character A indicates the above-mentioned material in place signal. Once the material is in place, the collaborative robot immediately receives the signal and prepares to pick up the material, which reduces the waiting time for the material and speeds up the assembly process. It ensures that the collaborative robot can respond immediately and be ready to perform the material picking operation when the material is in place.

[0055] It should be noted that Figure 4 The numbers in represent the layout dimensions of the site in millimeters (mm). For example, the width of the robot electrical cabinet is 450mm and the length is 600mm, and the same applies to the others.

[0056] In order to ensure the accuracy and efficiency of the motor bracket installation during the assembly of the air conditioner outdoor unit, in an optional implementation, after the above step S201, the method further includes:

[0057] Step S401, controlling the collaborative robot and the PLC to wait for the air conditioner outdoor unit to arrive;

[0058] Step S402, detecting whether the motor bracket is present in the current air conditioner outdoor unit;

[0059] Step S403: in the case that the current air-conditioning outdoor unit has the motor bracket, the current air-conditioning outdoor unit is released, and the next air-conditioning outdoor unit of the current air-conditioning outdoor unit is updated to the current air-conditioning outdoor unit.

[0060] In the above embodiment, the collaborative robot and PLC are both in a standby state, waiting for the sensor (such as a photoelectric sensor or a proximity switch) to detect whether the air conditioner outdoor unit has correctly arrived at the assembly position. The sensor feeds back the position information of the air conditioner outdoor unit to the PLC in real time, and the PLC determines whether the air conditioner outdoor unit is in place based on the position information. Once the PLC confirms that the air conditioner outdoor unit is in a suitable assembly position, it will send a signal to the collaborative robot through the Socket communication protocol, indicating that the air conditioner outdoor unit is in place and assembly work can begin. Figure 5As shown in the figure, waiting for the air conditioner to be in place before starting the assembly ensures the accuracy of the assembly operation and avoids assembly errors caused by misalignment of the air conditioner. When the air conditioner is in place, the PLC controls the sensor (such as RFID, visual sensor or magnetic induction sensor) to check the inside of the air conditioner to confirm whether the motor bracket has been installed. If the motor bracket is detected to be present, it indicates that the air conditioner has completed this assembly step and does not need to be reassembled. This information is also transmitted through the Socket communication protocol, and the collaborative robot receives the status information of the current air conditioner. It avoids unnecessary operations and makes the production process smoother and more efficient. If it is confirmed that the current air conditioner has been equipped with a motor bracket, the PLC controls the blocker or conveyor belt on the production line to release the current air conditioner, allowing it to continue to move along the production line and enter the next assembly or inspection link. At the same time, the PLC will update the industrial control system of the production line and update the next air conditioner to arrive at the assembly position as "current air conditioner" to prepare for the assembly inspection of the motor bracket. Release the assembled air conditioner to ensure the continuous operation of the production line and avoid production line congestion. Update the "current air conditioner outdoor unit" information to prepare the system and robot for the next target and maintain the consistency and efficiency of the production process. Ensure the accuracy and efficiency of the motor bracket installation during the air conditioner outdoor unit assembly process, and greatly improve the intelligence level of the production process by preventing repeated assembly, maintaining the flow of the production line and real-time status updates, reduce production costs, and improve product quality and production safety.

[0061] In order to avoid assembly problems caused by excessive or insufficient torque, in an optional implementation, the above step S202 includes:

[0062] Step S2021, controlling the collaborative robot to move the material to a target discharge starting point, the target discharge starting point being a position at a set distance from a discharge point, the discharge point being a hole position on the current air conditioner outdoor unit where the motor bracket is to be assembled;

[0063] Step S2022, controlling the collaborative robot to read servo current loop parameters;

[0064] Step S2023, translating the above servo current loop parameters into current torque parameters, and executing the above material discharge operation.

[0065] In the above embodiment, the collaborative robot determines the precise position of the hole of the motor bracket to be assembled on the current air conditioner outdoor unit through its built-in positioning system, such as a visual camera and a torque sensor. After determining the position of the hole, the robot calculates the position of the target discharge starting point. This position is usually a certain safe distance away from the hole to avoid collision with other parts of the air conditioner outdoor unit or damage to the motor bracket during movement. The collaborative robot controls its mechanical arm to smoothly move the clamped motor bracket to the target discharge starting point. During the movement, the robot will act according to the pre-set path and speed parameters to ensure that the material reaches the target position safely and without damage. The control system of the collaborative robot reads the current loop parameters of its servo motor. The servo current loop is a closed-loop control system used to accurately control the torque and speed of the motor, and is a key technology for achieving precise control of the motor. During the entire process of the motor bracket moving to the target discharge starting point, the system continuously monitors the parameters of the servo current loop to understand the working status of the motor in real time, including the torque and load of the motor. When the collaborative robot approaches the discharge point, its control system converts the servo current loop parameters into current torque parameters. This conversion is based on the physical characteristics of the motor, the load conditions, and the preset correspondence between torque and current. The collaborative robot adjusts the torque output of its robotic arm according to the translated torque parameters to ensure that the motor bracket can be assembled to the hole of the air conditioner outdoor unit with the correct force and angle. In torque mode, the robot monitors the contact force between the motor bracket and the hole, and adjusts the assembly force in real time until the motor bracket is stably assembled in the hole. By translating the servo current loop parameters into torque parameters, the collaborative robot can achieve precise control of the assembly force and avoid assembly problems caused by excessive or insufficient torque. The unloading operation under torque control ensures the accurate and firm installation of the motor bracket and reduces product quality problems caused by improper assembly force.

[0066] In order to improve the accuracy and stability of assembly, in an optional implementation, the above step S204 includes:

[0067] Step S2041, establishing the base coordinate system with the material placement point as the base, the material placement point being the hole position on the current air conditioner outdoor unit where the motor bracket is to be assembled;

[0068] Step S2042, obtaining the first torque value and the second torque value;

[0069] Step S2043, when the first torque value is greater than the given range, controlling the collaborative robot to reduce the assembly force and move along the first direction of the x-axis for assembly, where the first direction is a direction from 0 to negative infinity on the x-axis;

[0070] Step S2044, when the first torque value is less than the given range, controlling the collaborative robot to increase the assembly force and move along the second direction of the x-axis for assembly, where the second direction is a direction from 0 to positive infinity on the x-axis;

[0071] Step S2045, when the second torque value is greater than the given range, controlling the collaborative robot to reduce the assembly force and move along the third direction of the y-axis for assembly, where the third direction is a direction from 0 to negative infinity on the y-axis;

[0072] Step S2046, when the second torque value is less than the given range, control the collaborative robot to increase the assembly force and move along the fourth direction of the y-axis for assembly, where the fourth direction is the direction from 0 to positive infinity on the y-axis.

[0073] In the above embodiment, the torque value includes a first torque value and a second torque value, the first torque value is the torque value of the torque in the x-axis direction in the base coordinate system, and the second torque value is the torque value of the torque in the y-axis direction in the base coordinate system. The collaborative robot first accurately locates the hole position of the motor bracket to be assembled on the air conditioner outdoor unit through a visual sensor or a force feedback sensor, that is, the discharge point. Establish a coordinate system: The robot establishes a three-dimensional base coordinate system with the discharge point as the center, and the coordinate system usually includes X, Y and Z axes, which are used to describe the position and direction of the motor bracket relative to the hole position. The plane formed by the X-axis and the Y-axis is parallel to the ground, and the Z-axis is perpendicular to the ground. By establishing a coordinate system with the discharge point as the base, the robot can adapt to holes in different positions and directions, thereby enhancing the flexibility and adaptability of the assembly operation. During the assembly process, the collaborative robot monitors the contact torque between the motor bracket and the hole position of the air conditioner outdoor unit in real time along the X-axis and Y-axis directions through a torque sensor, which are defined as the first torque value and the second torque value respectively. Data reading: The robot control system reads these torque values ​​and compares them with the preset given range to determine whether the assembly force needs to be adjusted. The robot control system compares the first torque value and the second torque value obtained with the preset given range to determine whether the torque value exceeds the range. According to the comparison result, if the torque value exceeds the given range, the control system will adjust the assembly force. For example, when the first torque value is greater than the given range, the robot reduces the assembly force along the first direction of the X-axis; when the first torque value is less than the given range, the assembly force along the second direction of the X-axis is increased, and the same is true for the Y-axis. While adjusting the force, the robot will also adjust the assembly direction along the X-axis and Y-axis according to the size and direction of the torque value to optimize the assembly process. Through the dynamic adjustment of the torque value, the intelligent control of the assembly force and direction is realized, and the accuracy and stability of the assembly are improved. The direction adjustment under torque control can effectively reduce part damage or assembly failure caused by improper assembly force and improve product quality.

[0074] In order to improve the overall efficiency of the production line, in an optional implementation manner, after the above step S203, the above method further includes:

[0075] Step S501, when the torque value is within the given range, continue to perform the material discharge operation until the assembly is successful, and control the collaborative robot to send a first assembly completion signal to the PLC. The first assembly completion signal is a signal sent by the collaborative robot after the automatic assembly is successful.

[0076] In the above embodiment, during the assembly process, the collaborative robot monitors the contact torque between the motor bracket and the hole position of the air conditioner outdoor unit in real time through the torque sensor. If the first torque value and the second torque value are both within the preset given range, this indicates that the motor bracket is being assembled with the correct torque, and there is no excessive or insufficient torque. When the torque value is within the given range, the collaborative robot will continue the assembly operation according to the predetermined assembly path until the motor bracket is fully positioned and securely installed in the hole. During this process, the collaborative robot will continue to monitor the torque value to ensure the continued stability of the assembly operation. Once the collaborative robot confirms that the motor bracket has been successfully assembled, it will send a first assembly completion signal to the PLC through the Socket communication protocol, such as Figure 3 As shown, the character D will be sent to the PLC, indicating that the assembly operation has been completed. The character D represents the above-mentioned discharge completion signal. The PLC receives the discharge completion signal, controls the blocking release, and repeats the starting operation, and repeats the cycle to achieve the functions of automatic material input, automatic material picking, automatic torque translation and assembly. The sending of this signal is an important communication node in the assembly process. It notifies the PLC and the entire production line of the update of the assembly status. The timely signal feedback after the successful assembly enables the production line to respond quickly and release the assembled air-conditioning outdoor unit to enter the next process, avoiding unnecessary waiting time and improving the overall production efficiency. By enhancing the communication between the robot and the PLC, real-time monitoring of the assembly status can be achieved, ensuring the high-quality assembly of the motor bracket and improving the overall efficiency of the production line.

[0077] In order to ensure that the production line can resume operation in time after manual assembly is completed, in an optional implementation manner, after the above step S205, the above method further includes:

[0078] Step S601, the PLC receives a second assembly completion signal and controls the baffle to open, releasing the current air-conditioning outdoor unit. The second assembly completion signal is a signal triggered on the touch screen of the main control cabinet after manual assembly is completed. The baffle is used to prevent the current air-conditioning outdoor unit from being transmitted on the conveyor belt.

[0079] In the above embodiment, if the collaborative robot cannot find the hole position for a long time (the torque exceeds the set torque value no matter how it moves within a certain period of time), an alarm will be issued to prompt the on-site personnel to solve it to prevent affecting the equipment beat. After the on-site staff assembles the bracket in place, they only need to reset the alarm in the main control cabinet, then press the assembly in place signal on the touch screen, and then start it with one button. This signal usually represents the completion of the manual assembly process, and the production line equipment needs to respond to continue the subsequent production process. Once the PLC verifies the second assembly completion signal, it will send an opening command to the motor or cylinder that controls the baffle. The baffle is usually located at a key position of the conveyor belt to prevent or control the movement of the current air conditioner outdoor unit. After receiving the opening command from the PLC, the baffle will automatically open and release the blocked air conditioner outdoor unit so that it can continue to move along the conveyor belt. After the baffle is opened, the current air conditioner outdoor unit is released and can continue to move to the next process on the production line. The PLC will update the status information of the production line to ensure that all equipment and control systems understand the assembly status and position of the current air conditioner outdoor unit to facilitate the accurate execution of subsequent processes. The control and opening of the baffle ensures that the production line can resume operation in time after manual assembly is completed, avoiding stagnation of the production line and improving production efficiency. The baffle acts as a safety barrier during the assembly process to prevent accidental movement of the unfinished air conditioner outdoor unit, thereby avoiding possible collision or damage on the production line and improving production safety.

[0080] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0081] The embodiment of the present application also provides a control device for the automatic assembly of a motor bracket by a collaborative robot. It should be noted that the control device for the automatic assembly of a motor bracket by a collaborative robot in the embodiment of the present application can be used to execute the control method for the automatic assembly of a motor bracket by a collaborative robot provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and those that have been explained will not be repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0082] The following is an introduction to the control device for automatically assembling a motor bracket of a collaborative robot provided in an embodiment of the present application.

[0083] Figure 6 1 is a block diagram of a control device for automatically assembling a motor bracket of a collaborative robot according to an embodiment of the present application. Figure 6As shown, the device comprises:

[0084] The first control unit 10 is used to control the collaborative robot to pick up materials from the material picking position and send a material picking completion signal to the PLC. The material is a motor bracket to be assembled.

[0085] Specifically, the clamp on the robot arm of the collaborative robot is activated to accurately grasp the motor bracket to be assembled. This process is based on the precise control of the visual positioning system and force feedback sensor to ensure that the motor bracket can be accurately taken out from the material picking position. After the material picking is completed, the collaborative robot clamps the motor bracket firmly and sends a material picking completion signal to the PLC through the Socket communication protocol, such as Figure 3 As shown in the figure, after the collaborative robot completes the material picking, it sends character B to the PLC. Character B represents the material picking completion signal. The sending of this signal marks the completion of the material picking stage. The PLC will schedule the next operation based on this signal. The robot's automated operation avoids the uncertainty of manual material picking and significantly improves the efficiency of the assembly line.

[0086] The second control unit 20 is used for, when there is no motor bracket in the current air-conditioning outdoor unit, the above-mentioned PLC sends an assembly permission signal to the above-mentioned collaborative robot, and controls the above-mentioned collaborative robot to enter the torque mode to perform a discharge operation. The above-mentioned current air-conditioning outdoor unit is the air-conditioning outdoor unit that is currently transmitted to the assembly work area of ​​the above-mentioned collaborative robot on the conveyor belt, and the above-mentioned discharge operation is an operation of assembling the above-mentioned motor bracket onto the above-mentioned current air-conditioning outdoor unit.

[0087] Specifically, when the PLC detects that there is no motor bracket in the air conditioner outdoor unit currently transmitted to the collaborative robot assembly workspace, it will send an assembly permission signal to the collaborative robot such as Figure 3 As shown in the figure, the PLC sends character C to the collaborative robot, which indicates the above-mentioned assembly permission signal. This signal authorizes the robot to start assembling the motor bracket to the air conditioner outdoor unit. The collaborative robot enters the torque mode and is ready to perform delicate material discharge operations. The signal sent by the PLC is based on the intelligent judgment of the current state of the air conditioner outdoor unit, ensuring the orderly progress of the assembly process. By checking whether there is already a motor bracket in the air conditioner outdoor unit, repeated assembly or assembly errors are prevented, ensuring the accuracy and efficiency of assembly.

[0088] The monitoring unit 30 is used to monitor the torque value of the contact point between the motor bracket and the current air conditioner outdoor unit in real time.

[0089] Specifically, during the assembly process, the torque sensor monitors the torque changes at the contact point between the motor bracket and the air conditioner outdoor unit in real time. This monitoring is achieved by reading the collaborative robot servo current loop parameters and translating them into torque parameters. Real-time torque monitoring ensures that the assembly operation is carried out at an appropriate torque value, avoiding assembly problems caused by excessive or insufficient force.

[0090] The adjustment unit 40 is used to adjust the assembly force of the collaborative robot according to the torque value when the torque value exceeds a given range.

[0091] Specifically, if the torque monitoring system detects that the torque value exceeds the preset range, the collaborative robot will automatically adjust its assembly force. This adjustment is achieved by optimizing the servo motor current parameters of the collaborative robot to ensure that the torque value returns to a safe and effective assembly range. By adjusting the force, the assembly operation can be more precise and avoid the motor bracket being incorrectly installed due to improper force.

[0092] The third control unit 50 is used to control the collaborative robot to send out an alarm signal when the adjustment time reaches the set time and the assembly is unsuccessful, wherein the alarm signal is used to prompt the collaborative robot that the assembly has failed, and the adjustment time is the time required to adjust the torque value to within the given range.

[0093] Specifically, if the collaborative robot fails to successfully assemble the motor bracket within the set time of the torque value adjustment, it will trigger an alarm signal. This signal indicates that the assembly operation has encountered a problem and requires on-site staff to intervene. Through timely alarms, assembly failures can be quickly identified and resolved, avoiding long-term stagnation of the production line. Through automated and intelligent control, the assembly efficiency and quality of the air conditioner motor bracket are significantly improved, labor costs are reduced, and the flexibility and reliability of the production line are enhanced.

[0094] In this embodiment, the first control unit is used to control the above-mentioned collaborative robot to clamp the material from the material picking position and send a material picking completion signal to the above-mentioned PLC, and the above-mentioned material is a motor bracket to be assembled; the second control unit is used to control the above-mentioned collaborative robot to enter the torque mode to perform a material discharge operation when there is no motor bracket in the current air-conditioning outdoor unit. The above-mentioned current air-conditioning outdoor unit is the air-conditioning outdoor unit currently transmitted to the assembly work area of ​​the above-mentioned collaborative robot on the conveyor belt, and the above-mentioned material discharge operation is an operation of assembling the above-mentioned motor bracket onto the above-mentioned current air-conditioning outdoor unit; the monitoring unit is used to monitor the torque value of the contact point between the above-mentioned motor bracket and the above-mentioned current air-conditioning outdoor unit in real time; the adjustment unit is used to adjust the assembly force according to the above-mentioned torque value when the above-mentioned torque value exceeds a given range; the third control unit is used to control the above-mentioned collaborative robot to send an alarm signal when the adjustment time reaches the set time and the assembly is unsuccessful, and the above-mentioned alarm signal is used to prompt the above-mentioned collaborative robot that the assembly has failed, and the above-mentioned adjustment time is the time for adjusting the above-mentioned torque value to within the above-mentioned given range. This application achieves the functions of automatic material incoming, automatic material picking, automatic torque translation and assembly through the mutual cooperation of PLC and collaborative robots. Socket communication is used to realize the communication between the robot and PLC. PLC acts as a server and the robot acts as a client. After picking up the material, it goes to the waiting position to wait for the air-conditioning outdoor unit to be in place. At the same time, the collaborative robot sends character B (i.e. the above-mentioned material picking completion signal) to the PLC to indicate that the material picking is completed. The PLC receives the character B sent by the collaborative robot and starts waiting for the air-conditioning outdoor unit to be in place. After reading the air-conditioning outdoor unit in place, it detects whether there is a bracket in the outdoor unit. If there is, it releases it. If there is no bracket, it sends character C (i.e. the above-mentioned assembly permission signal) to the collaborative robot to indicate that the material is allowed to be released. The collaborative robot receives character C and performs the material release operation in the torque mode at the same time, monitoring the torque of the contact point between the motor bracket and the outdoor unit. The robotic arm adjusts the force according to the feedback of the torque sensor to ensure that the bracket is placed in the outdoor unit smoothly and accurately. If the torque value exceeds the given torque range, it means that the motor bracket has not been put in place, and an alarm will be issued to prompt the on-site staff to handle it. The present application solves the problem in the prior art that the industrial robot assembly is prone to misalignment of the external machine base hole position, resulting in assembly failure.

[0095] In order to ensure the accuracy of material supply and the consistency of assembly operation, in an optional implementation manner, the first control unit includes:

[0096] A first control module is used to control the collaborative robot to determine whether there is the material on the fixture, where the fixture is a device on the mechanical arm of the collaborative robot used to clamp the material;

[0097] A second control module is used for controlling the collaborative robot to put the material currently on the fixture into a material recovery rack when there is the material on the fixture of the collaborative robot;

[0098] A third control module is used to control the collaborative robot to re-grip the material from the material picking position;

[0099] The fourth control module is used to control the collaborative robot to clamp the material from the material picking position when the material is not on the clamp of the collaborative robot.

[0100] In the above embodiment, before starting the assembly process, whether there is material in the fixture is determined by diffuse reflection photoelectric detection on the fixture of the collaborative robot, which ensures that the state of the fixture is known before the robot performs material picking or assembly operations, avoiding invalid or erroneous operations due to the presence of materials on the fixture. If it is detected that there is already material on the fixture, the robot will execute the operation of placing the current material into the material recovery rack. The material recovery rack is an area designed for temporary storage of materials not required for the current assembly. After confirming that the fixture is empty (or the material has been placed in the recovery rack), the collaborative robot will execute the action of re-gripping the material from the material picking position. If it is confirmed that there is no material on the fixture, the robot will directly grip the material from the material picking position. The robot can replenish materials in time according to production needs to maintain the continuous operation of the assembly line. In short, it ensures the accuracy of material supply and the consistency of assembly operations, improves production efficiency, reduces material waste and operational errors, and is a key link in achieving efficient and automated assembly.

[0101] In order to reduce the material waiting time and speed up the assembly process, in an optional implementation, the device also includes:

[0102] The fourth control unit is used to control the collaborative robot to receive the material arrival signal sent by the PLC before controlling the collaborative robot to determine whether the material is on the fixture, and the material arrival signal indicates that the material has arrived at the material picking position.

[0103] In the above embodiment, if Figure 4 As shown in the figure, the dotted arrow indicates the transmission direction of the air conditioner outdoor unit, and the solid arrow indicates the feeding mechanism of the motor bracket material. The diffuse reflection photoelectric detection is used to detect whether the material is in place. After the photoelectric detection indicates that the motor bracket material is in place, the character A is sent to the collaborative robot. The character A indicates the above-mentioned material in place signal. Once the material is in place, the collaborative robot immediately receives the signal and prepares to pick up the material, which reduces the waiting time for the material and speeds up the assembly process. It ensures that the collaborative robot can respond immediately and be ready to perform the material picking operation when the material is in place.

[0104] It should be noted that Figure 4The numbers in represent the layout dimensions of the site in millimeters (mm). For example, the width of the robot electrical cabinet is 450mm and the length is 600mm, and the same applies to the others.

[0105] In order to ensure the accuracy and efficiency of the motor bracket installation during the assembly of the air conditioner outdoor unit, in an optional implementation, the device further includes:

[0106] A fifth control unit, for controlling the collaborative robot and the PLC to wait for the air conditioner outdoor unit to arrive at the location after sending a material taking completion signal to the PLC;

[0107] A detection unit, used for detecting whether the motor bracket is present in the current air conditioner outdoor unit;

[0108] The release unit is used to release the current air-conditioning outdoor unit when the motor bracket is present in the current air-conditioning outdoor unit, and update the next air-conditioning outdoor unit of the current air-conditioning outdoor unit to the current air-conditioning outdoor unit.

[0109] In the above embodiment, the collaborative robot and PLC are both in a standby state, waiting for the sensor (such as a photoelectric sensor or a proximity switch) to detect whether the air conditioner outdoor unit has correctly arrived at the assembly position. The sensor feeds back the position information of the air conditioner outdoor unit to the PLC in real time, and the PLC determines whether the air conditioner outdoor unit is in place based on the position information. Once the PLC confirms that the air conditioner outdoor unit is in a suitable assembly position, it will send a signal to the collaborative robot through the Socket communication protocol, indicating that the air conditioner outdoor unit is in place and assembly work can begin. Figure 5As shown in the figure, waiting for the air conditioner to be in place before starting the assembly ensures the accuracy of the assembly operation and avoids assembly errors caused by misalignment of the air conditioner. When the air conditioner is in place, the PLC controls the sensor (such as RFID, visual sensor or magnetic induction sensor) to check the inside of the air conditioner to confirm whether the motor bracket has been installed. If the motor bracket is detected to be present, it indicates that the air conditioner has completed this assembly step and does not need to be reassembled. This information is also transmitted through the Socket communication protocol, and the collaborative robot receives the status information of the current air conditioner. It avoids unnecessary operations and makes the production process smoother and more efficient. If it is confirmed that the current air conditioner has been equipped with a motor bracket, the PLC controls the blocker or conveyor belt on the production line to release the current air conditioner, allowing it to continue to move along the production line and enter the next assembly or inspection link. At the same time, the PLC will update the industrial control system of the production line and update the next air conditioner to arrive at the assembly position as "current air conditioner" to prepare for the assembly inspection of the motor bracket. Release the assembled air conditioner to ensure the continuous operation of the production line and avoid production line congestion. Update the "current air conditioner outdoor unit" information to prepare the system and robot for the next target and maintain the consistency and efficiency of the production process. Ensure the accuracy and efficiency of the motor bracket installation during the air conditioner outdoor unit assembly process, and greatly improve the intelligence level of the production process by preventing repeated assembly, maintaining the flow of the production line and real-time status updates, reduce production costs, and improve product quality and production safety.

[0110] In order to avoid assembly problems caused by excessive or insufficient torque, in an optional implementation, the second control unit includes:

[0111] A fifth control module is used to control the collaborative robot to move the material to a target discharge starting point, where the target discharge starting point is a position at a set distance from a discharge point, and the discharge point is a hole position on the current air conditioner outdoor unit where the motor bracket is to be assembled;

[0112] A sixth control module, used for controlling the collaborative robot to read servo current loop parameters;

[0113] The translation execution module is used to translate the above servo current loop parameters into current torque parameters and execute the above material discharge operation.

[0114] In the above embodiment, the collaborative robot determines the precise position of the hole of the motor bracket to be assembled on the current air conditioner outdoor unit through its built-in positioning system, such as a visual camera and a torque sensor. After determining the position of the hole, the robot calculates the position of the target discharge starting point. This position is usually a certain safe distance away from the hole to avoid collision with other parts of the air conditioner outdoor unit or damage to the motor bracket during movement. The collaborative robot controls its mechanical arm to smoothly move the clamped motor bracket to the target discharge starting point. During the movement, the robot will act according to the pre-set path and speed parameters to ensure that the material reaches the target position safely and without damage. The control system of the collaborative robot reads the current loop parameters of its servo motor. The servo current loop is a closed-loop control system used to accurately control the torque and speed of the motor, and is a key technology for achieving precise control of the motor. During the entire process of the motor bracket moving to the target discharge starting point, the system continuously monitors the parameters of the servo current loop to understand the working status of the motor in real time, including the torque and load of the motor. When the collaborative robot approaches the discharge point, its control system converts the servo current loop parameters into current torque parameters. This conversion is based on the physical characteristics of the motor, the load conditions, and the preset correspondence between torque and current. The collaborative robot adjusts the torque output of its robotic arm according to the translated torque parameters to ensure that the motor bracket can be assembled to the hole of the air conditioner outdoor unit with the correct force and angle. In torque mode, the robot monitors the contact force between the motor bracket and the hole, and adjusts the assembly force in real time until the motor bracket is stably assembled in the hole. By translating the servo current loop parameters into torque parameters, the collaborative robot can achieve precise control of the assembly force and avoid assembly problems caused by excessive or insufficient torque. The unloading operation under torque control ensures the accurate and firm installation of the motor bracket and reduces product quality problems caused by improper assembly force.

[0115] In order to improve the accuracy and stability of assembly, in an optional implementation, the adjustment unit includes:

[0116] An establishment module is used to establish the base coordinate system with the discharge point as the base, and the discharge point is the hole position of the motor bracket to be assembled on the current air conditioner outdoor unit;

[0117] An acquisition module, used to acquire the first torque value and the second torque value;

[0118] a seventh control module, configured to control the collaborative robot to reduce the assembly force and move along the first direction of the x-axis for assembly when the first torque value is greater than the given range, wherein the first direction is a direction from 0 to negative infinity on the x-axis;

[0119] an eighth control module, configured to control the collaborative robot to increase the assembly force and move along a second direction of the x-axis for assembly when the first torque value is less than the given range, wherein the second direction is a direction from 0 to positive infinity on the x-axis;

[0120] a ninth control module, configured to control the collaborative robot to reduce the assembly force and move along a third direction of the y-axis for assembly when the second torque value is greater than the given range, wherein the third direction is a direction from 0 to negative infinity on the y-axis;

[0121] The tenth control module is used to control the collaborative robot to increase the assembly force and move along the fourth direction of the y-axis for assembly when the second torque value is less than the given range, wherein the fourth direction is the direction from 0 to positive infinity on the y-axis.

[0122] In the above embodiment, the torque value includes a first torque value and a second torque value, the first torque value is the torque value of the torque in the x-axis direction in the base coordinate system, and the second torque value is the torque value of the torque in the y-axis direction in the base coordinate system. The collaborative robot first accurately locates the hole position of the motor bracket to be assembled on the air conditioner outdoor unit through a visual sensor or a force feedback sensor, that is, the discharge point. Establish a coordinate system: The robot establishes a three-dimensional base coordinate system with the discharge point as the center, and the coordinate system usually includes X, Y and Z axes, which are used to describe the position and direction of the motor bracket relative to the hole position. The plane formed by the X-axis and the Y-axis is parallel to the ground, and the Z-axis is perpendicular to the ground. By establishing a coordinate system with the discharge point as the base, the robot can adapt to holes in different positions and directions, thereby enhancing the flexibility and adaptability of the assembly operation. During the assembly process, the collaborative robot monitors the contact torque between the motor bracket and the hole position of the air conditioner outdoor unit in real time along the X-axis and Y-axis directions through a torque sensor, which are defined as the first torque value and the second torque value respectively. Data reading: The robot control system reads these torque values ​​and compares them with the preset given range to determine whether the assembly force needs to be adjusted. The robot control system compares the first torque value and the second torque value obtained with the preset given range to determine whether the torque value exceeds the range. According to the comparison result, if the torque value exceeds the given range, the control system will adjust the assembly force. For example, when the first torque value is greater than the given range, the robot reduces the assembly force along the first direction of the X-axis; when the first torque value is less than the given range, the assembly force along the second direction of the X-axis is increased, and the same is true for the Y-axis. While adjusting the force, the robot will also adjust the assembly direction along the X-axis and Y-axis according to the size and direction of the torque value to optimize the assembly process. Through the dynamic adjustment of the torque value, the intelligent control of the assembly force and direction is realized, and the accuracy and stability of the assembly are improved. The direction adjustment under torque control can effectively reduce part damage or assembly failure caused by improper assembly force and improve product quality.

[0123] In order to improve the overall efficiency of the production line, in an optional embodiment, the above device further includes:

[0124] The execution unit is used to monitor the torque value of the contact point between the above-mentioned motor bracket and the above-mentioned current air-conditioning outdoor unit in real time, and when the above-mentioned torque value is within the above-mentioned given range, continue to execute the above-mentioned discharge operation until the assembly is successful, and control the above-mentioned collaborative robot to send a first assembly completion signal to the above-mentioned PLC, and the above-mentioned first assembly completion signal is a signal sent by the above-mentioned collaborative robot after the automatic assembly is successful.

[0125] In the above embodiment, during the assembly process, the collaborative robot monitors the contact torque between the motor bracket and the hole position of the air conditioner outdoor unit in real time through the torque sensor. If the first torque value and the second torque value are both within the preset given range, this indicates that the motor bracket is being assembled with the correct torque, and there is no excessive or insufficient torque. When the torque value is within the given range, the collaborative robot will continue the assembly operation according to the predetermined assembly path until the motor bracket is fully positioned and securely installed in the hole. During this process, the collaborative robot will continue to monitor the torque value to ensure the continued stability of the assembly operation. Once the collaborative robot confirms that the motor bracket has been successfully assembled, it will send a first assembly completion signal to the PLC through the Socket communication protocol, such as Figure 3 As shown, the character D will be sent to the PLC, indicating that the assembly operation has been completed. The character D represents the above-mentioned discharge completion signal. The PLC receives the discharge completion signal, controls the blocking release, and repeats the starting operation, and repeats the cycle to achieve the functions of automatic material input, automatic material picking, automatic torque translation and assembly. The sending of this signal is an important communication node in the assembly process. It notifies the PLC and the entire production line of the update of the assembly status. The timely signal feedback after the successful assembly enables the production line to respond quickly and release the assembled air-conditioning outdoor unit to enter the next process, avoiding unnecessary waiting time and improving the overall production efficiency. By enhancing the communication between the robot and the PLC, real-time monitoring of the assembly status can be achieved, ensuring the high-quality assembly of the motor bracket and improving the overall efficiency of the production line.

[0126] In order to ensure that the production line can resume operation in time after manual assembly is completed, in an optional implementation manner, the above device further includes:

[0127] The sixth control unit is used to control the collaborative robot to send out an alarm signal after the adjustment time reaches the set time and the assembly is unsuccessful. The PLC receives a second assembly completion signal and controls the baffle to open to release the current air-conditioning outdoor unit. The second assembly completion signal is a signal triggered on the touch screen of the main control cabinet after the manual assembly is completed. The baffle is used to prevent the current air-conditioning outdoor unit from being transmitted on the conveyor belt.

[0128] In the above embodiment, if the collaborative robot cannot find the hole position for a long time (the torque exceeds the set torque value no matter how it moves within a certain period of time), an alarm will be issued to prompt the on-site personnel to solve it to prevent affecting the equipment beat. After the on-site staff assembles the bracket in place, they only need to reset the alarm in the main control cabinet, then press the assembly in place signal on the touch screen, and then start it with one button. This signal usually represents the completion of the manual assembly process, and the production line equipment needs to respond to continue the subsequent production process. Once the PLC verifies the second assembly completion signal, it will send an opening command to the motor or cylinder that controls the baffle. The baffle is usually located at a key position of the conveyor belt to prevent or control the movement of the current air conditioner outdoor unit. After receiving the opening command from the PLC, the baffle will automatically open and release the blocked air conditioner outdoor unit so that it can continue to move along the conveyor belt. After the baffle is opened, the current air conditioner outdoor unit is released and can continue to move to the next process on the production line. The PLC will update the status information of the production line to ensure that all equipment and control systems understand the assembly status and position of the current air conditioner outdoor unit to facilitate the accurate execution of subsequent processes. The control and opening of the baffle ensures that the production line can resume operation in time after manual assembly is completed, avoiding stagnation of the production line and improving production efficiency. The baffle acts as a safety barrier during the assembly process to prevent accidental movement of the unfinished air conditioner outdoor unit, thereby avoiding possible collision or damage on the production line and improving production safety.

[0129] The control device for the automatic assembly of the motor bracket by the collaborative robot includes a processor and a memory. The above units are stored in the memory as program units, and the processor executes the above program units stored in the memory to realize the corresponding functions. The above modules are all located in the same processor; or, the above modules are located in different processors in any combination.

[0130] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of misalignment of the external machine base hole during industrial robot assembly in the prior art can be solved by adjusting kernel parameters.

[0131] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0132] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the control method for automatically assembling a motor bracket of the collaborative robot.

[0133] Specifically, the control method for the collaborative robot to automatically assemble a motor bracket includes:

[0134] Step S201, controlling the collaborative robot to pick up a material from a material picking position and sending a material picking completion signal to the PLC, wherein the material is a motor bracket to be assembled;

[0135] Step S202, when there is no motor bracket in the current air-conditioning outdoor unit, the PLC sends an assembly permission signal to the collaborative robot to control the collaborative robot to enter the torque mode to perform a material discharge operation, the current air-conditioning outdoor unit is the air-conditioning outdoor unit currently transmitted to the assembly work area of ​​the collaborative robot on the conveyor belt, and the material discharge operation is an operation of assembling the motor bracket onto the current air-conditioning outdoor unit;

[0136] Step S203, real-time monitoring of the torque value of the contact point between the motor bracket and the current air conditioner outdoor unit;

[0137] Step S204, when the torque value exceeds a given range, adjusting the assembly force of the collaborative robot according to the torque value;

[0138] Step S205, when the adjustment time reaches the set time and the assembly is unsuccessful, the collaborative robot is controlled to send an alarm signal, the alarm signal is used to prompt the collaborative robot that the assembly has failed, and the adjustment time is the time to adjust the torque value to within the given range.

[0139] An embodiment of the present invention provides a processor, which is used to run a program, wherein the control method for automatically assembling a motor bracket of the collaborative robot is executed when the program is run.

[0140] Specifically, the control method for the collaborative robot to automatically assemble a motor bracket includes:

[0141] Step S201, controlling the collaborative robot to pick up a material from a material picking position and sending a material picking completion signal to the PLC, wherein the material is a motor bracket to be assembled;

[0142] Step S202, when there is no motor bracket in the current air-conditioning outdoor unit, the PLC sends an assembly permission signal to the collaborative robot to control the collaborative robot to enter the torque mode to perform a material discharge operation, the current air-conditioning outdoor unit is the air-conditioning outdoor unit currently transmitted to the assembly work area of ​​the collaborative robot on the conveyor belt, and the material discharge operation is an operation of assembling the motor bracket onto the current air-conditioning outdoor unit;

[0143] Step S203, real-time monitoring of the torque value of the contact point between the motor bracket and the current air conditioner outdoor unit;

[0144] Step S204, when the torque value exceeds a given range, adjusting the assembly force of the collaborative robot according to the torque value;

[0145] Step S205, when the adjustment time reaches the set time and the assembly is unsuccessful, the collaborative robot is controlled to send an alarm signal, the alarm signal is used to prompt the collaborative robot that the assembly has failed, and the adjustment time is the time to adjust the torque value to within the given range.

[0146] An embodiment of the present invention provides a collaborative robot automatic assembly motor bracket control system, the collaborative robot automatic assembly motor bracket control system includes a processor, a memory, and a program stored in the memory and executable on the processor, and the processor implements at least the following steps when executing the program:

[0147] Step S201, controlling the collaborative robot to pick up a material from a material picking position and sending a material picking completion signal to the PLC, wherein the material is a motor bracket to be assembled;

[0148] Step S202, when there is no motor bracket in the current air-conditioning outdoor unit, the PLC sends an assembly permission signal to the collaborative robot to control the collaborative robot to enter the torque mode to perform a material discharge operation, the current air-conditioning outdoor unit is the air-conditioning outdoor unit currently transmitted to the assembly work area of ​​the collaborative robot on the conveyor belt, and the material discharge operation is an operation of assembling the motor bracket onto the current air-conditioning outdoor unit;

[0149] Step S203, real-time monitoring of the torque value of the contact point between the motor bracket and the current air conditioner outdoor unit;

[0150] Step S204, when the torque value exceeds a given range, adjusting the assembly force of the collaborative robot according to the torque value;

[0151] Step S205, when the adjustment time reaches the set time and the assembly is unsuccessful, the collaborative robot is controlled to send an alarm signal, the alarm signal is used to prompt the collaborative robot that the assembly has failed, and the adjustment time is the time to adjust the torque value to within the given range.

[0152] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0153] Step S201, controlling the collaborative robot to pick up a material from a material picking position and sending a material picking completion signal to the PLC, wherein the material is a motor bracket to be assembled;

[0154] Step S202, when there is no motor bracket in the current air-conditioning outdoor unit, the PLC sends an assembly permission signal to the collaborative robot to control the collaborative robot to enter the torque mode to perform a material discharge operation, the current air-conditioning outdoor unit is the air-conditioning outdoor unit currently transmitted to the assembly work area of ​​the collaborative robot on the conveyor belt, and the material discharge operation is an operation of assembling the motor bracket onto the current air-conditioning outdoor unit;

[0155] Step S203, real-time monitoring of the torque value of the contact point between the motor bracket and the current air conditioner outdoor unit;

[0156] Step S204, when the torque value exceeds a given range, adjusting the assembly force of the collaborative robot according to the torque value;

[0157] Step S205, when the adjustment time reaches the set time and the assembly is unsuccessful, the collaborative robot is controlled to send an alarm signal, the alarm signal is used to prompt the collaborative robot that the assembly has failed, and the adjustment time is the time to adjust the torque value to within the given range.

[0158] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0159] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0160] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0161] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0162] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0163] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0164] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0165] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0166] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0167] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0168] 1) The control method of the collaborative robot for automatically assembling a motor bracket of the present application, the collaborative robot and the PLC are connected by a socket communication protocol, first, the collaborative robot is controlled to clamp the material from the material picking position and send a material picking completion signal to the PLC, the material is the motor bracket to be assembled; then, when there is no motor bracket in the current air-conditioning outdoor unit, the PLC sends an assembly permission signal to the collaborative robot, and controls the collaborative robot to enter the torque mode to perform a material discharge operation, the current air-conditioning outdoor unit is the air-conditioning outdoor unit currently transmitted to the assembly work area of ​​the collaborative robot on the conveyor belt, and the material discharge operation is an operation of assembling the motor bracket onto the current air-conditioning outdoor unit; then, the torque value of the contact point between the motor bracket and the current air-conditioning outdoor unit is monitored in real time; then, when the torque value exceeds a given range, the assembly force of the collaborative robot is adjusted according to the torque value; finally, when the adjustment time reaches the set time and the assembly is unsuccessful, the collaborative robot is controlled to send an alarm signal, the alarm signal is used to prompt the collaborative robot that the assembly has failed, and the adjustment time is the time to adjust the torque value to within the given range. This application achieves the functions of automatic material incoming, automatic material picking, automatic torque translation and assembly through the mutual cooperation of PLC and collaborative robots. Socket communication is used to realize the communication between the robot and PLC. PLC acts as a server and the robot acts as a client. After picking up the material, it goes to the waiting position to wait for the air-conditioning outdoor unit to be in place. At the same time, the collaborative robot sends character B (i.e. the above-mentioned material picking completion signal) to the PLC to indicate that the material picking is completed. The PLC receives the character B sent by the collaborative robot and starts waiting for the air-conditioning outdoor unit to be in place. After reading the air-conditioning outdoor unit in place, it detects whether there is a bracket in the outdoor unit. If there is, it releases it. If there is no bracket, it sends character C (i.e. the above-mentioned assembly permission signal) to the collaborative robot to indicate that the material is allowed to be released. The collaborative robot receives character C and performs the material release operation in the torque mode at the same time, monitoring the torque of the contact point between the motor bracket and the outdoor unit. The robotic arm adjusts the force according to the feedback of the torque sensor to ensure that the bracket is placed in the outdoor unit smoothly and accurately. If the torque value exceeds the given torque range, it means that the motor bracket has not been put in place, and an alarm will be issued to prompt the on-site staff to handle it. The present application solves the problem in the prior art that the industrial robot assembly is prone to misalignment of the external machine base hole position, resulting in assembly failure.

[0169] 2) A control device for automatically assembling a motor bracket of a collaborative robot of the present application, comprising a first control unit for controlling the collaborative robot to clamp the material from the material picking position and send a material picking completion signal to the PLC, wherein the material is a motor bracket to be assembled; a second control unit for controlling the collaborative robot to enter a torque mode to perform a material discharge operation when there is no motor bracket in the current air-conditioning outdoor unit, wherein the PLC sends an assembly permission signal to the collaborative robot, and the collaborative robot enters a torque mode to perform a material discharge operation, wherein the current air-conditioning outdoor unit is the air-conditioning outdoor unit currently transmitted to the assembly work area of ​​the collaborative robot on the conveyor belt, and the material discharge operation is an operation of assembling the motor bracket onto the current air-conditioning outdoor unit; a monitoring unit for real-time monitoring of the torque value of the contact point between the motor bracket and the current air-conditioning outdoor unit; an adjustment unit for adjusting the assembly force according to the torque value when the torque value exceeds a given range; a third control unit for controlling the collaborative robot to send an alarm signal when the adjustment time reaches a set time and the assembly is unsuccessful, wherein the alarm signal is used to prompt the collaborative robot that the assembly has failed, and the adjustment time is the time required to adjust the torque value to within the given range. This application achieves the functions of automatic material incoming, automatic material picking, automatic torque translation and assembly through the mutual cooperation of PLC and collaborative robots. Socket communication is used to realize the communication between the robot and PLC. PLC acts as a server and the robot acts as a client. After picking up the material, it goes to the waiting position to wait for the air-conditioning outdoor unit to be in place. At the same time, the collaborative robot sends character B (i.e. the above-mentioned material picking completion signal) to the PLC to indicate that the material picking is completed. The PLC receives the character B sent by the collaborative robot and starts waiting for the air-conditioning outdoor unit to be in place. After reading the air-conditioning outdoor unit in place, it detects whether there is a bracket in the outdoor unit. If there is, it releases it. If there is no bracket, it sends character C (i.e. the above-mentioned assembly permission signal) to the collaborative robot to indicate that the material is allowed to be released. The collaborative robot receives character C and performs the material release operation in the torque mode at the same time, monitoring the torque of the contact point between the motor bracket and the outdoor unit. The robotic arm adjusts the force according to the feedback of the torque sensor to ensure that the bracket is placed in the outdoor unit smoothly and accurately. If the torque value exceeds the given torque range, it means that the motor bracket has not been put in place, and an alarm will be issued to prompt the on-site staff to handle it. The present application solves the problem in the prior art that the industrial robot assembly is prone to misalignment of the external machine base hole position, resulting in assembly failure.

[0170] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for automatically assembling a motor bracket by a collaborative robot, characterized in that: The collaborative robot and the PLC are connected via a socket communication protocol, and the control method includes: Control the collaborative robot to pick up materials from a material picking position and send a material picking completion signal to the PLC, wherein the material is a motor bracket to be assembled; In the case that there is no motor bracket in the current air-conditioning outdoor unit, the PLC sends an assembly permission signal to the collaborative robot to control the collaborative robot to enter the torque mode to perform a material discharge operation, the current air-conditioning outdoor unit is the air-conditioning outdoor unit currently transmitted to the assembly work area of ​​the collaborative robot on the conveyor belt, and the material discharge operation is an operation of assembling the motor bracket onto the current air-conditioning outdoor unit; Real-time monitoring of the torque value of the contact point between the motor bracket and the current air conditioner outdoor unit; When the torque value exceeds a given range, adjusting the assembly force of the collaborative robot according to the torque value; When the adjustment time reaches the set time and the assembly is unsuccessful, the collaborative robot is controlled to send an alarm signal, wherein the alarm signal is used to prompt the collaborative robot that the assembly has failed. The adjustment time is the time required to adjust the torque value to within the given range.

2. The method according to claim 1, characterized in that Controlling the collaborative robot to pick up materials from a material picking position includes: Controlling the collaborative robot to determine whether the material is on a clamp, wherein the clamp is a device on the mechanical arm of the collaborative robot for clamping the material; When the material is on the fixture of the collaborative robot, controlling the collaborative robot to put the material currently on the fixture into a material recovery rack; Controlling the collaborative robot to re-grip the material from the material picking position; When the material is not on the clamp of the collaborative robot, the collaborative robot is controlled to clamp the material from the material picking position.

3. The method according to claim 1, characterized in that Before controlling the collaborative robot to determine whether the material is on the fixture, the method further includes: The collaborative robot is controlled to receive a material arrival signal sent by the PLC, wherein the material arrival signal indicates that the material has arrived at the material picking position.

4. The method according to claim 1, characterized in that: After sending the material taking completion signal to the PLC, the method further includes: Control the collaborative robot and the PLC to wait for the air conditioner outdoor unit to arrive; Detecting whether the motor bracket is in the current air conditioner outdoor unit; In the case that the motor bracket is present in the current air-conditioning outdoor unit, the current air-conditioning outdoor unit is released, and the air-conditioning outdoor unit next to the current air-conditioning outdoor unit is updated to the current air-conditioning outdoor unit.

5. The method according to claim 1, characterized in that Controlling the collaborative robot to enter a torque mode to perform a material discharge operation, including: Control the collaborative robot to move the material to a target material discharge starting point, wherein the target material discharge starting point is a position at a set distance from a material discharge point, and the material discharge point is a hole position on the current air conditioner outdoor unit where the motor bracket is to be assembled; Controlling the collaborative robot to read servo current loop parameters; The servo current loop parameters are translated into current torque parameters, and the material discharge operation is performed.

6. The method according to claim 1, characterized in that The torque value includes a first torque value and a second torque value, the first torque value is the torque value of the torque in the x-axis direction in the base coordinate system, and the second torque value is the torque value of the torque in the y-axis direction in the base coordinate system. When the torque value exceeds a given range, adjusting the assembly force according to the torque value includes: The base coordinate system is established with the discharge point as the base, and the discharge point is the hole position of the motor bracket to be assembled on the current air conditioner outdoor unit; Obtaining the first torque value and the second torque value; When the first torque value is greater than the given range, the collaborative robot is controlled to reduce the assembly force and move along a first direction of the x-axis for assembly, where the first direction is a direction from 0 to negative infinity on the x-axis; When the first torque value is less than the given range, controlling the collaborative robot to increase the assembly force and move along the second direction of the x-axis for assembly, where the second direction is a direction from 0 to positive infinity on the x-axis; When the second torque value is greater than the given range, the collaborative robot is controlled to reduce the assembly force and move along a third direction of the y-axis for assembly, where the third direction is a direction from 0 to negative infinity on the y-axis; When the second torque value is less than the given range, the collaborative robot is controlled to increase the assembly force and move along the fourth direction of the y-axis for assembly, where the fourth direction is the direction from 0 to positive infinity on the y-axis.

7. The method according to claim 1, characterized in that After real-time monitoring of the torque value of the contact point between the motor bracket and the current air conditioner outdoor unit, the method further includes: When the torque value is within the given range, the material discharge operation is continued until the assembly is successful, and the collaborative robot is controlled to send a first assembly completion signal to the PLC, where the first assembly completion signal is a signal sent by the collaborative robot after the automatic assembly is successful.

8. The method according to claim 1, characterized in that When the adjustment time reaches the set time and the assembly is unsuccessful, after controlling the collaborative robot to send out an alarm signal, the method further includes: The PLC receives a second assembly completion signal and controls the baffle to open, releasing the current air-conditioning outdoor unit. The second assembly completion signal is a signal triggered on the touch screen of the main control cabinet after manual assembly is completed. The baffle is used to prevent the current air-conditioning outdoor unit from being transmitted on the conveyor belt.

9. A control device for automatically assembling a motor bracket by a collaborative robot, characterized in that: The collaborative robot and the PLC are connected to each other through a socket communication protocol, and the device includes: A first control unit is used to control the collaborative robot to pick up materials from a material picking position and send a material picking completion signal to the PLC, wherein the material is a motor bracket to be assembled; A second control unit is used for, when there is no motor bracket in the current air-conditioning outdoor unit, the PLC sends an assembly permission signal to the collaborative robot, and controls the collaborative robot to enter the torque mode to perform a material discharge operation, wherein the current air-conditioning outdoor unit is the air-conditioning outdoor unit currently transmitted to the assembly work area of ​​the collaborative robot on the conveyor belt, and the material discharge operation is an operation of assembling the motor bracket onto the current air-conditioning outdoor unit; A monitoring unit, used for monitoring in real time the torque value of the contact point between the motor bracket and the current air conditioner outdoor unit; An adjusting unit, used for adjusting the assembly force according to the torque value when the torque value exceeds a given range; The third control unit is used to control the collaborative robot to send out an alarm signal when the adjustment time reaches the set time and the assembly is unsuccessful, wherein the alarm signal is used to prompt the collaborative robot that the assembly has failed, and the adjustment time is the time required to adjust the torque value to within the given range.

10. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

Images