CN109202881A - A kind of industrial robot large arm mounting work station - Google Patents
A kind of industrial robot large arm mounting work station Download PDFInfo
- Publication number
- CN109202881A CN109202881A CN201710513543.7A CN201710513543A CN109202881A CN 109202881 A CN109202881 A CN 109202881A CN 201710513543 A CN201710513543 A CN 201710513543A CN 109202881 A CN109202881 A CN 109202881A
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- China
- Prior art keywords
- industrial robot
- large arm
- work station
- arm mounting
- mounting work
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of industrial robot large arm mounting work station.The industrial robot large arm mounting work station includes: master control PLC, display input device, industrial robot system, AGV scheduling system, MES system, assembly bench elevator；The interconnection of the master control PLC and MES system receive each workflow and the workpiece information and assembled state for feeding back this work station that MES system is assigned；The master control PLC and AGV scheduling system interconnection, completes AGV scheduling；The master control PLC and assembly bench elevator interconnect；The master control PLC and industrial robot system interconnect.Industrial robot large arm mounting work station provided by the invention has the advantages that work efficiency is high.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of industrial robot large arm mounting work station.
Background technique
Industrial robot is " jewel on manufacturing industry imperial crown top ", research and development, manufacture, using be measure a national science and technology
The important symbol of innovation and high-end manufacturing industry level.China is in the transition stage at present, to from " world's factory " smoothly to
" manufacturing industry " center " is excessive, and becomes " global manufacturing base ", must just catch industrial 4.0 technologies, make industrial robot
Important chip as China's manufacturing industry advantage.Therefore, adapt to this growth requirement necessarily push Industrial Robot Technology to
Preceding development.
In the prior art, when doing bearing and reducer gear assembly system, system robot moves to assembly taught point
Afterwards, it can complete power by power control local modulation and control assembly work.But the defect of this system is every bearing of assembly and subtracts
Fast machine gear requires the accurate teaching of robot manipulation engineer.So the slow problem of assembling speed exists in the prior art.
Summary of the invention
The present invention is directed to overcome defect of the existing technology, the invention adopts the following technical scheme:
The present invention provides a kind of industrial robot large arm mounting work station.The industrial robot large arm mounting work station
It include: master control PLC, display input device, industrial robot system, AGV scheduling system, MES system, assembly bench elevator；Institute
The interconnection of master control PLC and MES system is stated, each workflow and the work for feeding back this work station that MES system is assigned are received
Part information and assembled state；The master control PLC and AGV scheduling system interconnection, completes AGV scheduling；The master control PLC and assembly bench
Elevator interconnection；The master control PLC and industrial robot system interconnect.
In some embodiments, the display input device is touch screen.
In some embodiments, the industrial robot large arm mounting work station further includes assembly work executive device.
In some embodiments, the assembly work executive device includes tightening gun controller.
In some embodiments, between the master control PLC and assembly bench elevator, the master control PLC and industrial robot
It is interconnected between system using profinet bus.
In some embodiments, it is used between the master control PLC and MES system, between PLC the and AGV scheduling system
Ethernet is interconnected.
In some embodiments, the industrial robot system includes 50kg industrial robot system and 210kg industrial machine
Device people's system.
In some embodiments, the 50kg industrial robot system include carry out image acquisition AVT industrial camera,
The embedded main board and image processing algorithm and vision calibration program of progress industrial camera control are filled in 10kg industrial robot
The force snesor of the acquisition of force data, the permanent light source controller for carrying out influence of the environment light to vision guide and perseverance light when with large arm
Source, and complete the handgrip vacuum generator of the control to handgrip.
In some embodiments, the 210kg industrial robot system includes the AVT industry phase for carrying out the acquisition of image
Machine, the embedded main board for carrying out industrial camera control and image processing algorithm and vision calibration program and progress environment light
The permanent light source controller and permanent light source that rifle twist the influence of nail are tightened to vision guide.
In some embodiments, the industrial robot large arm mounting work station further includes AGV, in the AGV completion
Material and blanking work.
Technical effect of the invention: industrial robot large arm mounting work station provided by the invention is added vision guide and comes more
The deviation for mending conveyer belt or AGV automatic charging position has the advantages that assembly precision is high and assembly efficiency is high.
Detailed description of the invention
Fig. 1 is the functional block diagram according to the industrial robot large arm mounting work station of one embodiment of the invention；
Fig. 2 is the work flow diagram according to the industrial robot large arm mounting work station of one embodiment of the invention；
Fig. 3 is the work flow diagram according to the 50kg industrial robot system of one embodiment of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and specific implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this hair
It is bright, but not to limit the present invention.
Refering to what is shown in Fig. 1, being a kind of industrial robot large arm mounting work station provided by the invention.The industrial robot
Large arm mounting work station includes:
The industrial robot large arm mounting work station includes: master control PLC (Programmable Logic
Controller, programmable logic controller (PLC)), display input device, industrial robot system, AGV (Automated Guided
Vehicle, automatic guided vehicle) scheduling system, MES (manufacturing execution system, manufacturing execution system)
System, assembly bench elevator；The interconnection of the master control PLC and MES system receive each workflow that MES system is assigned
And feed back the workpiece information and assembled state of this work station；The master control PLC and AGV scheduling system interconnection, completes AGV tune
Degree；The master control PLC and assembly bench elevator interconnect；The master control PLC and industrial robot system interconnect.
The AGV scheduling system is to complete the spot dispatch control to AGV.
In some embodiments, the display input device is touch screen.It is each that the touch screen completes entire assembly system
Robot fault monitoring, which indicates, each robotic asssembly process manually controls, assembles lifting platform, which manually controls, tightens rifle manually controls
The functions such as show with torque.
In some embodiments, the industrial robot large arm mounting work station further includes assembly work executive device.
In some embodiments, the assembly work executive device includes tightening gun controller.
In some embodiments, between the master control PLC and assembly bench elevator, the master control PLC and industrial robot
It is interconnected between system using profinet bus.
In some embodiments, it between the master control PLC and MES system, is used between PLC the and AGV scheduling system
Ethernet is interconnected.
In some embodiments, the industrial robot system includes 50kg industrial robot system and 210kg industrial machine
Device people's system.
The master control PLC is the brain of work station, and to complete the interconnection with MES system, reception MES system is assigned every
One workflow and the workpiece information and assembled state for feeding back this work station.With AGV scheduling system interconnection, AGV tune is completed
Degree；It interconnects and completes with assembly bench elevator, the feeding of 2 axis waist seat to be assembled and blanking；With 50kg industrial robot system,
210kg industrial robot system's intarconnected cotrol robot completes 10kg industrial robot large arm fittage.
MES system carries out real-time tracking to each large arm and pallet assembled in the work station being related to.Assembly bench lifting
Machine is that the objective table of AGV automatic charging and workstation startup are locked to 2 axis waist seat of robot when assembling.
In some embodiments, the 50kg industrial robot system include carry out image acquisition AVT industrial camera,
The embedded main board and image processing algorithm and vision calibration program of progress industrial camera control are filled in 10kg industrial robot
The force snesor of the acquisition of force data, the permanent light source controller for carrying out influence of the environment light to vision guide and perseverance light when with large arm
Source, and complete the handgrip vacuum generator of the control to handgrip.
In some embodiments, the 210kg industrial robot system includes the AVT industry phase for carrying out the acquisition of image
Machine, the embedded main board for carrying out industrial camera control and image processing algorithm and vision calibration program and progress environment light
The permanent light source controller and permanent light source that rifle twist the influence of nail are tightened to vision guide.
In some embodiments, the industrial robot large arm mounting work station further includes AGV, in the AGV completion
Material and blanking work, in some embodiments, AGV completes the feeding of 2 axis waist seat of 10kg industrial robot to be assembled, 10kg work
The feeding of industry robot's arm and product blanking after the assembly is completed.
According to practice, total time needed for this work station completely assembles a 10kg robot's arm is 7min35s, power control dress
With time average out to 27.2s, image processing algorithm runs total time average out to 7.448s.
The industrial robot large arm mounting work station provided according to embodiments of the present invention is using industrial 4.0 technologies, each
Workpiece one-dimension code is all posted in large arm to be assembled, we identify the solution in library using industrial camera, industrial personal computer and open source one-dimension code
Certainly scheme.The calibration side that robot vision hand and eye calibrating is coincided using camera world coordinate system and robotic user coordinate system
Method.This 50kg robot system power control assembly method is by the way of torque sensor.Entire work station interconnection uses
Profinet bus, Devicenet bus and Ethernet.After using binaryzation for the retarder identification of industrial robot
Image carries out retarder rotation angle when connective region search obtains the centre coordinate and accurate assembly of each screw hole of retarder
Spend deviation.PLC master control and MES system interconnect, and PLC master control obtains the workpiece stream of entire work station working condition, each workpiece
And the entire work station subsystems of scheduling.System uses the solution of near-infrared industrial camera, industrial personal computer and zbar open source library
Scheme identifies that the result after identification feeds back to MES system to one-dimension code in 10kg large arm, makes MES system to entire work
The flowing of each workpiece of standing has management and record.This entire work station electrical connection use profinet bus,
Devicenet bus and ether net mode use profinet in profinet bus and Devicenet bus bar
Bus turns Devicene bus gateway.The hand and eye calibrating of robot uses camera world coordinate system and robotic user coordinate system phase
The calibration mode of coincidence.This work station can complete the automatic assembling of 10kg industrial robot large arm Yu 2 axis waist seats.In robot
It can replace a station by hand in production line.According to the success that this work station is invented, it is assembled to for 3 axis of 10kg industrial robot
The building of 10kg robot's arm work station provides theoretical foundation.Be used alone power control assembly work station for, this work
Make station and do not need the next accurate teaching location point of each robot manipulation engineer, completes dress to improve and rely only on power control technology
Speed with task.Total time needed for this work station completes one 10kg robot's arm of assembly is 7min35s, has assembly effect
The high advantage of rate.
The workflow of industrial robot large arm mounting work station provided in an embodiment of the present invention is as shown in Figure 2.
The workflow the following steps are included:
S101, MES system assign fittage；
S102, AGV send 2 axis waist seats to assembly lifting platform；
S103, assembly lifting platform carry out locking pallet；
S104,210kg robot run six screws on visual identity waist seat retarder and pallet；
S105,50kg robot vision grab 3 axis large arm of 10kg robot；
3 axis large arm of crawl are placed into large arm positioning table by S106,50kg robot；
S107,50kg robot identify the retarder deflection angle on robot waist seat；
S108,50kg robot grab the large arm on large arm positioning table；
S109,50kg robot application vision compensation and power control are completed 10kg large arm and are assembled on 2 axis waist seats；
S110,210kg robot complete vision guide and tighten rifle to 10kg large arm and 10kg retarder the turn of the screw；
S111, assembly lifting platform unclamp pallet；
The 10kg robot waist seat that assembly is completed is transported to the station OP50 by S112, AGV.
It below will be to the 50kg industrial robot in industrial robot large arm mounting work station provided in an embodiment of the present invention
It is explained in detail for system.
The visual task that 50kg industrial robot system completes has the rotation angle of retarder in identification 2 axis pedestal of robot
Vision guide is completed, identification AGV fork truck sends the 10kg robot's arm on material tray and completes the crawl of large arm, identification 10kg
One-dimension code on robot's arm completes grasp of the MES system to workpiece stream information.Wherein vision algorithm uses existing two-value
Change template matching, zbar open source library, independent development based on bianry image connected domain algorithm.
Following 2 stages are divided into for power control assembly strategy:
(1) close to the stage
Vision guide large arm moves to 50kg industrial machine manpower control assembly close to stage position, at this time large arm and waist seat group
Part is not in contact with (having certain distance), and there is only the offsets in tri- directions XYZ for the mating surface of large arm and waist holder assembly, and posture is not present
Deviation (screw hole is aligned).
Power control module guided robot crawl large arm is seated against closely in a manner of helical curve to waist, until the two phase mutual connection
Touching.
(2) large arm outer edge assembling stage
After large arm is contacted with waist holder assembly, power control module judges whether large arm outer edge is stuck in the outer circle assembly card of waist seat
On slot, the control assembly of large arm outer edge power is carried out if being stuck on card slot, until large arm outer edge is engaged with circular hole card slot completely.
If not being stuck on outer circle assembly card slot, (1) is returned to close to the stage.
50kg industrial robot system's software systems consist of two parts: one is the RC software in RC controller,
Another part is the vision software in vision controller.Wherein the basic version of RC software is V3.0 editions, RC software and view
Feel that module is communicated using ICP/IP protocol.
Wherein the power control load module of RC controller application layer includes that manipulator force control instruction is developed, force snesor leads to
News exploitation；Visual instructions module includes robot vision instruction exploitation and robot kinematics' matrix operation；RC controller core
The power control module of central layer includes the foundation and its solution of closed kinetic equation.
Vision load module in vision controller includes binary image connective region search algorithm, the zbar of independent development
Open source recognizer, binaryzation template matching algorithm, camera calibration algorithm etc..
The workflow of the 50kg industrial robot system is as shown in Figure 3.
Itself the following steps are included:
S201, robotic vision system identification fork truck AGV send the one-dimension code on material tray；
S202, vision system identify the 10kg industrial robot large arm on material tray；
S203, the one-dimension code in visual identity 10kg industrial robot large arm；
S204, robot vision grab the 10kg robot's arm on material tray；
S205, robot are put into the 10kg robot's arm after crawl on positioning table；
S206, the retarder on visual identity work station lifting platform inside waist seat；
S207, robot, which returns to, grabs large arm on positioning table；
S208, robot adjust robot tool coordinate system according to the rotation angle of visual identity retarder about the z axis
Rotation；
S209, power control assembly 10kg robot's arm；
S210, robot control vacuum generator and open pneumatic gripping device return base position.
Technical effect of the invention: industrial robot large arm mounting work station provided by the invention is added vision guide and comes more
The deviation for mending conveyer belt or AGV automatic charging position has the advantages that assembly precision is high and assembly efficiency is high.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
The above described specific embodiments of the present invention are not intended to limit the scope of the present invention..Any basis
Any other various changes and modifications made by technical concept of the invention should be included in the guarantor of the claims in the present invention
It protects in range.
Claims (10)
1. a kind of industrial robot large arm mounting work station characterized by comprising master control PLC, display input device, industry
Robot system, AGV dispatch system, MES system, assembly bench elevator；
The master control PLC and MES system interconnect, and receive each workflow and feed back this work station that MES system is assigned
Workpiece information and assembled state；
The master control PLC and AGV scheduling system interconnection, completes AGV scheduling；
The master control PLC and assembly bench elevator interconnect；
The master control PLC and industrial robot system interconnect.
2. industrial robot large arm mounting work station according to claim 1, which is characterized in that the display input device
For touch screen.
3. industrial robot large arm mounting work station according to claim 1, which is characterized in that further include that assembly work is held
Luggage is set.
4. industrial robot large arm mounting work station according to claim 3, which is characterized in that the assembly work executes
Device includes tightening gun controller.
5. industrial robot large arm mounting work station according to claim 1, which is characterized in that the master control PLC and dress
With being interconnected between platform elevator, between the master control PLC and industrial robot system using profinet bus.
6. industrial robot large arm mounting work station according to claim 1, which is characterized in that the master control PLC and MES
It is interconnected between system, between PLC the and AGV scheduling system using Ethernet.
7. industrial robot large arm mounting work station according to claim 1, which is characterized in that the industrial robot system
System includes 50kg industrial robot system and 210kg industrial robot system.
8. industrial robot large arm mounting work station according to claim 7, which is characterized in that the 50kg industrial machine
People's system includes the AVT industrial camera of the acquisition of progress image, carries out at the embedded main board and image of industrial camera control
Adjustment method and vision calibration program, the force snesor of the acquisition of force data, progress ring when 10kg industrial robot assembles large arm
The permanent light source controller of influence of the border light to vision guide and permanent light source, and complete the handgrip vacuum generation of the control to handgrip
Device.
9. industrial robot large arm mounting work station according to claim 7, which is characterized in that the 210kg industrial machine
Device people's system includes the AVT industrial camera of the acquisition of progress image, the embedded main board and image for carrying out industrial camera control
Processing Algorithm and vision calibration program and progress environment light tighten the permanent light source control that rifle twist the influence of nail to vision guide
Device processed and permanent light source.
10. according to industrial robot large arm mounting work station described in claim 1, which is characterized in that it further include AGV, the AGV
Complete feeding and blanking work.
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| CN201710513543.7A CN109202881A (en) | 2017-06-29 | 2017-06-29 | A kind of industrial robot large arm mounting work station |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112260918A (en) * | 2020-09-30 | 2021-01-22 | 山东中科先进技术研究院有限公司 | Multi-bus integration system and method for robot arc welding workstation |
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| CN106078208A (en) * | 2016-07-28 | 2016-11-09 | 平湖拓伟思自动化设备有限公司 | A kind of intelligent manufacturing system based on industrial robot |
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| CN202895227U (en) * | 2012-11-08 | 2013-04-24 | 沈阳新松机器人自动化股份有限公司 | Robot manipulator |
| WO2015097102A1 (en) * | 2013-12-23 | 2015-07-02 | Kuka Systems Gmbh | Method for automated assembly at an assembly station, and associated automated assembly station |
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Application publication date: 20190115 |