Double-arm collaborative assembly method for aviation cables in complex and narrow spaces

Abstract

The present invention discloses a dual-arm collaborative assembly method for aviation cables in complex and narrow spaces, comprising the steps of building a workbench with an upper surface containing a supporting aircraft body simulation component and a dual-arm robot system; the robot system visually observes the assembly experimental environment and performs global planning; an uncertain event processing strategy is designed to find the target aviation cable; a free-style target aviation cable docking assembly experiment is performed to complete the docking of bundled suspended target aviation cable connectors suspended on both sides of the aircraft body simulation component; a fixed-type target aviation cable plug-in assembly experiment is performed to complete the plugging of a single plug suspended at a cable perforation module with a socket located on the truss of the aircraft body simulation component; the present invention can simulate the actual aircraft body's bundled suspended cable docking assembly scenario, single bundle cable plug-in assembly scenario, cable perforation scenario, cable wiring scenario, etc., to promote the development of automatic cable assembly technology in the aerospace field.

Description

Technical Field

[0001] The present invention relates to the field of collaborative robot intelligent assembly technology, and in particular to a dual-arm collaborative assembly method for aviation cables in complex and narrow spaces. Background Art

[0002] Aviation cables are the primary means of interconnecting and communicating between aerospace equipment. They are numerous and diverse, and are mostly concentrated in core areas such as cockpits, wings, and cargo holds, where space is confined and complex. However, current aviation cable assembly relies primarily on manual labor. The sheer number of cables creates a heavy workload, and the complexity of the workspace severely restricts workers' posture. Furthermore, manual assembly is inefficient and suffers from poor quality consistency, which can have serious negative impacts on worker health and assembly quality, significantly impacting key performance indicators such as equipment reliability, safety, and electromagnetic compatibility.

[0003] Currently, research on the manipulation of flexible cables by robots is relatively weak compared to that on rigid objects, and the demonstration experiments studied are relatively simple, mostly focusing on tasks oriented towards a single operation step. There are also few systematic test platforms based on engineering work environments. To address the above issues, the present invention's dual-arm collaborative assembly method for aviation cables in complex and confined spaces can be used to verify the long-sequence planning and precise operation of tasks such as observation, decision-making, grasping, assembly, perforation, and wiring of aviation cables by a collaborative dual-arm robot in complex and confined spaces such as aircraft bodies and wings, providing an effective simulation test platform for basic research on intelligent assembly of aviation cables. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a dual-arm collaborative assembly method for aviation cables in complex and narrow spaces to solve the above-mentioned problem of the lack of a collaborative robot cable assembly simulation test platform based on complex engineering applications. A dual-arm robot is used to explore and study cable assembly in complex and narrow spaces to promote the intelligence of the aircraft manufacturing industry.

[0005] To solve the above technical problems, the present invention provides the following technical solution: a method for the dual-arm collaborative assembly of aviation cables in complex and narrow spaces, comprising:

[0006] Build a workbench with an upper surface that supports the aircraft body simulation and the dual-arm robot system;

[0007] Design free-style target aviation cable docking and assembly experimental environment and fixed-style target aviation cable plug-in and assembly experimental environment;

[0008] The robot system visually observes the assembly experimental environment and performs global planning to calculate the appropriate connector grasping position for the target aviation cable. and target angle , as the target pose for the subsequent robot system to grasp the target aviation cable;

[0009] Design an uncertain event handling strategy to handle the situation where the robot system cannot observe the target aviation cable during the initial observation of the exterior of the aircraft body simulation component, and find the target aviation cable;

[0010] Conduct free-style target aviation cable docking and assembly experiments to complete the docking of bundled suspended target aviation cable connectors suspended on both sides of the aircraft body simulation;

[0011] A fixed target aviation cable plug-in and assembly experiment is carried out. The experiment first conducts a fixed target aviation cable penetration experiment to complete the connection between a single plug suspended at the cable penetration module and the socket located on the truss of the aircraft body simulation part. Finally, a single fixed target aviation cable wiring experiment is carried out to complete the fixation of the target aviation cable on the curved skin of the aircraft body simulation part.

[0012] Furthermore, the design of a free-type target aviation cable pair connection test environment and a fixed-type target aviation cable plug-in connection test specifically includes the following steps:

[0013] The freestyle target aviation cable docking and assembly experiment adopts the following experimental assembly preparation: several pairs of target aviation cables with plugs and target aviation cables with sockets are selected and bundled and suspended at the cable fixing rings on the left and right sides of the aircraft body simulation, and the tail of each target aviation cable is connected to a cable tensioner;

[0014] The fixed target aviation cable plug-in assembly experiment adopts the following experimental assembly preparation: a connector fixing plate is installed on the structural truss inside the aircraft body simulation part, and the sockets of each pair of aviation cables are arranged and fixed on it, and the tail of the corresponding single aviation cable containing the plug is connected to the cable tensioner.

[0015] Furthermore, the robot system visually observes the assembly experimental environment and performs global planning to calculate the connector grabbing position suitable for the target aviation cable. and target angle , as the target posture for the subsequent robot system to grasp the target aviation cable, specifically includes the following steps:

[0016] Step 1: The robot system is outside the aircraft body simulation part. It uses the visual sensors on the two robots to conduct preliminary observations of the assembly environment inside the aircraft body simulation part to obtain the status information of each object in the scene. ;

[0017] Step 2: The two robots in the robot system observe the cable bundles in their own area and obtain the characteristic information of the aviation cables, including the cable labels. , Connector diameter , Connector height , cable diameter , and perform cable segmentation, identification, and matching operations to find the target aviation cable. In addition, the two robots can cooperate with each other to observe the cable bundles in the other area to expand the field of view;

[0018] Step 3: Based on the previously observed assembly environment and the status of the aviation cable, the robot system uses the task planner to make a global plan for the subsequent operation tasks and determine the robot's next mission goal;

[0019] Step 4: The robot system begins to execute operations according to the instructions of the mission planner. The robot uses real-time motion planning methods to enter the interior of the aircraft body simulation and arrive near the target aviation cable to grab the target aviation cable;

[0020] Step 5: The robot system calculates the appropriate connector grabbing position for the target aviation cable and target angle , as the next step, the robot system grasps the target position of the target aviation cable.

[0021] Furthermore, the design of the uncertain event handling strategy specifically includes the following steps:

[0022] If the robot system cannot observe the target aviation cable during the initial observation outside the aircraft body simulation, the two robots will change their positions within a reasonable range of motion without collision to change the field of view and cooperate to observe the target cable bundle;

[0023] If the target aerial cable cannot be found after adjusting the observation angle, a robot is needed. Enter the aircraft body simulation part to grab and lift the aviation cable, and then another robot The visual sensor observes and obtains the captured aerial cable information, and determines whether it is the target aerial cable. If not, Continue to grab the remaining aerial cables and observe until the target aerial cable is found. After lowering it, record the current target aviation cable position and proceed to the next step.

[0024] Furthermore, the free-style target aviation cable docking and assembly experiment specifically includes the following steps:

[0025] Step 6: Use intervention-type grabbing method to grab the target aviation cable. and Push aside the obstacles in front of the target aviation cables, and adjust the grasping angle if suitable conditions permit. Angle this moment Adjust to the target angle ,robot Angle this moment Adjust to the target angle , the two robots grab the target aviation cable and reach the collaborative assembly area; if there is no suitable condition to adjust the grasping angle, the two robots directly grab their respective target aviation cables, and the two robots reach the collaborative range. Toggle robot The gripped connector is adjusted to the target angle ,robot Toggle robot The gripped connector is adjusted to the target angle ;

[0026] Step 7: The two robots grab a pair of target aviation cable plugs and sockets, i.e., a pair of target aviation cable connectors, and bring them to the middle assembly area of ​​the aircraft body simulation, ready to press the target angle. and Perform assembly operations;

[0027] Step 8: During the assembly process, the cable tensioner pulls the tail of the aviation cable to provide a specific external drag force to the aviation cable. Under the interference of the external drag force, the robot system searches for holes, aligns, inserts holes, and tightens the connector until the connector is screwed to the target feed position. At this point, the assembly of a pair of target aviation cables is completed;

[0028] Step 9: If there are still target aviation cables to be connected, the two robots move to the vicinity of the cable bundles in their respective areas and search for target aviation cables again until all target aviation cables are connected and connected.

[0029] Furthermore, the fixed target aviation cable plug-in assembly experiment specifically includes the following steps:

[0030] Step 6: Using the intervention method to grab the target aviation cable, a robot Responsible for grabbing non-target aviation cables. If suitable conditions exist, adjust the grabbing angle. Adjust the current angle to the target angle ,robot Grab the plug of the target aviation cable, the robot Release the aviation cable from the obstacle and Remove the aircraft body simulation parts, robot Move to the target socket to prepare for the plug-in assembly operation; if there is no suitable condition to adjust the grasping angle, the robot Directly grab the plug of the target aviation cable, the robot Move to the target socket and adjust the current angle of the plug to the target angle by pressing against the fixing plate. , prepare for plug-in and assembly operation;

[0031] Step 7: The cable tensioner provides a specific external drag force to the plug aviation cable. At the same time, under the interference of the external drag force, the robot grasps the plug connector and performs hole search, alignment, insertion, and tightening operations on the corresponding socket connector until the connector is screwed to the target feed position. At this point, the target aviation cable pair is assembled;

[0032] Step 8: If there are still target aviation cables to be connected, the robot system moves to the vicinity of the remaining cable bundles to be connected and searches for target aviation cables again until all target aviation cables are connected and connected.

[0033] Furthermore, the fixed target aviation cable penetration experiment specifically includes the following steps:

[0034] Move the aircraft body simulation so that the cable penetration module on its side is located in the collaborative area of ​​the robot system, and place the aviation cables on the workbench within the working range of the robot system.

[0035] The robot system observes the drilling environment and the aviation cables on the work surface outside the aircraft body simulation part, and searches for the target aviation cables;

[0036] After finding the target aviation cable, the robot grabs it and shakes it up and down and left and right to prevent it from getting entangled with other aviation cables and then brings it up. After there are no more aviation cables entangled, the robot drives the target aviation cable to the outside of the cable penetration module, while the other robot enters the aircraft body simulation component, near the inside of the cable penetration module.

[0037] The outer robot grabs the target aviation cable and searches for and punches holes in the cable punching module. The inner robot uses a visual sensor to observe the status of the punching hole. When a connector is found passing through the hole, it grabs the connector passing through the hole and drags it inward. After the outer robot determines that there is an inward pulling force, it releases the gripper to complete the punching operation of the target aviation cable.

[0038] Furthermore, the fixed target aviation cable wiring experiment specifically includes the following steps:

[0039] Based on the routing status of the target aviation cable, a cable fixator is installed at the corresponding position of the curved surface skin inside the aircraft body simulation. Two robots of the robotic system grab one section of the target aviation cable in the aircraft body simulation to prepare for the wiring operation.

[0040] The two robots use their visual sensors to observe the position of the wire clamp , obtain wiring environment information;

[0041] Based on the cable dynamics model, the two robots collaborate to arrange the target aviation cable into the target wiring shape;

[0042] The two robots maintain the target cable in its proper position, move it over the cable holder, and use compliant control to clip the cable into the holder, completing the routing of a section of the target cable.

[0043] The two robots move to the remaining unrouted section of the cable and pick it up, repeating steps three and four until the entire target aviation cable is routed according to the routing target.

[0044] Furthermore, it includes a workbench (1), an aircraft body simulation part (2), aviation cables (3), and a robot system (4);

[0045] The workbench (1) is used to install and support an aircraft body simulation part (2) and a robot system (4); the aircraft body simulation part (2) is fixed on the workbench (1) surface, and a plurality of pairs of aviation cables (3) are arranged inside the workbench; the robot system (4) is a double robot, each robot being fixed on the workbench (1) surface and placed outside the open end of the aircraft body simulation part (2) so as to enter the aircraft body simulation part (2) from the open end to perform a free-style target aviation cable docking and assembly test or a fixed-type target aviation cable plug-in and assembly test;

[0046] The aircraft body simulation part (2) comprises a cable tensioner (201), a cable penetration module (202), a structural truss (203), a curved surface skin (204), a cable fixing ring (205), and a height-increasing module (206);

[0047] The cable tensioners (201) of the aircraft body simulation part (2) are respectively installed on the left and right sides of the outside of the aircraft body simulation part (2) for fixing and providing the required tension of the aviation cable (3); the cable penetration module (202) is arranged on the left and right sides of the curved skin (204), with circular and elliptical holes opened in the middle, for conducting a fixed target aviation cable penetration experiment during the assembly process of the simulated aircraft body; a plurality of structural trusses (203) are provided at the open end of one side of the curved skin (204) to simulate the complex, narrow and multi-obstacle structure of the aircraft body, and the number and position of the structural trusses (203) can be increased or decreased according to the experimental requirements. Movement; the curved skin (204) is in the shape of a circular arc surface, simulating the curvature of the aircraft fuselage, providing a structural constraint environment for the assembly of aviation cables, and simulating a fixed target aviation cable wiring experiment; a fixed target aviation cable plug-in assembly experiment is carried out based on the fixed target aviation cable penetration experiment and the fixed target aviation cable wiring experiment; a cable fixing ring (205) is installed on the structural truss (203) and is used to bind the bundled target aviation cables to keep them in a hanging state, and is used to carry out a free-style target aviation cable docking assembly experiment; an increasing module (206) is provided at the lower part of the simulation part to control the height of the aircraft body simulation part (2) according to the experimental requirements;

[0048] The robot system (4) is composed of two robots (406) on the left and right. The end of each robot (406) is connected in sequence to a six-dimensional force sensor flange connector (405), a six-dimensional force sensor (404), an end gripper (401), a visual sensor connector (403), and a visual sensor (402). The six-dimensional force sensor (404) is used to obtain the force and torque applied to the robot (406) during operation. The visual sensor (402) is used to provide visual information during the operation of the robot to guide the robot (406) to move to a target position. The end gripper (401) determines when to open or close the gripper based on the visual information of the visual sensor (402) and the force information of the six-dimensional force sensor (404).

[0049] Furthermore, a connector fixing plate can be added to the structural truss (203) to fix the socket of the target aviation cable, which can be used for a fixed target aviation cable plug-in assembly experiment, that is, the robot grabs the connector plug to achieve a plug-in assembly operation with the corresponding socket;

[0050] The inner wall of the curved skin (204) can be equipped with a wire fixer at a specific position according to wiring requirements to simulate the wiring environment inside the aircraft body, and a fixed target aviation cable wiring experiment can be carried out, that is, according to the target aviation cable routing requirements, the robot uses the wire fixer to form a specific cable routing shape on the inner wall of the curved skin (204) to achieve the target aviation cable routing operation.

[0051] By means of the above technical solution, the present invention provides a method for the dual-arm collaborative assembly of aviation cables in a complex and narrow space, which has at least the following beneficial effects:

[0052] The aircraft body simulation part of the present invention is designed as a multifunctional component, which can simulate the actual aircraft body's bundled suspended target aviation cable docking assembly scene, single bundle target aviation cable plug-in assembly scene, target aviation cable penetration scene, target aviation cable wiring scene, etc., and is used to simulate the complex assembly environment of aviation cables in the aircraft body. It can provide a basic platform for studying the dual-arm collaborative assembly of aviation cables in the complex and narrow space of the aircraft, thereby promoting the development of automatic cable assembly technology in the aerospace field; and provide a feasible environment for subsequent robot-based aircraft body cable assembly operations.

[0053] The present invention adopts a co-integrated dual-arm robot to replace manual labor in the simulated assembly operation of aviation cables. Based on the simulation system of the present invention, basic technical research and algorithm development related to robotic cable assembly can be carried out, which will help to break through technological innovation in related fields and promote robotic cable assembly capabilities from laboratories to engineering applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0055] Figure 1 This is a schematic diagram of the free-style target aviation cable docking assembly experiment in the dual-arm collaborative assembly of aviation cables in complex and narrow spaces of the present invention;

[0056] Figure 2 This is a schematic diagram of the structure of the aircraft body simulation component of the present invention;

[0057] Figure 3 This is a schematic diagram of the robot terminal structure of the present invention;

[0058] Figure 4 This is a workflow diagram for the free-type target aviation cable butt-jointing experiment and the fixed-type target aviation cable plug-jointing experiment of the present invention;

[0059] Figure 5 This is a workflow diagram of the fixed target aviation cable penetration experiment of the present invention;

[0060] Figure 6 This is a workflow diagram for the fixed target aviation cable wiring experiment of the present invention.

[0061] Figure numerals: 1-workbench; 2-aircraft body simulation part; 3-aviation cable; 4-robotic system; 201-cable tensioner; 202-cable penetration module; 203-structural truss; 204-curved skin; 205-cable fixing ring; 206-heightening module; 401-end clamp; 402-visual sensor; 403-visual sensor connector; 404-six-dimensional force sensor; 405-six-dimensional force sensor flange connector; 406-robot. DETAILED DESCRIPTION

[0062] To make the above-mentioned objectives, features, and advantages of the present invention more clearly understood, the present invention is further described below in detail with reference to the accompanying drawings and specific embodiments. This will enable a full understanding of how this application uses technical means to solve technical problems and achieve technical effects, and to implement the invention accordingly.

[0063] Those skilled in the art will appreciate that all or part of the steps in the above-mentioned embodiment methods can be accomplished by instructing the relevant hardware through a program. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0064] Please refer to Figures 1-6 , shows a specific implementation of this embodiment. In this embodiment, the aircraft body simulation part of the present invention is designed as a multifunctional component, which can simulate the actual aircraft body's bundled suspended target aviation cable docking assembly scene, single bundle target aviation cable plug-in assembly scene, target aviation cable penetration scene, target aviation cable wiring scene, etc., providing a feasible environment for subsequent robot-based aircraft body cable assembly operations.

[0065] The specific implementation methods of this aspect are further described in detail below through the description of the best embodiment with reference to the accompanying drawings. Example 1

[0066] Based on the above system, such as Figure 4 As shown, the present invention provides a method for dual-arm collaborative assembly of aviation cables in complex and narrow spaces, including a free-style target aviation cable docking assembly experiment;

[0067] The freestyle target aviation cable docking and assembly experiment adopts the following experimental assembly preparation: several pairs of target aviation cables with plugs and target aviation cables with sockets are selected and bundled and suspended at the cable fixing rings on the left and right sides of the aircraft body simulation, and the tail of each cable is connected to a cable tensioner;

[0068] After the experimental assembly is prepared, the robot system visually observes the assembly experimental environment and performs global planning to calculate the appropriate connector grasping position for the target aviation cable. and target angle , as the target posture for the subsequent robot system to grasp the target aviation cable, the specific process includes the following steps:

[0069] Step 1: The robot system is outside the aircraft body simulation part. It uses the visual sensors on the two robots to conduct preliminary observations of the assembly environment inside the aircraft body simulation part to obtain the status information of each object in the scene. ;

[0070] Step 2: The two robots in the robot system observe the cable bundles in their own area and obtain the characteristic information of the aviation cables, including the cable labels. , Connector diameter , Connector height , cable diameter , and perform cable segmentation, identification, and matching operations to find the target aviation cable. In addition, the two robots can cooperate with each other to observe the cable bundles in the other area to expand the field of view;

[0071] Step 3: Based on the previously observed assembly environment and the status of the aviation cable, the robot system uses the task planner to make a global plan for the subsequent operation tasks and determine the robot's next mission goal;

[0072] Step 4: The robot system begins to execute operations according to the instructions of the mission planner. The robot uses real-time motion planning methods to enter the interior of the aircraft body simulation and arrive near the target aviation cable to grab the target aviation cable;

[0073] Step 5: The robot system calculates the appropriate connector grabbing position for the target aviation cable and target angle , as the next step, the robot system grasps the target position of the target aviation cable.

[0074] More specifically, the uncertain event handling strategy during steps one to five includes: if the robot system cannot observe the target aviation cable during initial observation outside the aircraft body simulation, the two robots change their positions within a reasonable range of motion without collision to change the field of view and collaborate to observe the target cable bundle;

[0075] If the target aerial cable cannot be found after adjusting the observation angle, a robot is needed. Enter the aircraft body simulation part to grab and lift the aviation cable, and then another robot The visual sensor observes and obtains the captured aerial cable information, and determines whether it is the target aerial cable. If not, Continue to grab the remaining aerial cables and observe until the target aerial cable is found. After lowering it, record the current target aviation cable position and proceed to the next step.

[0076] Step 6: Using the intervention method to grab the target aviation cable, the two robots and Push aside the obstacles in front of the target aviation cables, and adjust the grasping angle if suitable conditions permit. Angle this moment Adjust to the target angle ,robot Angle this moment Adjust to the target angle , the two robots grab the target aviation cable and reach the collaborative assembly area; if there is no suitable condition to adjust the grasping angle, the two robots directly grab their respective target aviation cables, and the two robots reach the collaborative range. Toggle robot The gripped connector is adjusted to the target angle ,robot Toggle robot The gripped connector is adjusted to the target angle ;

[0077] Step 7: The two robots grab a pair of target aviation cable plugs and sockets, i.e., a pair of target aviation cable connectors, and bring them to the middle assembly area of ​​the aircraft body simulation, ready to press the target angle. and Perform assembly operations;

[0078] Step 8: During the assembly process, the cable tensioner pulls the tail of the aviation cable to provide a specific external drag force to the aviation cable. Under the interference of the external drag force, the robot system searches for holes, aligns, inserts holes, and tightens the connector until the connector is screwed to the target feed position. At this point, the assembly of a pair of target aviation cables is completed;

[0079] Step 9: If there are still target aviation cables to be connected, the two robots move to the vicinity of the cable bundles in their respective areas and search for target aviation cables again until all target aviation cables are connected and connected.

[0080] More specifically, after the robot grasps the target cable, it drives it to move and assemble it. If the target cable falls, it will return to the bundled cable. In this case, the robot needs to return to the bundled cable and re-grab it.

[0081] In this embodiment, when the robot is grasping the target cable and adjusting the angle of the cable connector, due to the space limitation of the aircraft body simulation part, for some angle adjustments, the robot will collide with the simulation part or fail to reach the relevant posture. In this case, the robot can first grasp the cable connector and bring it into the collaborative range of the two robots. With the help of external force, the cable connector is adjusted to an angle suitable for assembly. For example, in the free-style target aviation cable docking assembly experiment, another robot actively adjusts the cable connector to the target angle. and The robot system adopts an intervention-type grasping method to grasp the target aviation cables in bundles of suspended target aviation cables. That is, the target aviation cables are blocked by non-target aviation cables during grasping. Such non-target aviation cables can be regarded as obstacle cables, and the obstacle cables need to be pushed aside or removed to leave grasping space for directly grasping the target aviation cables. If only one robot can grasp the target aviation cables in a bundle of suspended cables, the robot needs to use the opening and closing of the end gripper and small left and right movements to push aside the obstacle aviation cables, so that only the target aviation cables can be directly grasped in front of the end gripper; if two robots can grasp the target aviation cables in a bundle of suspended cables, one of the robots can grab the outer obstacle aviation cables and move them away, so that the target aviation cables can be directly grasped in front of the end gripper. Example 2

[0082] Based on the above system, such as Figure 4 As shown, the present invention provides a method for dual-arm collaborative assembly of aviation cables in complex and narrow spaces, and also includes a fixed target aviation cable plug-in assembly experiment:

[0083] The fixed target aviation cable plug-in assembly experiment adopts the following experimental assembly preparation: a connector fixing plate is installed on the structural truss inside the aircraft body simulation part, and the sockets of each pair of aviation cables are arranged and fixed on it, and the tail of the corresponding single aviation cable containing the plug is connected to the cable tensioner.

[0084] After the experimental assembly is prepared, the robot system visually observes the assembly experimental environment and performs global planning to calculate the appropriate connector grasping position for the target aviation cable. and target angle , as the target posture for the subsequent robot system to grasp the target aviation cable, the specific process includes the following steps:

[0085] Step 1: The robot system is outside the aircraft body simulation part. It uses the visual sensors on the two robots to conduct preliminary observations of the assembly environment inside the aircraft body simulation part to obtain the status information of each object in the scene. ;

[0086] Step 2: The two robots in the robot system observe the cable bundles in their own area and obtain the characteristic information of the aviation cables, including the cable labels. , Connector diameter , Connector height , cable diameter , and perform cable segmentation, identification, and matching operations to find the target aviation cable. In addition, the two robots can cooperate with each other to observe the cable bundles in the other area to expand the field of view;

[0087] Step 3: Based on the previously observed assembly environment and the status of the aviation cable, the robot system uses the task planner to make a global plan for the subsequent operation tasks and determine the robot's next mission goal;

[0088] Step 4: The robot system begins to execute operations according to the instructions of the mission planner. The robot uses real-time motion planning methods to enter the interior of the aircraft body simulation and arrive near the target aviation cable to grab the target aviation cable;

[0089] Step 5: The robot system calculates the appropriate connector grabbing position for the target aviation cable and target angle , as the next step, the robot system grasps the target position of the target aviation cable.

[0090] More specifically, the uncertain event handling strategy during steps one to five includes: if the robot system cannot observe the target aviation cable during initial observation outside the aircraft body simulation, the two robots change their positions within a reasonable range of motion without collision to change the field of view and collaborate to observe the target cable bundle;

[0091] If the target aerial cable cannot be found after adjusting the observation angle, a robot is needed. Enter the aircraft body simulation part to grab and lift the aviation cable, and then another robot The visual sensor observes and obtains the captured aerial cable information, and determines whether it is the target aerial cable. If not, Continue to grab the remaining aerial cables and observe until the target aerial cable is found. After lowering it, record the current target aviation cable position and proceed to the next step.

[0092] Step 6: Conduct a fixed target aviation cable penetration test, such as Figure 5As shown, the specific steps include:

[0093] Move the aircraft body simulation so that the cable penetration module on its side is located in the collaborative area of ​​the robot system, and place the aviation cables on the workbench within the working range of the robot system.

[0094] The robot system observes the drilling environment and the aviation cables on the work surface outside the aircraft body simulation part, and searches for the target aviation cables;

[0095] After finding the target aviation cable, the robot grabs it and shakes it up and down and left and right to prevent it from getting entangled with other aviation cables and then brings it up. After there are no more aviation cables entangled, the robot drives the target aviation cable to the outside of the cable penetration module, while the other robot enters the aircraft body simulation component, near the inside of the cable penetration module.

[0096] The outer robot grabs the target aviation cable and searches for and punches holes in the cable punching module. The inner robot uses a visual sensor to observe the status of the punching hole. When a connector is found passing through the hole, it grabs the connector passing through the hole and drags it inward. After the outer robot determines that there is an inward pulling force, it releases the gripper to complete the punching operation of the target aviation cable.

[0097] Step 7: Using the intervention method to grab the target aviation cable, a robot Responsible for grabbing non-target aviation cables. If suitable conditions exist, adjust the grab angle. Adjust the current angle to the target angle ,robot Grab the plug of the target aviation cable, the robot Release the aviation cable from the obstacle and Remove the aircraft body simulation parts, robot Move to the target socket to prepare for the plug-in assembly operation; if there is no suitable condition to adjust the grasping angle, the robot Directly grab the plug of the target aviation cable, the robot Move to the target socket and adjust the current angle of the plug to the target angle by pressing against the fixing plate. , prepare for plug-in and assembly operation;

[0098] Step 8: The cable tensioner provides a specific external drag force to the plug aviation cable. At the same time, under the interference of the external drag force, the robot grasps the plug connector and searches for holes, aligns, inserts the holes, and tightens the corresponding socket connector until the connector is screwed to the target feed position. At this point, the target aviation cable pair is assembled.

[0099] Step 9: If there are still target aviation cables to be connected, the robot system moves to the vicinity of the remaining cable bundles to be connected and searches for the target aviation cables again until all target aviation cables are connected.

[0100] Step 10: Conduct fixed target aviation cable wiring experiments, such as Figure 6 As shown, the specific steps include:

[0101] Based on the routing status of the target aviation cable, a cable fixator is installed at the corresponding position of the curved surface skin inside the aircraft body simulation. Two robots of the robotic system grab one section of the target aviation cable in the aircraft body simulation to prepare for the wiring operation.

[0102] The two robots use their visual sensors to observe the position of the wire clamp , obtain wiring environment information;

[0103] Based on the cable dynamics model, the two robots collaborate to arrange the target aviation cable into the target wiring shape;

[0104] The two robots maintain the target cable in its proper position, move it over the cable holder, and use compliant control to clip the cable into the holder, completing the routing of a section of the target cable.

[0105] The two robots move to the remaining unrouted section of the cable and pick it up, repeating steps three and four until the entire target aviation cable is routed according to the routing target.

[0106] More specifically, after the robot grasps the target cable, it drives it to move and assemble it. If the target cable falls, it will return to the bundled cable. In this case, the robot needs to return to the bundled cable and re-grab it.

[0107] In this embodiment, when the robot is grasping the target aviation cable and adjusting the angle of the cable connector, due to the space limitation of the aircraft body simulation part, for some angle adjustments, the robot will collide with the simulation part or fail to reach the relevant posture. In this case, the robot can first grasp the cable connector and reach the cable connector fixing plate, and use external force to move the cable connector to adjust it to an angle suitable for assembly. For example, in the fixed target aviation cable plug-in assembly experiment, the plug is against the connector fixing plate and the robot is used to move slightly to adjust the cable connector angle to the target angle. .

[0108] The present invention also proposes a simulation system for the dual-arm collaborative assembly method of aviation cables in complex and narrow spaces, which is used to explore and simulate the assembly of aviation cables by a dual-arm robot in the complex and narrow space of an aircraft body; please refer to Figure 1 The system includes a workbench 1, an aircraft body simulation part 2, an aviation cable 3, and a robot system 4;

[0109] The workbench 1 is used to install and support an aircraft body simulation part 2 and a robot system 4; the aircraft body simulation part 2 is fixed on the workbench 1, and multiple pairs of aviation cables 3 are arranged inside the workbench 1; the robot system 4 is a dual robot, each robot is fixed on the workbench 1 and placed outside the open end of the aircraft body simulation part 2, so as to enter the aircraft body simulation part 2 from the open end to perform a free-style target aviation cable docking and assembly test or a fixed-type target aviation cable plug-in and assembly test;

[0110] The robot control box, equipment power supply, related cables and other equipment can be placed inside the workbench 1. Six pulleys are set at the bottom to drive the entire system to move freely; each pulley can be locked by a bolt to fix the workbench 1 in a specified position.

[0111] Aviation Cable 3 is a cable of a type used in aircraft, serving as a sample for cable assembly experiments. To facilitate identification and robot vision, the cable is labeled with the cable model. Aviation Cable 3 consists of a head cable connector and a tail cable. Robotic grasping and assembly of the cable primarily targets the cable connector; the tail cable, due to its flexibility, interferes with the robot's assembly operations.

[0112] like Figure 2 As shown, the aircraft fuselage simulation part 2 includes a cable tensioner 201, a cable penetration module 202, a structural truss 203, a curved surface skin 204, a cable fixing ring 205, and a height-increasing module 206;

[0113] The cable tensioners 201 of the aircraft body simulation part 2 are respectively installed on the left and right sides of the outside of the aircraft body simulation part 2, and are used to fix and provide the required tension of the aviation cable 3; the cable penetration module 202 is provided on the left and right sides of the curved skin 204, and circular and elliptical holes are opened in the middle thereof, which are used to simulate the fixed target aviation cable penetration experiment in the process of assembling the aircraft body; relative to the open end of one side of the curved skin 204, a plurality of structural trusses 203 are provided to simulate the complex, narrow and multi-obstacle structure of the aircraft body, and the structural trusses 203 can be increased or decreased in number and moved in position according to the experimental requirements; The surface skin 204 is in the shape of an arc, simulating the curvature of the aircraft fuselage, providing a structural constraint environment for the assembly of aviation cables, and simulating the fixed target aviation cable wiring experiment; based on the fixed target aviation cable penetration experiment and the fixed target aviation cable wiring experiment, a fixed target aviation cable plug-in assembly experiment is conducted; the cable fixing ring 205 is installed on the structural truss 203, and is used to bind the bundled target aviation cables to keep them in a hanging state, which is used for the free-style target aviation cable docking assembly experiment; the height increase module 206 is located at the bottom of the simulation part to control the height of the aircraft body simulation part 2 according to the experimental requirements;

[0114] More specifically, a cable connector fixing plate can be installed on the structural truss 203 to fix the socket of the target aviation cable. It can be used for a fixed target aviation cable plug-in and assembly experiment, that is, the robot grabs the aviation cable 3 connector plug and realizes the plug-in and assembly operation with the corresponding socket;

[0115] The inner wall of the curved skin 204 can be equipped with wire fixers at specific positions according to wiring requirements to simulate the wiring environment inside the aircraft body, and can be used for fixed target aviation cable wiring experiments. That is, according to the target aviation cable routing requirements, the robot uses the wire fixers to form a specific cable routing shape on the inner wall of the curved skin 204 to achieve the target aviation cable routing operation.

[0116] like Figure 3 As shown, the robot system 4 consists of two robots 406 on the left and right, and the ends of each robot 406 are connected in sequence according to a six-dimensional force sensor flange connector 405, a six-dimensional force sensor 404, an end gripper 401, a visual sensor connector 403, and a visual sensor 402; wherein the six-dimensional force sensor 404 is used to obtain the force and torque exerted on the robot 406 during operation, and the visual sensor 402 is used to provide visual information during the operation of the robot to guide the robot 406 to move to the target position, and the end gripper 401 determines when to open and close the gripper based on the visual information of the visual sensor 402 and the force information of the six-dimensional force sensor 404.

[0117] More specifically, each robot 406 of the robot system 4 has a six-dimensional force sensor 404 fixed on the end flange of the robot 406 through a six-dimensional force sensor flange connector 405, so as to obtain the forces and torques in various directions received by the robot 406 during operation, so as to facilitate the robot 406 to perform compliance force control; the end clamp 401 is installed and fixed on the upper end of the six-dimensional force sensor 404, and is used to realize the grasping and assembly operations of the aviation cable 3; the visual sensor 402 is fixed on the base of the end clamp 401 through the visual sensor connector 403, and provides visual information for the operation of the robot 406, so as to realize the functions of cable identification, segmentation, positioning, etc.

[0118] More specifically, the end gripper 401, visual sensor 402, six-dimensional force sensor 404, and robot body installed at the end of the robot system 4 work together. The six-dimensional force sensor 404 is used to obtain the force and torque applied to the robot 406 during operation, controlling the robot to adjust its posture and speed. The visual sensor 402 is used to provide visual information to the robot 406 during operation, guiding the robot 406 to reach the target position. The end gripper 401 determines when to open and close the gripper based on the visual information from the visual sensor 402 and the force information from the six-dimensional force sensor 404, and can control the displacement, speed, and force of the opening and closing. Furthermore, the visual sensor 402 of one robot 406 can provide visual information to the other robot 406 during operation, thereby expanding the field of view of the robot 406 during operation.

[0119] In this embodiment, the aviation cable 3 can be fixed at the cable fixing ring 203 and used as a bundled suspended target aviation cable to carry out a free-style target aviation cable docking and assembly experiment. It can also be passed through the cable penetration module 202 to complete a robot cable penetration experiment and related experiments such as plugging and wiring based on the system conditions.

[0120] In the description of this specification, the reference terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0121] The logic and / or steps represented in the flowchart or otherwise described herein may be considered, for example, as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device).

[0122] The above embodiments provide a detailed introduction to the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A method for the dual-arm collaborative assembly of aviation cables in complex and narrow spaces, characterized in that: Build a workbench with an upper surface that supports the aircraft body simulation and the dual-arm robot system; Design free-style target aviation cable docking and assembly experimental environment and fixed-style target aviation cable plug-in and assembly experimental environment; The robot system visually observes the assembly experimental environment and performs global planning to calculate the appropriate connector grasping position for the target aviation cable. and target angle , as the target posture for the subsequent robot system to grasp the target aviation cable, specifically includes the following steps: Step 1: The robot system is outside the aircraft body simulation part. It uses the visual sensors on the two robots to conduct preliminary observations of the assembly environment inside the aircraft body simulation part to obtain the status information of each object in the scene. ; Step 2: The two robots in the robot system observe the cable bundles in their own area and obtain the characteristic information of the aviation cables, including the cable labels. , Connector diameter , Connector height , cable diameter , and perform cable segmentation, identification, and matching operations to find the target aviation cable. In addition, the two robots can cooperate with each other to observe the cable bundles in the other area to expand the field of view; Step 3: Based on the previously observed assembly environment and the status of the aviation cable, the robot system uses the task planner to make a global plan for the subsequent operation tasks and determine the robot's next mission goal; Step 4: The robot system begins to execute operations according to the instructions of the mission planner. The robot uses real-time motion planning methods to enter the interior of the aircraft body simulation and arrive near the target aviation cable to grab the target aviation cable; Step 5: The robot system calculates the appropriate connector grabbing position for the target aviation cable and target angle , as the target pose for the robot system to grasp the target aviation cable in the next step; Designing an uncertain event processing strategy to handle the situation where the robot system cannot observe the target aviation cable during initial observation of the exterior of the aircraft body simulation component, and then find the target aviation cable; the designing of the uncertain event processing strategy specifically includes the following steps: If the robot system cannot observe the target aviation cable during the initial observation outside the aircraft body simulation, the two robots will change their positions within a reasonable range of motion without collision to change the field of view and cooperate to observe the target cable bundle; If the target aerial cable cannot be found after adjusting the observation angle, a robot is needed. Enter the aircraft body simulation part to grab and lift the aviation cable, and then another robot The visual sensor observes and obtains the captured aerial cable information, and determines whether it is the target aerial cable. If not, Continue to grab the remaining aerial cables and observe until the target aerial cable is found. After lowering it, record the current target aviation cable position and proceed to the next step; Conduct free-style target aviation cable docking and assembly experiments to complete the docking of bundled suspended target aviation cable connectors suspended on both sides of the aircraft body simulation; A fixed target aviation cable plug-in and assembly experiment is carried out. The experiment first conducts a fixed target aviation cable penetration experiment to complete the connection between a single plug suspended at the cable penetration module and the socket located on the truss of the aircraft body simulation part. Finally, a single fixed target aviation cable wiring experiment is carried out to complete the fixation of the target aviation cable on the curved skin of the aircraft body simulation part.

2. The method for dual-arm collaborative assembly of aviation cables in complex and narrow spaces according to claim 1 is characterized in that: The design of a free-type target aviation cable docking and assembly experimental environment and a fixed-type target aviation cable plug-in and assembly experimental environment specifically includes the following steps: The freestyle target aviation cable docking and assembly experiment adopts the following experimental assembly preparation: several pairs of target aviation cables with plugs and target aviation cables with sockets are selected and bundled and suspended at the cable fixing rings on the left and right sides of the aircraft body simulation, and the tail of each target aviation cable is connected to a cable tensioner; The fixed target aviation cable plug-in assembly experiment adopts the following experimental assembly preparation: a connector fixing plate is installed on the structural truss inside the aircraft body simulation part, and the sockets of each pair of aviation cables are arranged and fixed on it, and the tail of the corresponding single aviation cable containing the plug is connected to the cable tensioner.

3. The method for dual-arm collaborative assembly of aviation cables in complex and narrow spaces according to claim 1 is characterized in that: The free-style target aviation cable docking and assembly experiment specifically includes the following steps: Step 6: Use intervention-type grabbing method to grab the target aviation cable. and Push aside the obstacles in front of the target aviation cables, and adjust the grasping angle if suitable conditions exist. Angle this moment Adjust to the target angle ,robot Angle this moment Adjust to the target angle , the two robots grab the target aviation cable and reach the collaborative assembly area; if there is no suitable condition to adjust the grasping angle, the two robots directly grab their respective target aviation cables, and the two robots reach the collaborative range. Toggle robot The gripped connector is adjusted to the target angle ,robot Toggle robot The gripped connector is adjusted to the target angle ; Step 7: The two robots grab a pair of target aviation cable plugs and sockets, i.e., a pair of target aviation cable connectors, and bring them to the middle assembly area of ​​the aircraft body simulation, ready to press the target angle. and Perform assembly operations; Step 8: During the assembly process, the cable tensioner pulls the tail of the aviation cable to provide a specific external drag force to the aviation cable. Under the interference of the external drag force, the robot system searches for holes, aligns, inserts holes, and tightens the connector until the connector is screwed to the target feed position. At this point, the assembly of a pair of target aviation cables is completed; Step 9: If there are still target aviation cables to be connected, the two robots move to the vicinity of the cable bundles in their respective areas and search for target aviation cables again until all target aviation cables are connected and connected.

4. The method for dual-arm collaborative assembly of aviation cables in complex and narrow spaces according to claim 1 is characterized in that: The fixed target aviation cable plug-in assembly experiment specifically includes the following steps: Step 6: Using the intervention method to grab the target aviation cable, a robot Responsible for grabbing non-target aviation cables. If suitable conditions exist, adjust the grabbing angle. Adjust the current angle to the target angle ,robot Grab the plug of the target aviation cable, the robot Release the aviation cable from the obstacle and Remove the aircraft body simulation parts, robot Move to the target socket to prepare for the plug-in assembly operation; if there is no suitable condition to adjust the grasping angle, the robot Directly grab the plug of the target aviation cable, the robot Move to the target socket and adjust the current angle of the plug to the target angle by pressing against the fixing plate. , prepare for plug-in and assembly operation; Step 7: The cable tensioner provides a specific external drag force to the plug aviation cable. At the same time, under the interference of the external drag force, the robot grasps the plug connector and performs hole search, alignment, insertion, and tightening operations on the corresponding socket connector until the connector is screwed to the target feed position. At this point, the target aviation cable pair is assembled; Step 8: If there are still target aviation cables to be connected, the robot system moves to the vicinity of the remaining cable bundles to be connected and searches for target aviation cables again until all target aviation cables are connected and connected.

5. The method for dual-arm collaborative assembly of aviation cables in complex and narrow spaces according to claim 4 is characterized in that: The fixed target aviation cable penetration test specifically includes the following steps: Move the aircraft body simulation so that the cable penetration module on its side is located in the collaborative area of ​​the robot system, and place the aviation cables on the workbench within the working range of the robot system. The robot system observes the drilling environment and the aviation cables on the work surface outside the aircraft body simulation part, and searches for the target aviation cables; After finding the target aviation cable, the robot grabs it and shakes it up and down and left and right to prevent it from getting entangled with other aviation cables and then brings it up. After there are no more aviation cables entangled, the robot drives the target aviation cable to the outside of the cable penetration module, while the other robot enters the aircraft body simulation component, near the inside of the cable penetration module. The outer robot grabs the target aviation cable and searches for and punches holes in the cable punching module. The inner robot uses a visual sensor to observe the status of the punching hole. When a connector is found passing through the hole, it grabs the connector passing through the hole and drags it inward. After the outer robot determines that there is an inward pulling force, it releases the gripper to complete the punching operation of the target aviation cable.

6. The method for dual-arm collaborative assembly of aviation cables in complex and narrow spaces according to claim 5 is characterized in that: The fixed target aviation cable wiring experiment specifically includes the following steps: Based on the routing status of the target aviation cable, a cable fixator is installed at the corresponding position of the curved surface skin inside the aircraft body simulation. Two robots of the robotic system grab one section of the target aviation cable in the aircraft body simulation to prepare for the wiring operation. The two robots use their visual sensors to observe the position of the wire clamp , obtain wiring environment information; Based on the cable dynamics model, the two robots collaborate to arrange the target aviation cable into the target wiring shape; The two robots maintain the target cable in its proper position, move it over the cable holder, and use compliant control to clip the cable into the holder, completing the routing of a section of the target cable. The two robots move to the remaining unrouted section of the cable and pick it up, repeating steps three and four until the entire target aviation cable is routed according to the routing target.

7. A simulation system for the dual-arm collaborative assembly method of aviation cables in complex and narrow spaces according to any one of claims 1 to 6, characterized in that: It includes a workbench (1), an aircraft body simulation part (2), aviation cables (3), and a robot system (4); The workbench (1) is used to install and support an aircraft body simulation part (2) and a robot system (4); the aircraft body simulation part (2) is fixed on the workbench (1) surface, and a plurality of pairs of aviation cables (3) are arranged inside the workbench; the robot system (4) is a double robot, each robot being fixed on the workbench (1) surface and placed outside the open end of the aircraft body simulation part (2) so as to enter the aircraft body simulation part (2) from the open end to perform a free-style target aviation cable docking and assembly test or a fixed-type target aviation cable plug-in and assembly test; The aircraft body simulation part (2) comprises a cable tensioner (201), a cable penetration module (202), a structural truss (203), a curved surface skin (204), a cable fixing ring (205), and a height-increasing module (206); The cable tensioners (201) of the aircraft body simulation part (2) are respectively installed on the left and right sides of the outside of the aircraft body simulation part (2) for fixing and providing the required tension of the aviation cable (3); the cable penetration module (202) is arranged on the left and right sides of the curved skin (204), with circular and elliptical holes opened in the middle, for conducting a fixed target aviation cable penetration experiment during the assembly process of the simulated aircraft body; a plurality of structural trusses (203) are provided at the open end of one side of the curved skin (204) to simulate the complex, narrow and multi-obstacle structure of the aircraft body, and the number and position of the structural trusses (203) can be increased or decreased according to the experimental requirements. Movement; the curved skin (204) is in the shape of a circular arc surface, simulating the curvature of the aircraft fuselage, providing a structural constraint environment for the assembly of aviation cables, and simulating a fixed target aviation cable wiring experiment; a fixed target aviation cable plug-in assembly experiment is carried out based on the fixed target aviation cable penetration experiment and the fixed target aviation cable wiring experiment; a cable fixing ring (205) is installed on the structural truss (203) and is used to bind the bundled target aviation cables to keep them in a hanging state, and is used to carry out a free-style target aviation cable docking assembly experiment; an increasing module (206) is provided at the lower part of the simulation part to control the height of the aircraft body simulation part (2) according to the experimental requirements; The robot system (4) is composed of two robots (406) on the left and right. The end of each robot (406) is connected in sequence to a six-dimensional force sensor flange connector (405), a six-dimensional force sensor (404), an end gripper (401), a visual sensor connector (403), and a visual sensor (402). The six-dimensional force sensor (404) is used to obtain the force and torque applied to the robot (406) during operation. The visual sensor (402) is used to provide visual information during the operation of the robot to guide the robot (406) to move to a target position. The end gripper (401) determines when to open or close the gripper based on the visual information of the visual sensor (402) and the force information of the six-dimensional force sensor (404).

8. The simulation system of the method for assembling aviation cables in complex and narrow spaces with two arms in a collaborative manner according to claim 7 is characterized in that: The structural truss (203) can be equipped with a connector fixing plate to fix the socket of the target aviation cable, which can be used for a fixed target aviation cable plug-in assembly experiment, that is, the robot grabs the connector plug to achieve a plug-in assembly operation with the corresponding socket; The inner wall of the curved skin (204) can be equipped with a wire fixer at a specific position according to wiring requirements to simulate the wiring environment inside the aircraft body, and a fixed target aviation cable wiring experiment can be carried out, that is, according to the target aviation cable routing requirements, the robot uses the wire fixer to form a specific cable routing shape on the inner wall of the curved skin (204) to achieve the target aviation cable routing operation.

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