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CN107303636B - Robot-based automatic assembly system and automatic assembly method - Google Patents

Robot-based automatic assembly system and automatic assembly method Download PDF

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Publication number
CN107303636B
CN107303636B CN201610243845.2A CN201610243845A CN107303636B CN 107303636 B CN107303636 B CN 107303636B CN 201610243845 A CN201610243845 A CN 201610243845A CN 107303636 B CN107303636 B CN 107303636B
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CN
China
Prior art keywords
assembly
robot
assembled
component
station
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610243845.2A
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Chinese (zh)
Other versions
CN107303636A (en
Inventor
邓颖聪
胡绿海
代智勇
刘云
张丹丹
于强
陈伟
张宁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tyco Electronics Shanghai Co Ltd
Tyco Electronics Zhuhai Ltd
Original Assignee
Tyco Electronics Shanghai Co Ltd
Tyco Electronics Zhuhai Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tyco Electronics Shanghai Co Ltd, Tyco Electronics Zhuhai Ltd filed Critical Tyco Electronics Shanghai Co Ltd
Priority to CN201610243845.2A priority Critical patent/CN107303636B/en
Priority to TW106112123A priority patent/TWI711517B/en
Priority to PCT/IB2017/052200 priority patent/WO2017182937A1/en
Publication of CN107303636A publication Critical patent/CN107303636A/en
Application granted granted Critical
Publication of CN107303636B publication Critical patent/CN107303636B/en
Active legal-status Critical Current
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Classifications

    • 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
    • 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
    • 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
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1694—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
    • 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
    • G05B2219/40111—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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40487—Sensing to task planning to assembly execution, integration, automatic
    • 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
    • G05B2219/40519—Motion, trajectory planning

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

Abstract

The present invention discloses the automatic setup system based on robot, comprising: robot, the robot have the manipulator for keeping element to be assembled；Positioning system, for carrying out coarse positioning to element to be assembled；Vision system, for accurately identifying the position and direction of the element kept by the manipulator；Station, the assembly manipulation of the robot executing element described in the station, wherein the automatic setup system can be adaptive selected different assembly paths according to the assembly features of element to be assembled and assemble to element.The automatic setup system can follow the assembly path of customization according to different elements to be assembled to assemble different elements.Simultaneously, additionally it is possible to optimize assemble flow while guaranteeing assembly precision, to save assembly time.Automatic assembly method based on robot and the automatic assembly method for assembling the component with sheet metal member are also disclosed simultaneously.

Description

Automatic setup system and automatic assembly method based on robot
Technical field
It a kind of is used for the present invention relates to a kind of automatic setup system and automatic assembly method more particularly to based on robot Assemble the automatic setup system and automatic assembly method of sheet metal member.
Background technique
Sheet metal member is usually very thin, is very easy to deformation, and its surface is easy to be scratched or abraded, therefore, The assembly of sheet metal member is very challenging operating process.
Currently, usually artificially executing the assembly manipulation of sheet metal member, therefore assembly efficiency is lower, and in order to protect The productivity for demonstrate,proving assembly work, needs that biggish effort is spent to carry out operator training, increases production cost.Moreover, assembly Precision relies primarily on artificial experience guarantee, not can guarantee the stric consistency of assembly precision.
As product from now on is going into, configuration is more, updates fast epoch, and traditional manual assembly mode is not Be able to satisfy requirement, need to develop it is a kind of it is agile and all-purpose, rapidly adapt to, the new assembly system and assembly method of high degree of automation.
Summary of the invention
The purpose of the present invention aims to solve the problem that at least one aspect of the above-mentioned problems in the prior art and defect.
According to an aspect of the present invention, a kind of automatic setup system based on robot is provided, comprising:
Robot, the robot have the manipulator for keeping element to be assembled；
Positioning system, for carrying out coarse positioning to element to be assembled；
Vision system, for accurately identifying the position and direction of the element kept by the manipulator；
Station, the assembly manipulation of the robot executing element described in the station,
Wherein, the automatic setup system can adaptively be selected according to the required assembly precision of element to be assembled It selects different assembly paths to assemble element, wherein the different assembly path is including at least straight from the positioning system It is connected to the first assembly path of the station and passes through the vision system again to the station from the positioning system Second assembly path.
According to an exemplary embodiment, the robot is configured as:
The assembly precision of element more to be assembled and scheduled multiple assembly precision grades, when the dress of element to be assembled When meeting the first assembly precision grade with precision, first assembly path is adaptive selected to this in the automatic setup system Element is assembled；When the assembly precision of element to be assembled meets the second assembly precision grade, the automatic setup system Second assembly path is adaptive selected to assemble the element；
Wherein, the corresponding assembly precision of the first assembly precision grade is corresponding lower than the second assembly precision grade Assembly precision.
According to an exemplary embodiment, the artificial six-joint robot of machine.
According to an exemplary embodiment, what the six-joint robot can accurately be identified according to the vision system The position and direction for the element that manipulator is kept are adaptively adjusted the assembly track of the element.
According to an exemplary embodiment, the robot has fast replacing device, and the manipulator is changed the outfit fastly by this It sets and is connected on robot body.
According to an exemplary embodiment, the quantity of the manipulator is two, one of them is Pneumatic paw, another A is Pneumatic suction cup.
According to an exemplary embodiment, the station further includes additional positioning mechanism, for assembling in element It stands and the element is positioned and is fixed in the station when assembling.
According to an exemplary embodiment, the station includes the first station and the second station, in the first dress With sub-component is assembled to form in station, the sub-component and remaining element are assembled in the second station to form final assembly Good component.
According to an exemplary embodiment, which further includes automatic feeding system, the positioning system It is connect with the automatic feeding system.
According to another aspect of the present invention, a kind of automatic assembly method based on robot is also provided comprising as follows Step:
Element to be assembled is loaded into positioning system, to carry out coarse positioning to element to be assembled；
Robot grabs from positioning system or loads the element to be assembled through coarse positioning；
Determine the required assembly precision of element to be assembled, and the required assembly precision that will be determined It is compared with scheduled multiple assembly precision grades；
When the required assembly precision meets the first assembly precision grade, Robot Selection first assembles route pair The element to be assembled is assembled；
When the required assembly precision meets the second assembly precision grade, Robot Selection is different from described first Second assembly route of assembly route assembles the element to be assembled.
According to an exemplary embodiment, Robot Selection first assembles route and fills to the element to be assembled With the step of include:
Robot directly by the carry elements to be assembled through coarse positioning and is loaded into station, then in station Middle execution assembly manipulation.
According to an exemplary embodiment, Robot Selection second assembles route and fills to the element to be assembled With the step of include:
Component to be assembled through coarse positioning by robotic conveyance to vision system, by the vision system accurately identify by The position and direction for the element to be assembled that the robot is kept；
Under the guidance of the vision system, element to be assembled is transported and is accurately located in station, then Assembly manipulation is executed in station.
According to an exemplary embodiment, the corresponding assembly precision of the first assembly precision grade is lower than described second The corresponding assembly precision of assembly precision grade.
According to an exemplary embodiment, the artificial six-joint robot of machine, the method also includes following steps:
According to the position and direction for the element that the robot that the vision system accurately identifies is kept, the six axis machine People is adaptively adjusted the assembly track of element to be assembled.
According to an exemplary embodiment, the six-joint robot is adaptively adjusted the assembly rail of element to be assembled The step of mark includes:
The six-joint robot adjusts element to be assembled with respect to the horizontal plane or the direction of vertical plane, so as to be assembled Element by with respect to the horizontal plane or in a manner of vertical plane is at pre-determined tilt angle be assembled to be pre-positioned in it is another in station On element.
According to an exemplary embodiment, the step of assembling to the element to be assembled includes: in the first dress With sub-component is assembled to form in station, the sub-component and remaining element are assembled in the second station to form final assembly Good component.
According to another aspect of the invention, it also provides a kind of for assembling the automatic dress of the component with sheet metal member Method of completing the square, which includes at least the first sheet metal member, the second sheet metal member and third sheet metal member, described Automatic assembly method includes the following steps:
First sheet metal member is loaded into positioning system, to carry out coarse positioning to the first sheet metal member；
Determine the first assembly features of the first sheet metal member, and by first assembly features determined and in advance The multiple assembly grades first determined are compared；
When the first assembly features meet the first assembly grade, the first sheet metal member is directly loaded and is determined by robot Position is into the first station；When the first assembly features meet the second assembly grade, robot will under the guidance of vision system First sheet metal member is loaded and is accurately located in the first station；
Second sheet metal member is loaded into positioning system, to carry out coarse positioning to the second sheet metal member；
Determine the second assembly features of the second sheet metal member, and by second assembly features determined and in advance The multiple assembly grades first determined are compared；
When the second assembly features meet the first assembly grade, the second sheet metal member is directly transported to the by robot At one station, and the second sheet metal member and the first sheet metal member are assembled, to form first sub-component；When the second dress When meeting the second assembly grade with feature, the second sheet metal member is transported to first under the guidance of vision system by robot At station, and the second sheet metal member of accurate assembly and the first sheet metal member, to form first sub-component；
First sub-component is transmitted and is loaded into the second station；
First sub-component is located in the second station using additional positioning mechanism；
Third sheet metal member is loaded into positioning system, to carry out coarse positioning to third sheet metal member；
Determine the third assembly features of third sheet metal member, and by the third assembly features determined and in advance The multiple assembly grades first determined are compared；
When third assembly features meet the first assembly grade, third sheet metal member is directly transported to the by robot At two stations, and assemble third sheet metal member and first sub-component；When third assembly features meet the second assembly grade When, third sheet metal member is transported at the second station by robot under the guidance of vision system, and accurate assembly Three sheet metal members and first sub-component.
According to an exemplary embodiment, first sheet metal member, second sheet metal member and institute State bottom cover, shim and the top cover that third sheet metal member is respectively optical fiber connector connection cage.
According to an exemplary embodiment, first sheet metal member, second sheet metal member and institute The thickness for stating third sheet metal member is respectively less than 0.25mm.In other embodiments, first sheet metal member, described The thickness of second sheet metal member and the third sheet metal member can also be greater than or equal to 0.25mm.
Compared with prior art, the automatic setup system according to the present invention based on robot is a kind of automatic dress flexible Match system, and the automatic assembly method according to the present invention based on robot can make full use of the flexibility of robot and can compile Cheng Xing, so that robot can follow the assembly path of customization according to different elements to be assembled to assemble different members Part.Meanwhile the automatic setup system further includes vision system, it being capable of the high-precision assembly manipulation of guided robot progress.And And by selecting different assembly paths, assemble flow can be optimized while guaranteeing assembly precision, thus when saving assembly Between, further increase assembly efficiency.In addition, being somebody's turn to do the automatic setup system based on robot will lead to less element in assembly Deformation and/or scuffing, scraping etc., will not even lead to deformed element and/or scuffing, scraping etc..
By the description made for the present invention of below with reference to attached drawing, other objects and advantages of the present invention will be aobvious and easy See, and can help that complete understanding of the invention will be obtained.
Detailed description of the invention
Fig. 1 is the schematic diagram of the automatic setup system based on robot of an exemplary embodiment of the present invention；
Fig. 2 is the perspective view of the robot in automatic setup system shown in Fig. 1；
Fig. 3 is the stereoscopic schematic diagram of an exemplary mechanical clamping jaw of robot shown in Figure 2；
Fig. 4 is the to be assembled with sheet metal member of an exemplary embodiment of the present invention observed from the bottom up The stereoscopic schematic diagram of component；
Fig. 5 is the to be assembled with sheet metal member of an exemplary embodiment of the present invention observed from top to bottom The stereoscopic schematic diagram of component；
Fig. 6 is the flow chart of the automatic assembly method of an exemplary embodiment of the present invention.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.Illustrating In book, the same or similar drawing reference numeral indicates the same or similar component.Following reference attached drawings are to embodiment of the present invention Illustrate to be intended to explain present general inventive concept of the invention, and is not construed as to a kind of limitation of the invention.
Fig. 1 is the schematic diagram of the automatic setup system based on robot of an exemplary embodiment of the present invention.Such as Fig. 1 Shown, being somebody's turn to do the automatic setup system based on robot includes: robot 1, and robot 1 has for keeping element to be assembled The manipulator 2 of (not shown in figure 1) will hereafter be explained in more detail robot 1；Positioning system 3, for to be assembled Element carry out coarse positioning；Vision system 4, for accurately identifying the position and direction of the element kept by the manipulator； Station 5,6, the assembly manipulation of the robot executing element described in the station.
In this embodiment, automatic setup system can be adaptive selected not according to the assembly features of element to be assembled Same assembly path assembles element.In the following, specifically describing the adaptive assembly manipulation in conjunction with Fig. 1.
In this embodiment, different assembly paths includes assembling road from positioning system 3 directly into the first of station 5,6 Diameter and from positioning system 3 by vision system 4 again to the second assembly path of station 5,6.
More specifically, as an example, the assembly features of element to be assembled include the essence of assembly required by the element Spend P.Correspondingly, the robot is configured as: the assembly precision P of element more to be assembled and scheduled multiple assembly precisions Grade L1, L2, when the assembly precision P of element to be assembled meets the first assembly precision grade L1, automatic setup system is adaptive Select the first above-mentioned assembly path to assemble the element with answering；When the assembly precision P of element to be assembled meets second When assembly precision grade L2, automatic setup system is adaptive selected above-mentioned second assembly path and assembles to the element.Example Such as, the first assembly precision grade L1 can correspond to a lower assembly precision, and the second assembly precision grade L2 can correspond to one A higher assembly precision, correspondingly, assembly precision P, which meets the first assembly precision grade L1, means component requirements to be assembled Assembly precision P less than or equal to the first assembly precision grade L1, assembly precision P, which meets the second assembly precision grade L2, to be meaned The assembly precision P of component requirements to be assembled is equal to or higher than the second assembly precision grade L2.
Specifically, as shown in Figure 1, when positioning system 3 is enough element positioning to be assembled or is limited in scheduled assembly When in accuracy class, robot 1 can directly by the carry elements and be loaded into station 5,6, without in vision system It unites and stops at 4, to save the time of assembly process circulation.Depending on the higher assembly precision of component requirements to be assembled When the coarse positioning of position system 3 is not enough to be located or be limited in scheduled assembly precision grade, robot 1 can be by this yuan Part is transported to vision system 4, is then loaded the element under the guidance of vision system 4 and is located in station 5,6, from And guarantee high-precision loading and assembling process.That is, automatic setup system according to an embodiment of the present invention being capable of basis Different assembly paths is adaptive selected in the assembly features (such as assembly precision etc.) of element to be assembled, and vision system 4 is not It must be applied to the loading and assembling process of all elements, also optimize assemble flow while guaranteeing assembly precision, save Assembly time.
Preferably, robot 1 is six-joint robot, as shown in Figure 2.The six-joint robot can be according to 4 essence of vision system The position and direction for the element that the manipulator really identified is kept are adaptively adjusted the assembly track of element to be assembled, hereafter will This process is described in detail.
As an example, Fig. 3 shows the stereoscopic schematic diagram of the manipulator applied to robot of the invention.It is illustrating Example in, the manipulator be mechanical grip.It should be noted that, although " manipulator " used herein describes to keep to be installed The device for the element matched, but " manipulator " herein is not limited to set using next " hand " shape dress of mechanical actuation device, but wrap The various devices for the element function that may be implemented to keep to be assembled are included, for example, it not necessarily includes " hand " shape of multiple fingers, It can also use electronic, pneumatic or other types of driving device.For example, the quantity of manipulator 2 can be two, wherein one A is Pneumatic paw, another is Pneumatic suction cup, to grab or keep the element of different shape, type respectively.
Further, robot 1 can also have fast replacing device, and manipulator 2 is connected to robot master by fast replacing device On body.In this way, robot 1 can assemble different manipulators 2 according to different elements to be assembled.By the fast replacing device, Robot 1 rapidly can be replaced or be switched between a variety of different manipulators 2, to keep different elements.
Referring back to Fig. 1, in this embodiment, including two stations --- the first station 5 and the second station 6. In the exemplary embodiment, it is assembled to form sub-component in the first station 5, assembles the subgroup in the second station 6 Part and remaining element are to form the final component assembled.But the present invention does not limit the quantity of station, in other realities It applies in example, automatic setup system may include 1,3,4 or more station.
In some embodiments, the first station 5 and/or the second station 6 can also include that additional positioning mechanism (does not show Out).The additional positioning mechanism be used for when element assembles in station 5,6 by the element position and be fixed on station 5, In 6, so as to be better carried out assembly manipulation, to further ensure that assembly precision.
In some embodiments, element to be assembled with direct labor can be loaded into positioning system 3.In other realities It applies in example, automatic setup system can also include automatic feeding system (not shown), and positioning system 3 and automatic feeding system connect It connects, element to be assembled is loaded by the automatic feeding system into positioning system 3, to realize full automatic assembling process.
In the following, the flow chart in conjunction with shown in Fig. 6, describes the automatic assembling side that automatic setup system according to the embodiment executes Method.As shown in fig. 6, the automatic assembly method may include steps of:
S10, element to be assembled is loaded into positioning system 3, to carry out coarse positioning to element to be assembled；
S20, robot 1 grab from positioning system 3 or load the element to be assembled through coarse positioning；
S30, the assembly features for determining element to be assembled；
S40, the assembly features determined are compared with scheduled multiple assembly grades；
S50, when the assembly features meet first assembly grade when, robot 1 selection first assembly route to it is described to The element of assembly is assembled；When the assembly features meet the second assembly grade, robot 1 is selected differently from described first Second assembly route of assembly route assembles the element to be assembled.
Specifically, in above-mentioned steps S50, Robot Selection first assembles route and fills to the element to be assembled With the step of include: robot 1 directly by the carry elements to be assembled through coarse positioning and load into station 5,6, so Assembly manipulation is executed in station 5,6 afterwards.Robot Selection second assembles route and assembles to the element to be assembled The step of include: the component to be assembled through coarse positioning by the transport of robot 1 to vision system 4, accurately by the vision system 4 Identify the position and direction of the element to be assembled kept by the robot 1；It is to be installed under the guidance of the vision system 4 The element matched is transported and is accurately located in station 5,6, then executes assembly manipulation in station 5,6.
Preferably, robot 1 is six-joint robot (as shown in Figure 2), and the automatic assembly method further includes following steps: According to the position and direction for the element that the robot 1 that the vision system 4 accurately identifies is kept, the six-joint robot is adaptive Adjust the assembly track of element to be assembled with answering.It is highly preferred that the six-joint robot is adaptively adjusted member to be assembled The step of assembly track of part includes: that the six-joint robot adjusts element to be assembled with respect to the horizontal plane or the side of vertical plane To be pre-positioned in element to be assembled with respect to the horizontal plane or in a manner of vertical plane is at pre-determined tilt angle to be assembled to On another element in station 5,6.In one embodiment, which is 15 °.
In the following, by being to illustrate above-mentioned automatic assembly method with the connection cage of optical fiber connector.
Fig. 4,5 show the stereoscopic schematic diagram for joining cage of optical fiber connector comprising bottom cover 31, shim 32, top cover 33 With resistance spring (kick-out spring) 34, wherein bottom cover 31, shim 32, top cover 33 are typical sheet metal member Part.In one example, bottom cover 31, shim 32, top cover 33 thickness be respectively less than 0.25mm.Certainly, in other embodiments, Bottom cover 31, shim 32, top cover 33 thickness can also be greater than or equal to 0.25mm.It will be understood by those skilled in the art that this hair It is bright to be not limited to specific thickness.
The assemble flow of the connection cage is as follows: multiple shims 32 are assembled on bottom cover 31, to form sub-component, then according to Secondary spring 34 and the top cover 33 of resisting is assembled on the sub-component, to form the connection cage assembled.
Specifically, slightly fixed to be carried out to bottom cover 31 firstly, Automatic-feeding module loads bottom cover 31 into positioning system 3 Position.
Then, robot 1 draws bottom cover 31 using Pneumatic suction cup from positioning system 3.As required by the bottom cover 31 Assembly precision is higher, so bottom cover 31 is adaptively loaded to and positioned under the accurate guidance of vision system 4 by robot 1 In the first station 5.
Then, robot 1 grabs shim 32 using Pneumatic paw from positioning system 3.It is preferably positioned in bottom cover 31 And in the case where being limited in the first station 5, robot 1 is under the accurate guidance of vision system 4 adaptively by shim Shim 32 is assembled on bottom cover 31 by 32 transports into the first station 5, and under the accurate guidance of vision system 4, with Sub-component is formed in the first station 5.
Then, which is transmitted and is loaded into the second station 6, and the second station 6 includes additional localization machine The sub-component being loaded in the second station 6 is preferably positioned and is limited in the second station 6 by structure.
Then, robot is grabbed from positioning system 3 using Pneumatic paw and resists spring 34.The sub-component preferably In the case where positioning and being limited in the second station 6, robot 1 will adaptively support under the accurate guidance of vision system 4 The anti-transport of spring 34 will resist spring 34 under the accurate guidance of vision system 4 and be assembled to subgroup into the second station 6 On part.
Then, robot draws top cover 33 using Pneumatic suction cup from positioning system 3.It is preferably positioned in the sub-component And in the case where being limited in the second station 6, robot 1 is under the accurate guidance of vision system 4 adaptively by top cover 33 Top cover 33 is assembled on sub-component by transport into the second station 6, and under the accurate guidance of vision system 4, to be formed The connection cage assembled.
Automatic assembly method according to an embodiment of the present invention is described using connection cage component shown in Fig. 2 and 3 as example above. By above description it is found that the automatic setup system and automatic assembly method based on robot can be according to elements to be assembled The adaptive adjustment of carry out such as different type, different matching requirements, that is to say, that it is a kind of flexible assembly system, can be with It is used to cover the sheet metal class product largely customized.For example, should automatic setup system based on robot and automatic Assembly method can cover the assembly of the various cage components such as 1 × 2,1 × 4,1 × 6.Moreover, above-described embodiment is only to join cage portion Part is that example is illustrated automatic assembly method according to an embodiment of the present invention, automatic assembling system according to an embodiment of the present invention System and automatic assembly method can be also used for the assembly of other types of component.
In addition, when robot 1 executes automated assembling operations in the first station 5 or the second station 6, robot 1 It can be interacted as needed with the positioning mechanism in station 5,6, in order to 1 assembling element of robot.Also, robot 1 can also cooperate with the positioning mechanism, in order to 1 assembling element of robot.
Due to the flexibility and multifunctionality of the automatic setup system based on robot, can be used to execute extremely complex Assembly technology, such as can order robot follow complicated robotic asssembly path to imitate manual assembly operation, and Can also order robot follow some robotic asssembly paths to carry out the even assembly manipulation that can not all execute of operator.
In addition, should automatic setup system based on robot will lead in assembly less deformed element and/or scuffing, Scrape etc., deformed element and/or scuffing, scraping etc. will not even be caused.
Although in conjunction with attached drawing, the present invention is described, and embodiment disclosed in attached drawing is intended to preferred to the present invention Embodiment illustrates, and should not be understood as to a kind of limitation of the invention.
Although some embodiments of this present general inventive concept have been shown and have illustrated, those of ordinary skill in the art will be managed Solution can make a change these embodiments in the case where the principle and spirit without departing substantially from this present general inventive concept, of the invention Range is limited with claim and their equivalent.

Claims (18)

1.一种基于机器人的自动装配系统，包括：1. A robot-based automatic assembly system, comprising: 机器人(1)，该机器人具有用于保持待装配的元件的机械手(2)；a robot (1) having a manipulator (2) for holding the components to be assembled; 定位系统(3)，用于对待装配的元件进行粗定位；a positioning system (3) for rough positioning of the components to be assembled; 视觉系统(4)，用于精确地识别由所述机械手保持的元件的位置和方向；a vision system (4) for accurately identifying the position and orientation of components held by said manipulator; 装配站(5、6)，在该装配站中所述机器人执行元件的装配操作，an assembly station (5, 6) in which said robot performs assembly operations of elements, 其中，所述自动装配系统能够根据待装配的元件的所要求的装配精度自适应地选择不同的装配路径对元件进行装配，其中所述不同的装配路径至少包括从所述定位系统(3)直接至所述装配站(5、6)的第一装配路径和从所述定位系统(3)经过所述视觉系统(4)再至所述装配站(5、6)的第二装配路径。Wherein, the automatic assembly system can adaptively select different assembly paths to assemble the components according to the required assembly accuracy of the components to be assembled, wherein the different assembly paths at least include direct access from the positioning system (3) A first assembly path to the assembly station (5, 6) and a second assembly path from the positioning system (3) through the vision system (4) to the assembly station (5, 6). 2.根据权利要求1所述的自动装配系统，其特征在于，所述机器人被配置为：2. The automatic assembly system of claim 1, wherein the robot is configured to: 比较待装配的元件的装配精度和预定的多个装配精度等级，当待装配的元件的装配精度满足第一装配精度等级时，所述自动装配系统自适应地选择所述第一装配路径对该元件进行装配；当待装配的元件的装配精度满足第二装配精度等级时，所述自动装配系统自适应地选择所述第二装配路径对该元件进行装配；Comparing the assembly accuracy of the component to be assembled with a plurality of predetermined assembly accuracy levels, when the assembly accuracy of the component to be assembled meets the first assembly accuracy level, the automatic assembly system adaptively selects the first assembly path for the assembly. Assembling the component; when the assembly accuracy of the component to be assembled meets the second assembly accuracy level, the automatic assembly system adaptively selects the second assembly path to assemble the component; 其中，所述第一装配精度等级对应的装配精度低于所述第二装配精度等级对应的装配精度。Wherein, the assembly accuracy corresponding to the first assembly accuracy grade is lower than the assembly accuracy corresponding to the second assembly accuracy grade. 3.根据权利要求1或2所述的自动装配系统，其特征在于，所述机器人为六轴机器人。3. The automatic assembly system according to claim 1 or 2, wherein the robot is a six-axis robot. 4.根据权利要求3所述的自动装配系统，其特征在于，所述六轴机器人能够根据所述视觉系统(4)精确地识别的机械手保持的元件的位置和方向自适应地调整所述元件的装配轨迹。4. The automatic assembly system according to claim 3, characterized in that, the six-axis robot can adaptively adjust the component according to the position and direction of the component held by the manipulator accurately identified by the vision system (4). assembly trajectory. 5.根据权利要求1所述的自动装配系统，其特征在于，所述机器人具有快换装置，所述机械手通过该快换装置连接至机器人主体上。5 . The automatic assembly system according to claim 1 , wherein the robot has a quick-change device, and the manipulator is connected to the robot body through the quick-change device. 6 . 6.根据权利要求1所述的自动装配系统，其特征在于，所述机械手的数量为两个，其中一个为气动手爪，另一个为气动吸盘。6 . The automatic assembly system according to claim 1 , wherein the number of the manipulators is two, one of which is a pneumatic gripper and the other is a pneumatic suction cup. 7 . 7.根据权利要求1所述的自动装配系统，其特征在于，所述装配站(5、6)还包括附加定位机构，用于在元件在装配站中装配时将所述元件定位和固定在所述装配站中。7. The automatic assembly system according to claim 1, characterized in that the assembly station (5, 6) further comprises an additional positioning mechanism for positioning and fixing the component in the assembly station when the component is assembled in the assembly station in the assembly station. 8.根据权利要求1所述的自动装配系统，其特征在于，所述装配站包括第一装配站(5)和第二装配站(6)，在第一装配站中装配形成子组件，在第二装配站中装配所述子组件和剩余的元件以形成最终的装配好的部件。8. The automatic assembly system according to claim 1, characterized in that the assembly station comprises a first assembly station (5) and a second assembly station (6), in which the sub-assemblies are assembled and formed at the first assembly station The subassembly and remaining components are assembled in a second assembly station to form the final assembled part. 9.根据权利要求1所述的自动装配系统，其特征在于，还包括自动供料系统，所述定位系统与所述自动供料系统连接。9 . The automatic assembly system according to claim 1 , further comprising an automatic feeding system, and the positioning system is connected with the automatic feeding system. 10 . 10.一种基于机器人的自动装配方法，包括如下步骤：10. A robot-based automatic assembly method, comprising the steps of: 将待装配的元件装载至定位系统中，以对待装配的元件进行粗定位；Load the components to be assembled into the positioning system for rough positioning of the components to be assembled; 机器人从定位系统中抓取或装载经粗定位的待装配的元件；The robot grabs or loads the roughly positioned components to be assembled from the positioning system; 确定待装配的元件的所要求的装配精度，并且将确定出的所述所要求的装配精度与预定的多个装配精度等级进行比较；determining a required assembly accuracy of the components to be assembled, and comparing the determined required assembly accuracy with a predetermined plurality of assembly accuracy levels; 当所述所要求的装配精度满足第一装配精度等级时，机器人选择第一装配路线对所述待装配的元件进行装配；When the required assembly accuracy meets the first assembly accuracy level, the robot selects a first assembly route to assemble the component to be assembled; 当所述所要求的装配精度满足第二装配精度等级时，机器人选择不同于所述第一装配路线的第二装配路线对所述待装配的元件进行装配。When the required assembly accuracy satisfies the second assembly accuracy level, the robot selects a second assembly route different from the first assembly route to assemble the component to be assembled. 11.根据权利要求10所述的自动装配方法，其中机器人选择第一装配路线对所述待装配的元件进行装配的步骤包括：11. The automatic assembly method according to claim 10, wherein the step of the robot selecting the first assembly route to assemble the components to be assembled comprises: 机器人直接将经粗定位的待装配的元件运输并且装载至装配站中，然后在装配站中执行装配操作。The robot directly transports and loads the roughly positioned components to be assembled into the assembly station, where the assembly operation is then performed. 12.根据权利要求10或11所述的自动装配方法，其中机器人选择第二装配路线对所述待装配的元件进行装配的步骤包括：12. The automatic assembly method according to claim 10 or 11, wherein the step of the robot selecting a second assembly route to assemble the components to be assembled comprises: 经粗定位的待装配部件被机器人运输至视觉系统，通过该视觉系统精确地识别由所述机器人保持的待装配的元件的位置和方向；The roughly positioned parts to be assembled are transported by the robot to a vision system, by means of which the position and orientation of the components to be assembled held by the robot are precisely identified; 在所述视觉系统的引导下，待装配的元件被运输并且精确定位在装配站中，然后在装配站中执行装配操作。Guided by the vision system, the components to be assembled are transported and precisely positioned in the assembly station, where the assembly operation is then carried out. 13.根据权利要求10所述的自动装配方法，其特征在于，所述第一装配精度等级对应的装配精度低于所述第二装配精度等级对应的装配精度。13 . The automatic assembly method according to claim 10 , wherein the assembly accuracy corresponding to the first assembly accuracy grade is lower than the assembly accuracy corresponding to the second assembly accuracy grade. 14 . 14.根据权利要求12所述的自动装配方法，其特征在于，所述机器人为六轴机器人，所述方法还包括如下步骤：14. The automatic assembly method according to claim 12, wherein the robot is a six-axis robot, and the method further comprises the steps of: 根据所述视觉系统精确地识别的机器人保持的元件的位置和方向，所述六轴机器人自适应地调整待装配的元件的装配轨迹。The six-axis robot adaptively adjusts the assembly trajectory of the component to be assembled according to the position and orientation of the component held by the robot accurately recognized by the vision system. 15.根据权利要求14所述的自动装配方法，其特征在于，所述六轴机器人自适应地调整待装配的元件的装配轨迹的步骤包括：15. The automatic assembly method according to claim 14, wherein the step of adaptively adjusting the assembly trajectory of the component to be assembled by the six-axis robot comprises: 所述六轴机器人调整待装配的元件相对于水平面或竖直面的方向，以使待装配的元件以相对于水平面或竖直面成预定倾斜角度的方式装配至预先定位在装配站中的另一元件上。The six-axis robot adjusts the orientation of the component to be assembled relative to the horizontal or vertical plane, so that the component to be assembled is assembled to another pre-positioned assembly station at a predetermined inclination angle relative to the horizontal or vertical plane. on a component. 16.根据权利要求10所述的自动装配方法，其特征在于，对所述待装配的元件进行装配的步骤包括：在第一装配站中装配形成子组件，在第二装配站中装配所述子组件和剩余的元件以形成最终的装配好的部件。16. The automatic assembly method according to claim 10, wherein the step of assembling the components to be assembled comprises: assembling to form sub-assemblies in a first assembly station, and assembling the sub-assemblies in a second assembly station sub-assemblies and remaining components to form the final assembled part. 17.一种用于装配具有金属薄片元件的部件的自动装配方法，该部件至少包括第一金属薄片元件、第二金属薄片元件和第三金属薄片元件，所述自动装配方法包括如下步骤：17. An automated assembly method for assembling a component having foil elements comprising at least a first foil element, a second foil element and a third foil element, said automated assembly method comprising the steps of: 将第一金属薄片元件装载至定位系统中，以对第一金属薄片元件进行粗定位；loading the first sheet metal element into the positioning system for coarse positioning of the first sheet metal element; 确定第一金属薄片元件的第一装配特征，并且将确定出的所述第一装配特征与预先确定的多个装配等级进行比较；determining a first fit feature of a first foil element, and comparing the determined first fit feature to a predetermined plurality of fit levels; 当第一装配特征满足第一装配等级时，机器人直接将第一金属薄片元件装载并定位至第一装配站中；当第一装配特征满足第二装配等级时，机器人在视觉系统的引导下将第一金属薄片元件装载并精确定位至第一装配站中；When the first assembly feature meets the first assembly level, the robot directly loads and positions the first sheet metal component into the first assembly station; when the first assembly feature meets the second assembly level, the robot under the guidance of the vision system will The first sheet metal element is loaded and precisely positioned into the first assembly station; 将第二金属薄片元件装载至定位系统中，以对第二金属薄片元件进行粗定位；loading the second foil element into the positioning system for coarse positioning of the second foil element; 确定第二金属薄片元件的第二装配特征，并且将确定出的所述第二装配特征与预先确定的多个装配等级进行比较；determining a second fit feature of the second foil element, and comparing the determined second fit feature to a predetermined plurality of fit levels; 当第二装配特征满足第一装配等级时，机器人直接将第二金属薄片元件运送至第一装配站处，并装配第二金属薄片元件与第一金属薄片元件，以形成第一子组件；当第二装配特征满足第二装配等级时，机器人在视觉系统的引导下将第二金属薄片元件运送至第一装配站处，并精确装配第二金属薄片元件与第一金属薄片元件，以形成第一子组件；When the second assembly feature satisfies the first assembly level, the robot directly transports the second sheet metal element to the first assembly station, and assembles the second sheet metal element and the first sheet metal element to form the first subassembly; when When the second assembly feature meets the second assembly level, the robot transports the second metal foil component to the first assembly station under the guidance of the vision system, and precisely assembles the second metal foil component and the first metal foil component to form the first metal foil component. a subcomponent; 将第一子组件传输并且装载至第二装配站中；transporting and loading the first subassembly into the second assembly station; 使用附加定位机构将第一子组件定位在第二装配站中；positioning the first subassembly in the second assembly station using an additional positioning mechanism; 将第三金属薄片元件装载至定位系统中，以对第三金属薄片元件进行粗定位；loading the third foil element into the positioning system for coarse positioning of the third foil element; 确定第三金属薄片元件的第三装配特征，并且将确定出的所述第三装配特征与预先确定的多个装配等级进行比较；determining a third fit feature of the third foil element, and comparing the determined third fit feature to a predetermined plurality of fit levels; 当第三装配特征满足第一装配等级时，机器人直接将第三金属薄片元件运送至第二装配站处，并装配第三金属薄片元件与第一子组件；当第三装配特征满足第二装配等级时，机器人在视觉系统的引导下将第三金属薄片元件运送至第二装配站处，并精确装配第三金属薄片元件与第一子组件。When the third assembly feature satisfies the first assembly level, the robot directly transports the third sheet metal element to the second assembly station, and assembles the third sheet metal element and the first sub-assembly; when the third assembly characteristic meets the second assembly level During the level, the robot transports the third metal foil component to the second assembly station under the guidance of the vision system, and precisely assembles the third metal foil component and the first sub-assembly. 18.根据权利要求17所述的自动装配方法，其特征在于，所述第一金属薄片元件、所述第二金属薄片元件和所述第三金属薄片元件分别为光纤连接器的联笼的底盖、分隔片和顶盖。18 . The automatic assembly method according to claim 17 , wherein the first metal foil element, the second metal foil element and the third metal foil element are respectively the bottom of the cage of the optical fiber connector. 19 . Cover, divider and top cover.
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