技术领域Technical field
本发明属于非标自动化装配技术领域，尤其是涉及一种基于视觉引导的舵机自动装配方法。The invention belongs to the technical field of non-standard automated assembly, and in particular relates to an automatic assembly method of a steering gear based on visual guidance.
背景技术Background technique
传统装配机器人只能执行固定的示教作业，即机器人的抓取点和装配位置固定，为保证装配作业的可行性和精确程度，需要精度很高的工装定位，同时需精心设计抓手手指和辅助机构。但在实际装配作业中，因机器人重复定位精度、待装配工件加工精度以及工件装配时的公差裕量等原因，示教再现方式的机器人作业无法满足装配精度要求。Traditional assembly robots can only perform fixed teaching operations, that is, the robot's grasping points and assembly positions are fixed. To ensure the feasibility and accuracy of assembly operations, high-precision tooling positioning is required, and the gripper fingers and fingers need to be carefully designed. Auxiliary agencies. However, in actual assembly operations, due to the robot's repeated positioning accuracy, the processing accuracy of the workpiece to be assembled, and the tolerance margin during workpiece assembly, the teaching and reproduction method of robot operation cannot meet the assembly accuracy requirements.
基于视觉引导的装配技术因系统集成度高、适应性好、装配精度高等优点，国内外对其进行了大量的研究，并己广泛应用于微观装配和宏观装配领域。Due to the advantages of high system integration, good adaptability, and high assembly accuracy, assembly technology based on vision guidance has been extensively studied at home and abroad, and has been widely used in the fields of micro-assembly and macro-assembly.
因此，有必要研究一种基于视觉引导的舵机自动装配方法来应对现有技术的不足，以解决上述问题。Therefore, it is necessary to study an automatic assembly method of steering gear based on visual guidance to cope with the shortcomings of the existing technology and solve the above problems.
发明内容Contents of the invention
鉴于上述的分析，本发明实施例旨在提供一种舵机自动装配系统及其归零标定方法，解决现有示教再现方式的机器人作业无法满足装配精度要求的问题。In view of the above analysis, embodiments of the present invention aim to provide a steering gear automatic assembly system and its zero return calibration method to solve the problem that the existing teaching and reproduction method of robot operation cannot meet the assembly accuracy requirements.
本发明的目的主要是通过以下技术方案实现的：The purpose of the present invention is mainly achieved through the following technical solutions:
一种基于视觉引导的舵机自动装配方法，利用一种基于视觉引导的舵机自动装配系统；A visual guidance-based steering gear automatic assembly method, utilizing a visual guidance-based steering gear automatic assembly system;
所述自动装配方法包括如下步骤：The automatic assembly method includes the following steps:
第一次抓取舵机；Grabbing the servo for the first time;
第二次放置舵机；Place the servo for the second time;
装配舵机；Assemble steering gear;
完成装配。Complete assembly.
进一步地，还包括步骤：设置第一相机。Further, the step also includes: setting the first camera.
进一步地，还包括步骤：设置螺钉供料组件。Further, the method also includes the step of setting the screw feeding assembly.
进一步地，螺钉上套接弹簧垫和垫片后插入螺钉孔后，将定位盘与定位底板连接。Further, the spring pad and the gasket are sleeved on the screw and inserted into the screw hole, and then the positioning plate is connected to the positioning bottom plate.
进一步地，还包括步骤：夹取螺钉。Further, the step also includes: clamping the screws.
进一步地，抓勾插入螺钉槽，并夹住螺钉、弹簧垫和垫片。Further, the grab hook is inserted into the screw slot and clamps the screw, spring pad and gasket.
进一步地，螺钉吸附器开真空抽吸螺钉。Further, the screw suction device opens a vacuum to suck the screws.
进一步地，控制第二末端执行组件将螺钉、弹簧垫和垫片插入舵机。Further, the second end effector assembly is controlled to insert the screws, spring washers and washers into the steering gear.
进一步地，旋转电批组件，推动推拉缸，拧紧螺钉。Further, rotate the electric batch assembly, push the push-pull cylinder, and tighten the screws.
进一步地，完成装配步骤包括：螺钉吸附器关真空，锁紧机构回初始位，装配完成。Further, the steps to complete the assembly include: turning off the vacuum of the screw absorber, returning the locking mechanism to the initial position, and completing the assembly.
与现有技术相比，本发明至少可实现如下有益效果之一：Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:
(1)本发明的装配方法通过机器视觉匹配采集的图像与抓取舵机特征模板图像和放置舵机模板图像，即便舵机随机摆放在供料平台上，也能够实现第一机械臂自动控制定位进而精确夹取和放置舵机，并最终实现自动装配；(1) The assembly method of the present invention uses machine vision to match the collected image with the grabbing steering gear feature template image and the steering gear placement template image. Even if the steering gear is randomly placed on the feeding platform, the first robotic arm can be automatically Control positioning to accurately clamp and place the steering gear, and ultimately realize automatic assembly;
(2)本发明的二次定位机构能够实现舵机在横向、纵向和竖向三维方向的二次定位，可以确定舵机在二次定位机构上唯一的三维位置，控制器只需控制抓取机构在此三维位置对舵机进行二次抓取，就能够保证对舵机的精准夹持，进而确保将舵机精准放置在飞行器的装配位置上；(2) The secondary positioning mechanism of the present invention can realize the secondary positioning of the steering gear in the horizontal, longitudinal and vertical three-dimensional directions, and can determine the only three-dimensional position of the steering gear on the secondary positioning mechanism. The controller only needs to control the grabbing The mechanism grabs the servo twice at this three-dimensional position to ensure precise clamping of the servo, thereby ensuring that the servo is accurately placed at the assembly position of the aircraft;
(3)本发明的平移机构将抓取机构进行纵向平移，拓展抓取机构的活动范围；(3) The translation mechanism of the present invention translates the grabbing mechanism longitudinally and expands the scope of activity of the grabbing mechanism;
(4)本发明的第一末端执行组件在放置舵机时，需要将舵机压入飞行器上的安装位置，压板能够防止舵机在压入飞行器上的安装位置时向执行器方向脱离第一夹爪，确保舵机安装到位；(4) When placing the first end-execution assembly of the present invention, the servo needs to be pressed into the installation position on the aircraft. The pressure plate can prevent the servo from deviating from the first end-execution assembly in the direction of the actuator when it is pressed into the installation position on the aircraft. Clamp to ensure that the servo is installed in place;
(5)本发明的第一半夹和第二半夹的一端均设有防脱勾，舵机的侧壁上设有安装孔，在第一夹爪抓取舵机时，防脱勾能够插入安装孔，如果在抓取机构抓取并移动舵机的过程中，舵机脱离第一夹爪，防脱勾能够防止舵机跌落，保证设备和人员安全；(5) One end of the first half clamp and the second half clamp of the present invention is provided with an anti-detachment hook, and a mounting hole is provided on the side wall of the steering gear. When the first clamping jaw grabs the servo gear, the anti-dlodgement hook can be Insert into the mounting hole. If the servo breaks away from the first clamping claw when the grabbing mechanism grabs and moves the servo, the anti-detachment can prevent the servo from falling and ensure the safety of equipment and personnel;
(6)本发明的抓勾能够勾住垫片，防止垫片从螺钉上脱落；(6) The grapple of the present invention can hook the gasket and prevent the gasket from falling off the screw;
(7)本发明的螺钉吸附器为圆筒体，螺钉吸附器内能够形成负压，从而能够吸附螺钉，确保螺钉不会从螺钉吸附器中脱落。(7) The screw absorber of the present invention is a cylindrical body, and a negative pressure can be formed in the screw absorber to absorb the screws and ensure that the screws will not fall off from the screw absorber.
本发明中，上述各技术方案之间可以相互组合，以实现更多的优选组合方案。本发明的其他特征和优点将在随后的内容中阐述，并且，部分优点可从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过文字以及附图中所特别指出的内容中来实现和获得。In the present invention, the above technical solutions can be combined with each other to achieve more preferred combination solutions. Additional features and advantages of the invention will be set forth in the description which follows, and, in part, will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the light particularly pointed out in the written text and accompanying drawings.
附图说明Description of the drawings
附图仅用于示出具体实施例的目的，而并不认为是对本发明的限制，在整个附图中，相同的参考符号表示相同的部件。The drawings are for the purpose of illustrating specific embodiments only and are not to be construed as limitations of the invention. Throughout the drawings, the same reference characters represent the same components.
图1为本发明装配方法的流程示意图；Figure 1 is a schematic flow chart of the assembly method of the present invention;
图2为本发明装配系统的整体结构示意图；Figure 2 is a schematic diagram of the overall structure of the assembly system of the present invention;
图3为抓取机构的整体结构示意图；Figure 3 is a schematic diagram of the overall structure of the grabbing mechanism;
图4为第一末端执行组件的整体结构示意图；Figure 4 is a schematic diagram of the overall structure of the first end execution component;
图5为舵机的装配状态示意图；Figure 5 is a schematic diagram of the assembly state of the steering gear;
图6为二次定位机构的整体结构示意图；Figure 6 is a schematic diagram of the overall structure of the secondary positioning mechanism;
图7为二次定位机构的内部结构示意图；Figure 7 is a schematic diagram of the internal structure of the secondary positioning mechanism;
图8为归中组件的整体结构示意图；Figure 8 is a schematic diagram of the overall structure of the centering component;
图9为锁紧机构的整体结构示意图；Figure 9 is a schematic diagram of the overall structure of the locking mechanism;
图10为第二末端执行组件的整体结构示意图；Figure 10 is a schematic diagram of the overall structure of the second end execution component;
图11为舵机的装配状态示意图；Figure 11 is a schematic diagram of the assembly state of the steering gear;
图12为螺钉供料组件的整体结构示意图。Figure 12 is a schematic diagram of the overall structure of the screw feeding assembly.
附图标记：Reference signs:
1-龙门架；2-抓取机构；3-二次定位机构；4-锁紧机构；5-螺钉供料组件；6-平移机构；7-供料平台；8-舵机；9-螺钉；11-纵梁；12-横梁；13-立柱；21-第一机械臂；22-第一力控组件；23-第一相机；24-执行器；25-第一半夹；26-第二半夹；27-摩擦片；28-压板；29-防脱勾；31-支撑底板；32-第一定位块；33-第二定位块；34-电机；35-电机座；36-拨杆；37-连杆；38-铰接轴；41-第二机械臂；42-第二力控组件；43-第二相机；44-安装板；45-夹取组件；46-螺钉吸附器；47-滑轨；48-电批组件；49-推进器；51-定位盘；52-螺钉槽；53-把手；311-第一槽；312-第二槽；331-导块；332-定位轴；451-第二夹爪；452-抓勾；481-批头；482-电批。1-gantry; 2-grabbing mechanism; 3-secondary positioning mechanism; 4-locking mechanism; 5-screw feeding component; 6-translation mechanism; 7-feeding platform; 8-server; 9-screw ; 11-longitudinal beam; 12-cross beam; 13-column; 21-first mechanical arm; 22-first force control component; 23-first camera; 24-actuator; 25-first half clamp; 26-th Two half clamps; 27-friction plate; 28-pressure plate; 29-anti-hook; 31-support bottom plate; 32-first positioning block; 33-second positioning block; 34-motor; 35-motor base; 36-dial Rod; 37-connecting rod; 38-articulated shaft; 41-second mechanical arm; 42-second force control component; 43-second camera; 44-mounting plate; 45-clamping component; 46-screw absorber; 47-slide rail; 48-electric batch assembly; 49-propeller; 51-positioning plate; 52-screw groove; 53-handle; 311-first slot; 312-second slot; 331-guide block; 332-positioning Shaft; 451-second clamping jaw; 452-grabbing hook; 481-bit; 482-electric batch.
具体实施方式Detailed ways
下面结合附图来具体描述本发明的优选实施例，其中，附图构成本发明一部分，并与本发明的实施例一起用于阐释本发明的原理，并非用于限定本发明的范围。The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention and are not intended to limit the scope of the present invention.
实施例1Example 1
本发明的一个具体实施例，如图1所示，公开了一种基于视觉引导的舵机自动装配方法(以下简称装配方法)，该标定方法能够利用实施例2的装配系统将舵机8精准放置在飞行器的装配位置上并自动拧钉锁紧完成装配。A specific embodiment of the present invention, as shown in Figure 1, discloses a visual guidance-based automatic assembly method of the steering gear (hereinafter referred to as the assembly method). This calibration method can accurately adjust the steering gear 8 using the assembly system of Embodiment 2. Place it on the assembly position of the aircraft and automatically tighten the screws to complete the assembly.
本发明的装配方法包括如下步骤：The assembly method of the present invention includes the following steps:
步骤1：设置第一相机23Step 1: Set up the first camera 23
在控制器内标定第一相机23的内参以及外参，获取第一相机23与第一机械臂基坐标系之间的转换关系；设定匹配阈值。Calibrate the internal parameters and external parameters of the first camera 23 in the controller, obtain the conversion relationship between the first camera 23 and the first robot arm base coordinate system, and set the matching threshold.
进一步的，相机光心坐标系与第一机械臂基坐标系的转换关系为：A＝B*X*C；Further, the conversion relationship between the camera optical center coordinate system and the first robot arm base coordinate system is: A=B*X*C;
其中A表示标定板上的每个标志点相对于第一机械臂基坐标系的坐标，为固定值；B表示第一末端执行组件中心相对于机器人基坐标系的坐标，为已知值；X表示第一末端执行组件中心与相机光心之间的位姿关系，待求；C表示相机光心与标定板上每个标志点之间的位姿关系，可通过拍照得到；变换第一末端执行组件位姿进行不同角度的拍照，得到多组A、B、C的值，利用这些数值进行拟合计算从而得到最优的X的值。Where A represents the coordinates of each landmark point on the calibration board relative to the base coordinate system of the first robot arm, which is a fixed value; B represents the coordinates of the center of the first end-execution component relative to the base coordinate system of the robot, which is a known value; Represents the pose relationship between the center of the first end execution component and the camera optical center, to be found; C represents the pose relationship between the camera optical center and each landmark point on the calibration board, which can be obtained by taking pictures; Transform the first end Execution component poses are taken at different angles to obtain multiple sets of A, B, and C values. These values are used for fitting calculations to obtain the optimal X value.
步骤2：设置抓取舵机模板和抓取舵机拍照点Step 2: Set the capture servo template and capture servo photo point
将舵机8随机摆放在供料平台7上。Place the steering gear 8 randomly on the feeding platform 7.
在Z轴方向上，与舵机8表面中心相距d的位置为拍照位，在此位置为舵机8拍照，获取与待抓取舵机8对应的特征模板图像；存储舵机边缘轮廓特征尺寸数据；记录此时第一末端执行组件位姿，该特征模板图像记为抓取舵机模板，该第一末端执行组件所在点记为抓取舵机拍照点。In the Z-axis direction, the position d away from the center of the surface of the servo 8 is the photographing position. At this position, the servo 8 is photographed to obtain the feature template image corresponding to the servo 8 to be captured; the edge contour feature size of the servo is stored. Data; record the posture of the first end execution component at this time, the feature template image is recorded as the grabbing steering gear template, and the point where the first end executing component is located is recorded as the grabbing steering gear photo point.
优选地，d为舵机8的最长边的长度的1-2倍。Preferably, d is 1-2 times the length of the longest side of the steering gear 8 .
步骤3：设置放置舵机模板和放置舵机拍照点Step 3: Set the template for placing the servo and the photo point for placing the servo
在放置基座表面中心正上方，相距d的位置为放置基座拍照点，获取与舵机放置基座对应的特征模板图像；存储基座边缘轮廓特征尺寸数据并记录此时第一末端执行组件位姿，该特征模板图像记为放置舵机模板，该第一末端执行组件所在点记为放置舵机拍照点。Directly above the center of the surface of the placement base, the position d apart is the photography point of the placement base, and the feature template image corresponding to the steering gear placement base is obtained; the edge profile feature size data of the base is stored and the first end execution component is recorded at this time pose, the feature template image is recorded as the steering gear placement template, and the point where the first end-execution component is located is marked as the steering gear placement photography point.
步骤4：抓取视觉识别并匹配Step 4: Grab visual recognition and match
控制第一机械臂21运动至抓取舵机拍照点，第一相机23拍照，将采集的图像与抓取舵机特征模板图像进行匹配，匹配度小于预先设定的匹配阈值，执行步骤5；若匹配度大于预先设定的匹配阈值，执行步骤6。Control the first robotic arm 21 to move to the capturing point of the steering gear, and the first camera 23 takes a photo, and matches the collected image with the feature template image of the grabbing steering gear. If the matching degree is less than the preset matching threshold, perform step 5; If the matching degree is greater than the preset matching threshold, proceed to step 6.
步骤5：调整位姿，继续抓取拟合Step 5: Adjust the pose and continue grabbing and fitting
根据预先输入的舵机边缘轮廓特征尺寸数据对相机采集后的特征尺寸进行形状拟合，将拟合后的边缘特征尺寸与抓取舵机模板图像进行匹配，若匹配度小于预先设定的匹配阈值，继续执行步骤5，形状拟合后的匹配度大于预先设定的匹配阈值后，执行步骤6。According to the pre-entered servo edge contour feature size data, perform shape fitting on the feature size collected by the camera, and match the fitted edge feature size with the captured servo template image. If the matching degree is less than the preset matching Threshold, continue to step 5. After the matching degree after shape fitting is greater than the preset matching threshold, proceed to step 6.
优选地，利用最小二乘法对拍照得到的边缘轮廓特征进行拟合，将拟合后得到的边缘轮廓尺寸参数与预先输入的边缘轮廓尺寸参数进行比较，并将匹配后的匹配阈值与预先设定的匹配阈值进行比对，若实际匹配阈值大于预先设定的匹配阈值，则判定为通过。Preferably, the least squares method is used to fit the edge contour features obtained by taking pictures, the edge contour size parameters obtained after fitting are compared with the pre-input edge contour size parameters, and the matching threshold after matching is compared with the preset Compare the matching threshold, and if the actual matching threshold is greater than the preset matching threshold, it is determined to be passed.
优选地，针对判定通过的拟合轮廓，利用相机标定参数得到判定通过的拟合的边缘特征在第一机械臂基坐标系下的位姿，根据得到的边缘特征位姿调整第一末端执行组件位姿。Preferably, for the fitting contour that has passed the judgment, the camera calibration parameters are used to obtain the pose of the edge feature of the fit that has passed the judgment in the first robot arm base coordinate system, and the first end execution component is adjusted according to the obtained edge feature pose. Posture.
步骤6：第一次抓取舵机8Step 6: Grab the servo for the first time 8
图像匹配成功后，第一末端执行组件沿Z-方向移动d，到待抓取舵机的第一末端执行组件所在点，抓取舵机8。After the image matching is successful, the first end-execution component moves d along the Z-direction to the point where the first end-execution component of the servo to be grasped is located, and grabs the servo 8.
步骤7：第一次放置舵机8Step 7: Place the servo for the first time 8
第一机械臂21将舵机8放置于二次定位机构3上，松开夹爪；The first robotic arm 21 places the steering gear 8 on the secondary positioning mechanism 3 and releases the clamping claw;
转动电机34，通过对中组件使两个第二定位块33相向滑动，最终使得舵机8处于支撑底板31纵向的中心处，确定舵机8在二次定位机构3上唯一的三维位置；Rotate the motor 34 and slide the two second positioning blocks 33 toward each other through the centering assembly. Finally, the steering gear 8 is located at the longitudinal center of the supporting base plate 31, determining the only three-dimensional position of the steering gear 8 on the secondary positioning mechanism 3;
步骤8：第二次抓取舵机8Step 8: Grab the servo 8 for the second time
控制器按照二次定位的舵机8的三维位置，控制抓取机构2的第一机械臂21对准舵机8，控制关闭第一末端执行组件。According to the three-dimensional position of the secondary positioning steering gear 8, the controller controls the first mechanical arm 21 of the grabbing mechanism 2 to align with the steering gear 8, and controls the closing of the first end effector assembly.
步骤9：放置视觉识别并匹配Step 9: Place visual identity and match
控制第一机械臂21运动至放置舵机拍照点，第一相机23拍照，将采集后的图像与放置舵机模板图像进行匹配，若匹配度小于预先设定的匹配阈值，执行步骤9；若匹配度大于预先设定的匹配阈值，执行步骤10；Control the first robotic arm 21 to move to the photographing point where the steering gear is placed, and the first camera 23 takes a picture, and matches the collected image with the template image for placing the steering gear. If the matching degree is less than the preset matching threshold, perform step 9; if If the matching degree is greater than the preset matching threshold, proceed to step 10;
步骤10：调整位姿，继续放置拟合Step 10: Adjust the pose and continue placement fitting
根据预先输入的基座边缘特征点对相机采集后的特征点进行边缘特征拟合，将拟合后的边缘特征点与放置舵机模板图像进行匹配，若匹配度小于预先设定的匹配阈值，继续执行步骤9，边缘特征拟合后的匹配度大于预先设定的匹配阈值，执行步骤10。Perform edge feature fitting on the feature points collected by the camera based on the pre-input base edge feature points, and match the fitted edge feature points with the servo placement template image. If the matching degree is less than the preset matching threshold, Continue to step 9. If the matching degree after edge feature fitting is greater than the preset matching threshold, proceed to step 10.
步骤11：第二次放置舵机8Step 11: Place the servo for the second time 8
图像匹配成功后得到放置舵机的第一机械臂点位，按照得到的放置舵机的机器人位姿控制第一机械臂移动并放置舵机8。After the image matching is successful, the first robot arm point for placing the servo is obtained, and the first robot arm is controlled to move and place the servo 8 according to the obtained robot posture for placing the servo.
优选地，机器人开始放置舵机的开始开启力控组件22的力与力矩监测，根据实时监测数据调整第一机械臂位姿，使得舵机8能够柔顺放入舵机基座。Preferably, when the robot starts placing the steering gear, the force and torque monitoring of the force control component 22 is started, and the posture of the first robotic arm is adjusted according to the real-time monitoring data, so that the steering gear 8 can be placed compliantly into the steering gear base.
优选地，第一机械臂开启力与力矩检测后，根据实时检测数据自动调整第一机械臂21的位姿，即依据实时监测的力与力矩方向控制第一机械臂21向相反方向运动，不断调整方向直至舵机8顺利放置结束。Preferably, after the opening force and torque of the first robotic arm are detected, the position and posture of the first robotic arm 21 is automatically adjusted according to the real-time detection data, that is, the first robotic arm 21 is controlled to move in the opposite direction according to the direction of the force and torque monitored in real time, and continuously Adjust the direction until the servo 8 is placed smoothly.
优选地，在第一机械臂放置舵机8过程中依据实际装配测得的力矩设定力与力矩数值设定第一机械臂21放置过程中的力与力矩上限，超过该值后控制第一机械臂21返回拍照点，重新执行步骤7到步骤10。Preferably, during the process of placing the steering gear 8 by the first robotic arm, the upper limit of the force and torque during the placement process of the first robotic arm 21 is set based on the torque setting force and torque values measured in the actual assembly. After exceeding this value, the first mechanical arm is controlled. The robotic arm 21 returns to the photographing point and performs steps 7 to 10 again.
优选地，舵机8放置到位后松开第一夹爪，放置任务完成。Preferably, after the steering gear 8 is placed in place, the first clamping claw is released, and the placement task is completed.
步骤12：设置螺钉供料组件5Step 12: Set up screw feed assembly 5
螺钉9上套接弹簧垫91和垫片92后插入螺钉孔后，将定位盘51与定位底板连接。After the spring pad 91 and the gasket 92 are sleeved on the screw 9 and inserted into the screw hole, the positioning plate 51 is connected to the positioning bottom plate.
步骤13：夹取螺钉9Step 13: Clamp Screw 9
上位机依据第二相机43对待夹取的螺钉9进行视频识别并控制第二机械臂41对准螺钉9，参照第二力控组件42反馈的第二机械臂41的运动参数，柔性控制第二末端执行组件将螺钉9插入螺钉吸附器46；The host computer performs video recognition of the screw 9 to be clamped based on the second camera 43 and controls the second mechanical arm 41 to align the screw 9. With reference to the motion parameters of the second mechanical arm 41 fed back by the second force control component 42, the host computer flexibly controls the second mechanical arm 41 to the screw 9 to be clamped. The end effector assembly inserts the screw 9 into the screw absorber 46;
此位置为锁紧机构4初始位；This position is the initial position of locking mechanism 4;
抓勾452插入螺钉槽52，并夹住螺钉9、弹簧垫91和垫片92；The grabbing hook 452 is inserted into the screw slot 52 and clamps the screw 9, the spring washer 91 and the washer 92;
螺钉吸附器46开真空抽吸螺钉9。The screw suction device 46 opens a vacuum to suck the screw 9 .
步骤14：装配舵机8Step 14: Assemble the servo 8
柔性控制第二末端执行组件将螺钉9、弹簧垫91和垫片92插入舵机8；The second end-execution component of the flexible control inserts the screw 9, the spring washer 91 and the washer 92 into the steering gear 8;
旋转电批组件48，推动推拉缸49，拧紧螺钉9。Rotate the electric batch assembly 48, push the push-pull cylinder 49, and tighten the screw 9.
步骤15：完成装配Step 15: Complete Assembly
螺钉吸附器46关真空，锁紧机构4回初始位，装配完成。The screw absorber 46 turns off the vacuum, the locking mechanism returns to the initial position 4 times, and the assembly is completed.
与现有技术相比，本发明的装配方法通过机器视觉匹配采集的图像与抓取舵机特征模板图像和放置舵机模板图像，即便舵机8随机摆放在供料平台7上，也能够实现第一机械臂自动控制定位进而精确夹取和放置舵机8，并最终实现自动装配。Compared with the existing technology, the assembly method of the present invention uses machine vision to match the collected image with the captured steering gear feature template image and the steering gear placement template image. Even if the steering gear 8 is randomly placed on the feeding platform 7, it can Realize automatic control and positioning of the first robotic arm to accurately clamp and place the steering gear 8, and finally realize automatic assembly.
实施例2Example 2
本发明的一个具体实施例，如图2所示，公开了一种基于视觉引导的舵机自动装配系统(以下简称装配系统)，包括龙门架1、抓取机构2、二次定位机构3、锁紧机构4和螺钉供料组件5，抓取机构2、二次定位机构3、锁紧机构4和螺钉供料组件5均与龙门架1连接，抓取机构2、二次定位机构3和锁紧机构4均与控制器连接，控制器对抓取机构2、二次定位机构3和锁紧机构4的运动进行控制，抓取机构2用于抓取和放置舵机8，二次定位机构3用于在抓取机构2抓取和放置舵机8过程中对舵机8的抓取进行二次定位，锁紧机构4用于从螺钉供料组件5上取得螺钉，并用螺钉将舵机8与飞行器锁紧，完成装配。A specific embodiment of the present invention, as shown in Figure 2, discloses a visual guidance-based steering gear automatic assembly system (hereinafter referred to as the assembly system), including a gantry 1, a grabbing mechanism 2, a secondary positioning mechanism 3, The locking mechanism 4 and the screw feeding component 5, the grabbing mechanism 2, the secondary positioning mechanism 3, the locking mechanism 4 and the screw feeding component 5 are all connected to the gantry 1, the grabbing mechanism 2, the secondary positioning mechanism 3 and The locking mechanisms 4 are all connected to the controller. The controller controls the movement of the grabbing mechanism 2, the secondary positioning mechanism 3 and the locking mechanism 4. The grabbing mechanism 2 is used to grab and place the steering gear 8, and the secondary positioning mechanism Mechanism 3 is used for secondary positioning of the steering gear 8 when the grabbing mechanism 2 grabs and places the steering gear 8. The locking mechanism 4 is used to obtain screws from the screw supply assembly 5 and use the screws to secure the steering gear 8. The machine 8 is locked with the aircraft to complete the assembly.
优选地，龙门架1包括纵梁11、横梁12和立柱13，纵梁11和横梁12连接，并构成顶框架，顶框架设置在立柱13上，并构成门型结构，门型结构包括中空部，中空部内放置飞行器，用于将舵机8装配到飞行器上。Preferably, the gantry 1 includes longitudinal beams 11, cross beams 12 and columns 13. The longitudinal beams 11 and the cross beams 12 are connected and form a top frame. The top frame is arranged on the columns 13 and forms a door-shaped structure. The door-shaped structure includes a hollow part. , the aircraft is placed in the hollow part for assembling the steering gear 8 to the aircraft.
优选地，纵梁11的长度大于横梁12的长度，纵梁11延伸的方向为纵向，横梁12延伸的方向为横向，立柱13的延伸方向为竖向。Preferably, the length of the longitudinal beam 11 is greater than the length of the cross beam 12. The longitudinal beam 11 extends in the longitudinal direction, the cross beam 12 extends in the transverse direction, and the upright column 13 extends in the vertical direction.
优选地，龙门架1还包括标定板(图中未示出)，标定板设置在立柱13并与立柱13垂直，标定板为正方形玻璃板，尺寸为200mm×200mm，标定板表面底色为黑色，标定板表面标志点为白色圆点。Preferably, the gantry 1 also includes a calibration plate (not shown in the figure). The calibration plate is arranged on the column 13 and is perpendicular to the column 13. The calibration plate is a square glass plate with a size of 200mm×200mm. The surface background color of the calibration plate is black. , the marking points on the surface of the calibration plate are white dots.
优选地，标记板上设有显著标记点，显著标记点的形状为圆点或十字形状，显著标记点的圆点的面积大于标志点的白色圆点。Preferably, the marking board is provided with significant marking points, the shape of the significant marking points is a dot or a cross shape, and the area of the dots of the significant marking points is larger than the white dots of the marking points.
优选地，本发明的装配系统还包括平移机构6，平移机构6设置在顶框架上，并与控制器连接，抓取机构2与平移机构6连接，控制器能够控制平移机构6将抓取机构2进行纵向平移，拓展抓取机构2的活动范围。Preferably, the assembly system of the present invention also includes a translation mechanism 6. The translation mechanism 6 is arranged on the top frame and connected to the controller. The grabbing mechanism 2 is connected to the translation mechanism 6. The controller can control the translation mechanism 6 to move the grabbing mechanism. 2 perform vertical translation to expand the scope of activity of the grabbing mechanism 2.
优选地，平移机构6包括直线单元，直线单元设置在顶框架上，并与控制器连接，抓取机构2与直线单元连接。控制器能够控制直线单元将抓取机构2进行纵向平移。Preferably, the translation mechanism 6 includes a linear unit, which is disposed on the top frame and connected to the controller, and the grabbing mechanism 2 is connected to the linear unit. The controller can control the linear unit to translate the grabbing mechanism 2 longitudinally.
优选地，平移机构6还包括桁架，桁架设置在顶框架上，直线单元通过桁架与顶框架连接，桁架为硬质框架，保证对直线单元的支持和直线单元的直线度。Preferably, the translation mechanism 6 also includes a truss. The truss is arranged on the top frame. The linear unit is connected to the top frame through the truss. The truss is a hard frame to ensure the support of the linear unit and the straightness of the linear unit.
优选地，本发明的装配系统还包括操作台7，操作台7上放置待装配的舵机8，以供抓取机构2抓取，抓取机构2能够将摆放在操作台7上的舵机8进行第一次抓取。Preferably, the assembly system of the present invention also includes an operating console 7, on which the steering gear 8 to be assembled is placed for grabbing by the grabbing mechanism 2. The grabbing mechanism 2 can grab the steering gear placed on the operating console 7. Machine 8 performs the first crawl.
优选地，如图3和图4所示，抓取机构2包括第一机械臂21、第一力控组件22、第一相机23和第一末端执行组件，第一机械臂21的一端与平移机构6连接，第一机械臂21的另一端依次与第一力控组件22、第一相机23和第一末端执行组件连接，第一机械臂21、第一力控组件22和第一相机23均与控制器连接。第一机械臂21用于实现第一末端执行组件的自动运动，第一力控组件22用于对第一机械臂21的运动实现柔性控制，第一相机23用于对第一机械臂21实现视觉引导和定位，第一末端执行组件用于抓取和放置舵机8，以便对舵机8进行装配。Preferably, as shown in Figures 3 and 4, the grasping mechanism 2 includes a first mechanical arm 21, a first force control component 22, a first camera 23 and a first end effector component. One end of the first mechanical arm 21 is connected to the translation Mechanism 6 is connected, and the other end of the first robotic arm 21 is sequentially connected to the first force control component 22, the first camera 23, and the first end effector component. The first robotic arm 21, the first force control component 22, and the first camera 23 are connected to the controller. The first mechanical arm 21 is used to realize the automatic movement of the first end effector component, the first force control component 22 is used to realize flexible control of the movement of the first mechanical arm 21 , and the first camera 23 is used to realize the automatic movement of the first mechanical arm 21 For visual guidance and positioning, the first end-effector assembly is used to grab and place the steering gear 8 in order to assemble the steering gear 8 .
其中，第一机械臂21、第一力控组件22和第一相机23均选用既有产品，本发明不做具体限定。Among them, the first robotic arm 21, the first force control component 22 and the first camera 23 are all selected from existing products, and are not specifically limited in the present invention.
优选地，第一末端执行组件包括执行器24、第一半夹25和第二半夹26，执行器24设置在第一机械臂21上，并与控制器连接，第一半夹25和第二半夹26均与执行器24连接并共同构成第一夹爪，执行器24能够控制第一夹爪的第一半夹25和第二半夹26相互靠近或远离，从而实现第一夹爪对舵机8的夹取和放置。Preferably, the first end effector assembly includes an actuator 24, a first half clamp 25 and a second half clamp 26. The actuator 24 is disposed on the first robotic arm 21 and is connected to the controller. The first half clamp 25 and the second half clamp 26 The two half clamps 26 are connected to the actuator 24 and together form the first clamping jaw. The actuator 24 can control the first half clamp 25 and the second half clamp 26 of the first clamping jaw to move closer or farther away from each other, thereby realizing the first clamping jaw. Clamping and placing of steering gear 8.
优选地，第一半夹25和第二半夹26为平板状，以便贴合舵机8的侧壁，在抓取舵机8时，确保第一半夹25、第二半夹26和舵机8的侧壁最大程度的贴合，以便稳固抓取舵机8。Preferably, the first half clamp 25 and the second half clamp 26 are flat plates so as to fit the side walls of the steering gear 8. When grabbing the steering gear 8, ensure that the first half clamp 25, the second half clamp 26 and the steering gear are in contact with each other. The side walls of the servo 8 should fit together as much as possible so that the servo 8 can be firmly grasped.
优选地，第一半夹25和第二半夹26上设有摩擦片27，摩擦片27设置在第一半夹25和第二半夹26与舵机8相接触的内壁上，摩擦片27用于为第一半夹25和第二半夹26提供摩擦力，保证第一夹爪对舵机8的稳固夹持。Preferably, the first half clamp 25 and the second half clamp 26 are provided with friction plates 27 , and the friction plates 27 are arranged on the inner walls of the first half clamp 25 and the second half clamp 26 in contact with the steering gear 8 . The friction plates 27 It is used to provide friction force for the first half clamp 25 and the second half clamp 26 to ensure the stable clamping of the steering gear 8 by the first clamping claw.
优选地，摩擦片27为聚氨酯橡胶板，聚氨酯橡胶板具有弹性，保证第一夹爪对舵机8稳固夹持的同时防止第一半夹25和第二半夹26对舵机8的侧壁造成伤害。Preferably, the friction plate 27 is a polyurethane rubber plate, and the polyurethane rubber plate is elastic, ensuring that the first clamping claw firmly clamps the steering gear 8 while preventing the first half clamp 25 and the second half clamp 26 from clamping the side wall of the steering gear 8 cause some damages.
优选地，第一半夹25和第二半夹26上均设有压板28，第一末端执行组件在放置舵机8时，需要将舵机8压入飞行器上的安装位置，压板28能够防止舵机8在压入飞行器上的安装位置时向执行器24方向脱离第一夹爪，确保舵机8安装到位。Preferably, the first half clamp 25 and the second half clamp 26 are both provided with pressure plates 28. When the first end effector assembly places the steering gear 8, it needs to press the steering gear 8 into the installation position on the aircraft. The pressure plate 28 can prevent When the servo 8 is pressed into the installation position on the aircraft, it disengages from the first clamping claw in the direction of the actuator 24 to ensure that the servo 8 is installed in place.
优选地，如图5所示，第一半夹25和第二半夹26的一端均设有防脱勾29，舵机8的侧壁上设有安装孔，在第一夹爪抓取舵机8时，防脱勾29能够插入安装孔，如果在抓取机构2抓取并移动舵机8的过程中，舵机8脱离第一夹爪，防脱勾29能够防止舵机8跌落，保证设备和人员安全。Preferably, as shown in Figure 5, one end of the first half clamp 25 and the second half clamp 26 is provided with an anti-detachment hook 29, and a mounting hole is provided on the side wall of the steering gear 8. When the first clamping claw grabs the rudder, When the machine 8 is used, the anti-detachment hook 29 can be inserted into the installation hole. If the servo 8 breaks away from the first clamping claw when the grabbing mechanism 2 grabs and moves the servo 8, the anti-detachment hook 29 can prevent the servo 8 from falling. Keep equipment and personnel safe.
控制器能够依据第一相机23对待抓取的舵机8进行视频识别并控制抓取机构2的第一机械臂21对准舵机8，参照第一力控组件22反馈的第一机械臂21的运动参数，柔性控制第一末端执行组件夹取舵机8。但是，由于舵机8经由手工放置在操作台7上，舵机8的摆放方向和位置并不统一，由于第一相机23视频识别误差的存在，第一末端执行组件夹取舵机8时的精确度不够，每次舵机8与第一末端执行组件的相对位置的一致性无法保证，需要对舵机8进行二次定位。The controller can perform video recognition of the steering gear 8 to be grasped based on the first camera 23 and control the first mechanical arm 21 of the grasping mechanism 2 to align with the steering gear 8, with reference to the first mechanical arm 21 fed back by the first force control component 22. According to the motion parameters, the first end-execution component is flexibly controlled to clamp the servo 8 . However, since the steering gear 8 is manually placed on the operating console 7, the placement direction and position of the steering gear 8 are not uniform. Due to the video recognition error of the first camera 23, the first end execution component clamps the steering gear 8 when it is clamped. The accuracy is not enough, and the consistency of the relative position of the servo 8 and the first end-execution component cannot be guaranteed each time, and the servo 8 needs to be positioned twice.
优选地，如图6所示，二次定位机构3包括支撑底板31、第一定位块32和第二定位块33，支撑底板31设置在龙门架1上。具体地，支撑底板31固定设置在立柱13上，第一定位块32和第二定位块33均设置在支撑底板31的一侧，第一定位块32固定设置在支撑底板31的一端，第二定位块33设置在支撑底板31的另一端。舵机8能够放置在支撑底板31上并保持不动，支撑底板31为舵机8在横向方向上提供定位；第一定位块32能够托住舵机8，为舵机8在竖向方向上提供定位。Preferably, as shown in FIG. 6 , the secondary positioning mechanism 3 includes a supporting bottom plate 31 , a first positioning block 32 and a second positioning block 33 . The supporting bottom plate 31 is provided on the gantry 1 . Specifically, the supporting bottom plate 31 is fixedly arranged on the upright column 13 , the first positioning block 32 and the second positioning block 33 are both arranged on one side of the supporting bottom plate 31 , the first positioning block 32 is fixedly arranged on one end of the supporting bottom plate 31 , and the second positioning block 33 is fixed on one end of the supporting bottom plate 31 . The positioning block 33 is provided at the other end of the supporting bottom plate 31 . The steering gear 8 can be placed on the supporting base plate 31 and remain motionless. The supporting base plate 31 provides positioning for the steering gear 8 in the lateral direction; the first positioning block 32 can hold the steering gear 8 and position the steering gear 8 in the vertical direction. Provide positioning.
优选地，第二定位块33为两个，第二定位块33能够在纵向方向上相向或相背运动，两个第二定位块33相向运动时，其中一个第二定位块33能够将舵机8向另一个第二定位块33方向推动，最终两个第二定位块33均与舵机8连接，舵机8处于被夹紧固定状态。第二定位块33为舵机8在纵向方向上提供定位。二次定位机构3能够对舵机8在纵向、横向和竖向3个方向上进行二次定位，确保抓取机构2对舵机8的定位和抓取。Preferably, there are two second positioning blocks 33, and the second positioning blocks 33 can move toward or away from each other in the longitudinal direction. When the two second positioning blocks 33 move toward each other, one of the second positioning blocks 33 can move the steering gear. 8 is pushed in the direction of the other second positioning block 33. Finally, both second positioning blocks 33 are connected to the steering gear 8, and the steering gear 8 is in a clamped and fixed state. The second positioning block 33 provides positioning for the steering gear 8 in the longitudinal direction. The secondary positioning mechanism 3 can perform secondary positioning of the steering gear 8 in three directions: longitudinal, transverse and vertical, ensuring the positioning and grabbing of the steering gear 8 by the grabbing mechanism 2 .
优选地，如图7所示，支撑底板31上开有第一槽311，第二定位块33上设有导块331。导块331设置在第一槽311内，并能够在第一槽311内滑动，从而两个第二定位块33能够沿着第一槽311在支撑底板31上相向或背向滑动。Preferably, as shown in FIG. 7 , the supporting bottom plate 31 is provided with a first groove 311 , and the second positioning block 33 is provided with a guide block 331 . The guide block 331 is disposed in the first groove 311 and can slide in the first groove 311, so that the two second positioning blocks 33 can slide toward or away from each other along the first groove 311 on the supporting bottom plate 31.
优选地，二次定位机构3还包括电机34、电机座35和对中组件，电机座35固定连接在支撑底板31上，电机34固定设置在电机座35上，电机34与控制器连接，控制器控制电机34的转动，对中组件分别与电机34的电机轴和第二定位块33连接，电机34转动时能够通过对中组件使两个第二定位块33相向或背向滑动。Preferably, the secondary positioning mechanism 3 also includes a motor 34, a motor base 35 and a centering component. The motor base 35 is fixedly connected to the support base 31. The motor 34 is fixedly arranged on the motor base 35. The motor 34 is connected to a controller to control The controller controls the rotation of the motor 34, and the centering component is respectively connected to the motor shaft of the motor 34 and the second positioning block 33. When the motor 34 rotates, the centering component can cause the two second positioning blocks 33 to slide toward or away from each other.
优选地，如图8所示，对中组件包括拨杆36和连杆37，拨杆36与电机轴连接，电机34能带动拨杆36转动，连杆37为两个，分别与两个第二定位块33连接。拨杆36的两端均设有铰接轴38，连杆37的一端与铰接轴38活动连接，并能够围绕铰接轴38转动。转动拨杆36，能够带动两个连杆37相互靠近或远离，从而带动两个第二定位块33靠近或远离。Preferably, as shown in Figure 8, the centering assembly includes a lever 36 and a connecting rod 37. The lever 36 is connected to the motor shaft. The motor 34 can drive the lever 36 to rotate. There are two connecting rods 37, which are connected to the two second connecting rods. The two positioning blocks 33 are connected. Both ends of the lever 36 are provided with hinge shafts 38 . One end of the connecting rod 37 is movably connected to the hinge shaft 38 and can rotate around the hinge shaft 38 . Rotating the lever 36 can drive the two connecting rods 37 toward or away from each other, thus driving the two second positioning blocks 33 toward or away from each other.
优选地，第二定位块33上设有定位轴332，连杆37与定位轴332活动连接，支撑底板31上还开有第二槽312，定位轴332能够在第二槽312内滑动。连杆37能够通过定位轴332牵引第二定位块33在支撑底板31上滑动。Preferably, the second positioning block 33 is provided with a positioning shaft 332, the connecting rod 37 is movably connected with the positioning shaft 332, and the supporting bottom plate 31 is also provided with a second slot 312, and the positioning shaft 332 can slide in the second slot 312. The connecting rod 37 can pull the second positioning block 33 to slide on the supporting bottom plate 31 through the positioning shaft 332 .
优选地，铰接轴38与电机轴平行，且两个铰接轴38与电机轴的距离均相同，转动拨杆36，能够带动两个连杆37相互等距离靠近或远离，从而带动两个第二定位块33等距离靠近或远离。Preferably, the hinge shaft 38 is parallel to the motor shaft, and the distance between the two hinge shafts 38 and the motor shaft is the same. Rotating the lever 36 can drive the two connecting rods 37 to be equidistantly close to or away from each other, thereby driving the two second connecting rods 37 to move closer to or away from each other. The positioning blocks 33 are equidistantly moved closer or farther apart.
优选地，支撑底板31包括竖向中心线，两个第二定位块33以竖向中心线为轴，对称分布；电机轴包括电机轴线，电机轴线与竖向中心线相交。每次放置舵机8，两个第二定位块33能够将舵机8夹紧，两个第二定位块33到竖向中心线的距离均能够保持相同，每个舵机8在纵向方向上的位置均保持一致。Preferably, the support bottom plate 31 includes a vertical centerline, and the two second positioning blocks 33 are symmetrically distributed with the vertical centerline as an axis; the motor shaft includes a motor axis, and the motor axis intersects with the vertical centerline. Each time the steering gear 8 is placed, the two second positioning blocks 33 can clamp the steering gear 8, and the distance between the two second positioning blocks 33 and the vertical centerline can be kept the same. Each steering gear 8 is in the longitudinal direction. positions remain consistent.
优选地，支撑底板31在立柱13上倾斜设置，支撑底板31与立柱13的夹角为20°-30°。舵机8能够依靠重力稳定放置在支撑底板31上。Preferably, the supporting bottom plate 31 is inclined on the upright column 13, and the angle between the supporting bottom plate 31 and the upright column 13 is 20°-30°. The steering gear 8 can be stably placed on the supporting base plate 31 by gravity.
优选地，二次定位机构3均为不锈钢材质，以保证足够的结构强度。Preferably, the secondary positioning mechanism 3 is made of stainless steel to ensure sufficient structural strength.
这样，舵机8经过从操作台7的第一次抓取，之后被放置在支撑底板31上以便进行二次定位；支撑底板31固定位置不变，能够为舵机8提供在横向方向上的定位；第一定位块32固定位置不变，能够托住舵机8，为舵机8提供在竖向方向上的定位；对中组件和第二定位块33能够调整舵机8在纵向方向上的位置，保证舵机8在纵向方向上定位一致性。二次定位机构3能够实现舵机8在横向、纵向和竖向三维方向的二次定位，可以确定舵机8在二次定位机构3上唯一的三维位置，控制器只需控制抓取机构2在此三维位置对舵机8进行二次抓取，就能够保证对舵机8的精准夹持，进而确保将舵机8精准放置在飞行器的装配位置上。In this way, the steering gear 8 is grabbed from the operating console 7 for the first time and then placed on the supporting base plate 31 for secondary positioning; the supporting base plate 31 remains in a fixed position and can provide the steering gear 8 with a horizontal position. Positioning; the first positioning block 32 is fixed in position and can support the steering gear 8 and provide positioning of the steering gear 8 in the vertical direction; the centering assembly and the second positioning block 33 can adjust the steering gear 8 in the longitudinal direction. position to ensure the positioning consistency of the steering gear 8 in the longitudinal direction. The secondary positioning mechanism 3 can realize the secondary positioning of the steering gear 8 in the horizontal, longitudinal and vertical three-dimensional directions, and can determine the only three-dimensional position of the steering gear 8 on the secondary positioning mechanism 3. The controller only needs to control the grabbing mechanism 2 The second grasping of the servo 8 at this three-dimensional position can ensure the precise clamping of the servo 8, thereby ensuring that the servo 8 is accurately placed at the assembly position of the aircraft.
优选地，如图9和图10所示，锁紧机构4包括第二机械臂41、第二力控组件42、第二相机43和第二末端执行组件，第二机械臂41的一端与龙门架1连接，第二机械臂41的另一端依次与第二力控组件42、第二相机43和第二末端执行组件连接，第二机械臂41、第二力控组件42和第二相机43均与控制器连接。第二机械臂41用于实现第二末端执行组件的自动运动，第二力控组件42用于对第二机械臂41的运动实现柔性控制，第二相机43用于对第二机械臂41实现视觉引导和定位，第二末端执行组件用于抓取和拧紧螺钉9，以便对舵机8进行装配。Preferably, as shown in Figures 9 and 10, the locking mechanism 4 includes a second mechanical arm 41, a second force control component 42, a second camera 43 and a second end effector component. One end of the second mechanical arm 41 is connected to the gantry. The other end of the second robot arm 41 is connected to the second force control component 42, the second camera 43 and the second end effector component in sequence. The second robot arm 41, the second force control component 42 and the second camera 43 are connected to the controller. The second mechanical arm 41 is used to realize the automatic movement of the second end effector component, the second force control component 42 is used to realize flexible control of the movement of the second mechanical arm 41 , and the second camera 43 is used to realize the automatic movement of the second mechanical arm 41 For visual guidance and positioning, the second end effector assembly is used to grab and tighten the screws 9 to assemble the steering gear 8 .
其中，第二机械臂41、第二力控组件42和第二相机43均选用既有产品，本发明不做具体限定。Among them, the second robotic arm 41, the second force control component 42 and the second camera 43 are all selected from existing products, and are not specifically limited in the present invention.
优选地，第二末端执行组件包括安装板44、夹取组件45、螺钉吸附器46、滑轨47、电批组件48和气动单元(图中未示出)，安装板44设置在第二机械臂41上，夹取组件45和螺钉吸附器46设置在安装板44的一端，滑轨47和气动单元设置在安装板44上，电批组件48设置在滑轨47上，夹取组件45、螺钉吸附器46和电批组件48均与控制器连接。Preferably, the second end effector assembly includes a mounting plate 44, a clamping assembly 45, a screw absorber 46, a slide rail 47, an electric batch assembly 48 and a pneumatic unit (not shown in the figure). The mounting plate 44 is disposed on the second machine. On the arm 41, the clamping assembly 45 and the screw absorber 46 are arranged at one end of the installation plate 44, the slide rail 47 and the pneumatic unit are arranged on the installation plate 44, the electric batch assembly 48 is arranged on the slide rail 47, the clamping assembly 45, The screw absorber 46 and the electric screwdriver assembly 48 are both connected to the controller.
优选地，夹取组件45包括第二夹爪451和抓勾452，抓勾452设置在第二夹爪451的一端。第二夹爪451为气动夹爪，第二夹爪451用于对螺钉9进行夹取。Preferably, the clamping assembly 45 includes a second clamping claw 451 and a grabbing hook 452, and the grabbing hook 452 is provided at one end of the second clamping claw 451. The second clamping jaw 451 is a pneumatic clamping jaw, and the second clamping jaw 451 is used to clamp the screw 9 .
如图12所示，螺钉9包括螺帽，螺帽成圆柱状，螺钉9上套设有弹簧垫91和垫片92。抓勾452成勾状，第二夹爪451夹取螺钉9后，抓勾452能够勾住垫片92，防止垫片92从螺钉9上脱落。As shown in Figure 12, the screw 9 includes a nut, which is cylindrical, and the screw 9 is covered with a spring washer 91 and a washer 92. The grabbing hook 452 is hook-shaped. After the second clamping claw 451 clamps the screw 9 , the grabbing hook 452 can hook the gasket 92 to prevent the gasket 92 from falling off the screw 9 .
优选地，如图10和图11所示，螺钉吸附器46为圆筒体，圆筒体的一端与电批组件48连接，圆筒体的另一端能够插入螺钉9的螺帽，控制器能够通过气动单元将螺钉吸附器46内的空气抽出，形成负压，从而能够吸附螺钉9，确保螺钉9不会从螺钉吸附器46中脱落。Preferably, as shown in Figures 10 and 11, the screw absorber 46 is a cylinder, one end of the cylinder is connected to the electric batch assembly 48, the other end of the cylinder can be inserted into the nut of the screw 9, and the controller can The air in the screw absorber 46 is extracted through the pneumatic unit to form a negative pressure, so that the screw 9 can be absorbed and ensure that the screw 9 will not fall off from the screw absorber 46 .
优选地，电批组件48包括批头481和电批482，批头481设置在电批482的一端，电批482设置在在滑轨47上。批头481能够插入螺钉吸附器46的圆筒体的一端，并封堵圆筒体，以便在圆筒体内形成负压环境。电批482能够沿滑轨47滑动，并带动批头481推动螺钉9在圆筒体运动，最终使螺钉9将舵机8与飞行器锁紧。Preferably, the electric batch assembly 48 includes a bit 481 and an electric batch 482. The bit 481 is arranged at one end of the electric batch 482, and the electric batch 482 is arranged on the slide rail 47. The bit 481 can be inserted into one end of the cylindrical body of the screw absorber 46 and seal the cylindrical body to form a negative pressure environment in the cylindrical body. The electric screwdriver 482 can slide along the slide rail 47 and drive the screwdriver 481 to push the screw 9 to move in the cylinder, and finally the screw 9 locks the steering gear 8 and the aircraft.
优选地，批头481为多个，每个批头481具有不同的端部形状和规格，例如一字、十字或不同大小的内六角等，以适应不同的螺钉9。Preferably, there are multiple bits 481 , and each bit 481 has different end shapes and specifications, such as straight, cross, or hexagons of different sizes, to adapt to different screws 9 .
优选地，第二末端执行组件还包括推拉缸49，推拉缸49设置在安装板44上，且与电批组件48连接。具体地，推拉缸49与电批482连接。推拉缸49为气动推拉缸，控制器能够通过气动单元向推拉缸49充放气，从而控制推拉缸49伸长或收缩，推动或拉回电批组件48。Preferably, the second end effector assembly further includes a push-pull cylinder 49 , which is disposed on the mounting plate 44 and connected to the electric batch assembly 48 . Specifically, the push-pull cylinder 49 is connected with the electric batch machine 482 . The push-pull cylinder 49 is a pneumatic push-pull cylinder, and the controller can inflate and deflate the push-pull cylinder 49 through the pneumatic unit, thereby controlling the push-pull cylinder 49 to extend or contract, and push or pull back the electric batch assembly 48.
优选地，如图12所示，螺钉供料组件5包括定位底板(图中未示出)和定位盘51，定位底板与龙门架1连接。具体地，定位底板设置在立柱13上。定位盘51与定位底板活动连接。Preferably, as shown in FIG. 12 , the screw feeding assembly 5 includes a positioning base plate (not shown in the figure) and a positioning plate 51 , and the positioning base plate is connected to the gantry 1 . Specifically, the positioning bottom plate is provided on the upright column 13 . The positioning plate 51 is movably connected to the positioning bottom plate.
优选地，定位底板上设有定位销或定位凸起(图中未示出)，定位盘51设有定位孔(图中未示出)，将与定位盘51与定位底板连接时，定位销或定位凸起能够插入定位孔，用于固定定位盘51的位置，防止定位盘51与定位底板发生位移。Preferably, the positioning base plate is provided with positioning pins or positioning protrusions (not shown in the figure), and the positioning plate 51 is provided with positioning holes (not shown in the figure). When the positioning plate 51 is connected to the positioning base plate, the positioning pins Or the positioning protrusion can be inserted into the positioning hole to fix the position of the positioning plate 51 and prevent the positioning plate 51 and the positioning bottom plate from being displaced.
优选地，定位盘51包括螺钉槽52和螺钉孔，螺钉孔设置在螺钉槽52上，螺钉9上套接弹簧垫91和垫片92后插入螺钉孔，以便锁紧机构4夹取。抓勾452能够插入螺钉槽52，以便夹住螺钉9、弹簧垫91和垫片92。Preferably, the positioning plate 51 includes a screw groove 52 and a screw hole. The screw hole is provided in the screw groove 52. The screw 9 is sleeved with a spring pad 91 and a gasket 92 and then inserted into the screw hole so that the locking mechanism 4 can clamp it. The grabbing hook 452 can be inserted into the screw groove 52 to clamp the screw 9, the spring washer 91 and the washer 92.
优选地，螺钉9还包括小柱段，小柱段为螺纹段，用于旋入舵机8和飞行器，螺钉孔的深度小于小柱段的长度减去平垫和自由状态弹垫的厚度和，带有弹簧垫91和垫片92的螺钉9放入螺钉孔后，螺帽与弹簧垫91之间有间隙，能够保证螺钉9在定位盘51上被垂直放置，不受弹簧垫91自身斜度影响，以便螺钉吸附器46对螺帽的垂直抽吸。Preferably, the screw 9 also includes a small column section. The small column section is a threaded section for screwing into the steering gear 8 and the aircraft. The depth of the screw hole is less than the length of the small column section minus the thickness of the flat pad and the free state spring pad. , after the screw 9 with the spring washer 91 and the washer 92 is put into the screw hole, there is a gap between the nut and the spring washer 91, which can ensure that the screw 9 is placed vertically on the positioning plate 51 and is not affected by the tilt of the spring washer 91 itself. degree of influence, so that the screw absorber 46 can vertically suction the nut.
优选地，定位盘51两侧均设有把手53，方便握持。Preferably, handles 53 are provided on both sides of the positioning plate 51 for easy holding.
优选地，控制器包括报警灯(图中未示出)，在本实施例的装配系统出现故障时，报警灯能够亮起。Preferably, the controller includes an alarm light (not shown in the figure), which can light up when a failure occurs in the assembly system of this embodiment.
优选地，直线单元包括抱闸，抱闸能够开启或关闭，从而允许或固定第一机械臂21的运动。Preferably, the linear unit includes a holding brake that can be opened or closed to allow or fix the movement of the first robotic arm 21 .
本实施例中，二次定位机构3能够实现舵机8在横向、纵向和竖向三维方向的二次定位，可以确定舵机8在二次定位机构3上唯一的三维位置，控制器只需控制抓取机构2在此三维位置对舵机8进行二次抓取，就能够保证对舵机8的精准夹持，进而确保将舵机8精准放置在飞行器的装配位置上。In this embodiment, the secondary positioning mechanism 3 can realize the secondary positioning of the steering gear 8 in the horizontal, longitudinal and vertical three-dimensional directions, and can determine the only three-dimensional position of the steering gear 8 on the secondary positioning mechanism 3. The controller only needs Controlling the grasping mechanism 2 to grasp the servo 8 a second time at this three-dimensional position can ensure the precise clamping of the servo 8, thereby ensuring that the servo 8 is accurately placed at the assembly position of the aircraft.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。The above are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of changes or modifications within the technical scope disclosed in the present invention. All substitutions are within the scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310917795.1ACN116833728A (en) | 2023-07-25 | 2023-07-25 | An automatic assembly method of steering gear based on visual guidance |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310917795.1ACN116833728A (en) | 2023-07-25 | 2023-07-25 | An automatic assembly method of steering gear based on visual guidance |
| Publication Number | Publication Date |
|---|---|
| CN116833728Atrue CN116833728A (en) | 2023-10-03 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310917795.1APendingCN116833728A (en) | 2023-07-25 | 2023-07-25 | An automatic assembly method of steering gear based on visual guidance |
| Country | Link |
|---|---|
| CN (1) | CN116833728A (en) |
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