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CN114174007A - 自主式机器人工装系统、控制系统、控制方法及存储介质 - Google Patents

自主式机器人工装系统、控制系统、控制方法及存储介质 Download PDF

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Publication number
CN114174007A
CN114174007A CN201980098648.8A CN201980098648A CN114174007A CN 114174007 A CN114174007 A CN 114174007A CN 201980098648 A CN201980098648 A CN 201980098648A CN 114174007 A CN114174007 A CN 114174007A
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subsystem
robot
image
vision
workpiece
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CN114174007B (zh
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华韬
席宝时
吴剑强
李韬
傅玲
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Siemens Ltd China
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Siemens Ltd China
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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
    • B25J9/1694—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
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31058—Determination of assembly tooling, fixture
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40033—Assembly, microassembly
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40072—Exert a screwing motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40111—For assembly
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45035—Printed circuit boards, also holes to be drilled in a plate
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45091—Screwing robot, tighten or loose bolt
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种基于视觉的自主式机器人工装系统、控制系统、控制方法及存储介质，其中，基于视觉的自主式机器人工装系统包括：视觉子系统(10)，用于采集目标工件的图像；机器人子系统(20)，用于控制操作端执行相应的工装操作；控制子系统(50)，用于控制视觉子系统(10)采集目标工件的图像，对目标工件的图像进行图像识别，根据得到的工装信息生成对应的机器人控制参数，根据机器人控制参数控制机器人子系统(20)执行相应的工装操作。

Description

PCT国内申请，说明书已公开。

Claims (17)

  1. PCT国内申请，权利要求书已公开。
CN201980098648.8A 2019-09-11 2019-09-11 自主式机器人工装系统、控制系统、控制方法及存储介质 Active CN114174007B (zh)

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PCT/CN2019/105438 WO2021046767A1 (zh) 2019-09-11 2019-09-11 自主式机器人工装系统、控制系统、控制方法及存储介质

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CN113703382B (zh) * 2021-07-13 2023-05-16 特科能(株洲)科技有限公司 前室预抽真空多用气氛渗氮炉工件识别系统
CN114227706A (zh) * 2021-12-15 2022-03-25 熵智科技(深圳)有限公司 基于3d视觉的切坡口方法、装置、设备、系统及介质
CN114740809A (zh) * 2022-03-28 2022-07-12 阿里巴巴（中国）有限公司 通信方法、装置、中继设备、存储介质及程序产品
CN114799849B (zh) * 2022-06-27 2022-09-02 深圳市中弘凯科技有限公司 一种基于机器视觉的螺丝机作业操作参数采集分析系统
CN116713514B (zh) * 2023-07-28 2023-11-03 嘉钢精密工业(盐城)有限公司 基于机器视觉的铸造件加工孔精准定位系统及方法

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CN105291101A (zh) * 2014-06-12 2016-02-03 精工爱普生株式会社 机器人、机器人系统以及控制装置
CN107825125A (zh) * 2017-11-30 2018-03-23 中国地质大学（武汉） 一种基于视觉伺服的螺孔定位及锁卸螺丝装置
CN108074264A (zh) * 2017-11-30 2018-05-25 深圳市智能机器人研究院 一种分级多目视觉定位方法、系统及装置
CN108110309A (zh) * 2018-02-05 2018-06-01 深圳市比克电池有限公司 一种动力电池系统自动拧紧装配工作站及其工作方法
CN108312144A (zh) * 2017-12-25 2018-07-24 北京航天测控技术有限公司 基于机器视觉的机器人自动锁付控制系统及方法
CN207753112U (zh) * 2018-02-05 2018-08-21 深圳市比克电池有限公司 一种动力电池系统自动拧紧装配工作站
CN109940394A (zh) * 2019-03-28 2019-06-28 上海永太汽车零部件有限公司 一种圆形薄板螺母加工系统

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JP2003225837A (ja) * 2002-01-31 2003-08-12 Nitto Seiko Co Ltd 自動ねじ締め装置
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JP6459227B2 (ja) * 2014-06-02 2019-01-30 セイコーエプソン株式会社 ロボットシステム
CN104259839A (zh) * 2014-09-03 2015-01-07 四川长虹电器股份有限公司 基于视觉识别的自动螺钉机及其安装螺钉的方法
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10351669A1 (de) * 2003-11-05 2005-06-09 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern eines Handhabungsgeräts relativ zu einem Objekt
CN105291101A (zh) * 2014-06-12 2016-02-03 精工爱普生株式会社 机器人、机器人系统以及控制装置
CN107825125A (zh) * 2017-11-30 2018-03-23 中国地质大学（武汉） 一种基于视觉伺服的螺孔定位及锁卸螺丝装置
CN108074264A (zh) * 2017-11-30 2018-05-25 深圳市智能机器人研究院 一种分级多目视觉定位方法、系统及装置
CN108312144A (zh) * 2017-12-25 2018-07-24 北京航天测控技术有限公司 基于机器视觉的机器人自动锁付控制系统及方法
CN108110309A (zh) * 2018-02-05 2018-06-01 深圳市比克电池有限公司 一种动力电池系统自动拧紧装配工作站及其工作方法
CN207753112U (zh) * 2018-02-05 2018-08-21 深圳市比克电池有限公司 一种动力电池系统自动拧紧装配工作站
CN109940394A (zh) * 2019-03-28 2019-06-28 上海永太汽车零部件有限公司 一种圆形薄板螺母加工系统

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EP4005745A1 (en) 2022-06-01
WO2021046767A1 (zh) 2021-03-18
EP4005745A4 (en) 2023-04-19
CN114174007B (zh) 2024-07-09

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