US-12623348-B2 - Double-robotic-arm collaborative flexible assembly system and method for disordered circuit breaker parts

US12623348B2US 12623348 B2US12623348 B2US 12623348B2US-12623348-B2

Abstract

A double-robotic-arm collaborative flexible assembly system and method for disordered circuit breaker parts is provided. The system includes a target detection positioning module, configured to process an image of various types of circuit breaker parts disorderly placed in a loading tray, and determine spatial pose information and type information of the circuit breaker parts; an intelligent obstacle avoidance grabbing module, configured to determine an optimal obstacle avoidance path, clamping jaw types, and a moving instruction; and a double-robotic-arm flexible collaborative module, configured to determine an optimal double-robotic-arm collaborative technology by using a trained double-robotic-arm collaborative technology decision-making model according to the type information of the target circuit breaker part, and then place the target circuit breaker part into a loading mold.

Inventors

Liang Shu
Hao Zhou

Assignees

WENZHOU UNIVERSITY

Dates

Publication Date: 20260512
Application Date: 20240709
Priority Date: 20230713

Claims (8)

1 . A double-robotic-arm collaborative flexible assembly system for disordered circuit breaker parts, wherein double robotic arms comprise a master robotic arm and a slave robotic arm; the master robotic arm is mounted at a side close to a loading tray; the slave robotic arm is mounted at a side close to an assembly carrier; each of the master robotic arm and the slave robotic arm is provided with an end effector, wherein movement processes of the double robotic arms are performed in three working spaces comprising a grabbing space, a collaborative space, and an assembly space; and the double-robotic-arm collaborative flexible assembly system comprises: a target detection positioning module, configured to obtain and process an image of various types of circuit breaker parts disorderly placed in the loading tray, and determine spatial pose information and type information of each circuit breaker part; an intelligent obstacle avoidance grabbing module, configured to determine an optimal obstacle avoidance path and clamping jaw types by using an improved Rapidly-Exploring Random Trees (RRT) algorithm according to the spatial pose information and the type information of a target circuit breaker part, and determine a moving instruction according to the optimal obstacle avoidance path, wherein the improved RRT algorithm is an algorithm that introduces an artificial potential field on a basis of an RRT algorithm to jointly determine a node growth increment by a fixed step and a potential field component; the moving instruction is configured to control the master robotic arm to move from a corresponding end effector space position to a target circuit breaker part grabbing space position, control the master robotic arm to grab the target circuit breaker part to move from the target circuit breaker part grabbing space position to a collaborative space position, control the slave robotic arm to move from a corresponding end effector space position to the collaborative space position, and control the slave robotic arm to grab the target circuit breaker part with a standard assembly pose to move from the collaborative space position to the assembly space; and the target circuit breaker part is a circuit breaker part to be grabbed; and a double-robotic-arm flexible collaborative module, configured to determine an optimal double-robotic-arm collaborative technology by using a trained double-robotic-arm collaborative technology decision-making model according to the type information of the target circuit breaker part, and determine a circuit breaker part pose adjustment assembly instruction according to the optimal double-robotic-arm collaborative technology, wherein the circuit breaker part pose adjustment assembly instruction is configured to control the slave robotic arm to adjust the target circuit breaker part that is grabbed by the master robotic arm and does not conform to an assembly pose to the target circuit breaker part with the standard assembly pose, and control the slave robotic arm to place the target circuit breaker part with the standard assembly pose into a loading mold.
2 . The double-robotic-arm collaborative flexible assembly system for the disordered circuit breaker parts according to claim 1 , wherein the target detection positioning module comprises: an image collection unit, configured to obtain a Red-Green-Blue (RGB) image of various types of circuit breaker parts disorderly placed in the loading tray shot by an industrial camera; an image processing unit, configured to: process the RGB image, and determine the type information of each circuit breaker part; extract 2-Dimensional (2D) projection feature points of each circuit breaker part on the RGB image by using a deep convolutional neural network; calculate a spatial position and a rotation angle of each circuit breaker part in a camera coordinate system according to the 2D projection feature points and a Perspective-n-Point (PnP) algorithm; and determine a spatial position and a rotation angle of each circuit breaker part in a robotic arm coordinate system according to the spatial position and the rotation angle of the circuit breaker part in the camera coordinate system, wherein the spatial pose information comprises the spatial position and the rotation angle in the robotic arm coordinate system; and a data communication unit, configured to, by using a Transmission Control Protocol (TCP), transmit the spatial pose information and the type information of each circuit breaker part to the intelligent obstacle avoidance grabbing module, and transmit the type information of each circuit breaker part to the double-robotic-arm flexible collaborative module.
3 . The double-robotic-arm collaborative flexible assembly system for the disordered circuit breaker parts according to claim 1 , wherein the intelligent obstacle avoidance grabbing module comprises: an obstacle avoidance planning unit, configured to determine a grabbing space position point according to the received spatial pose information of the target circuit breaker part, and plan the optimal obstacle avoidance path by taking the grabbing space position point as a target point of the optimal obstacle avoidance path and combining the improved RRT algorithm; a flexible grabbing unit, configured to determine clamping jaw types of the master robotic arm and the slave robotic arm according to the received type information of the target circuit breaker part; and a robotic arm control unit, configured to determine the moving instruction according to the optimal obstacle avoidance path.
4 . The double-robotic-arm collaborative flexible assembly system for the disordered circuit breaker parts according to claim 3 , wherein the obstacle avoidance planning unit is configured to: replace joint models of the double robotic arms and environmental obstacles by using bounding boxes to obtain a simplified double-robotic-arm working model; in the simplified double-robotic-arm working model, determine the grabbing space position point according to the received spatial pose information of the target circuit breaker part, and plan the optimal obstacle avoidance path comprising the master robotic arm moving from the corresponding end effector space position to the target circuit breaker part grabbing space position, the master robotic arm grabbing the target circuit breaker part to move from the target circuit breaker part grabbing space position to the collaborative space position, the slave robotic arm moving from the corresponding end effector space position to the collaborative space position, and the slave robotic arm grabbing the target circuit breaker part with the standard assembly pose from the collaborative space position to the assembly space by taking the grabbing space position point as the target point of the optimal obstacle avoidance path and combining the improved RRT algorithm.
5 . The double-robotic-arm collaborative flexible assembly system for the disordered circuit breaker parts according to claim 1 , wherein the double-robotic-arm flexible collaborative module comprises: a constraint unit, configured to establish a constraint function about movement speeds, joint angles, and path length in a double-robotic-arm collaborative process; a decision-making planning unit, configured to determine the optimal double-robotic-arm collaborative technology by using the trained double-robotic-arm collaborative technology decision-making model according to the type information of the target circuit breaker part and clamping pose information of the master robotic arm, wherein a training process of the double-robotic-arm collaborative technology decision-making model comprises: training the double-robotic-arm collaborative technology decision-making model by using a Deep Deterministic Policy Gradient (DDPG) algorithm and a deep reinforcement learning algorithm in combination with the constraint function and a reward and penalty function; and a double-robotic-arm collaborative unit, configured to determine the circuit breaker part pose adjustment assembly instruction according to the optimal double-robotic-arm collaborative technology.
6 . The double-robotic-arm collaborative flexible assembly system for the disordered circuit breaker parts according to claim 1 , wherein an execution process that the master robotic arm moves from the corresponding end effector space position to the target circuit breaker part grabbing space position and an execution process that the slave robotic arm moves from the corresponding end effector space position to the collaborative space position are executed in a parallel execution sequence.
7 . The double-robotic-arm collaborative flexible assembly system for the disordered circuit breaker parts according to claim 1 , wherein an execution process that the master robotic arm grabs the target circuit breaker part to move from the target circuit breaker part grabbing space position to the collaborative space position and an execution process that the slave robotic arm grabs the target circuit breaker part with the standard assembly pose from the collaborative space position to the assembly space are executed in a successive sequence.
8 . A double-robotic-arm collaborative flexible assembly method for disordered circuit breaker parts, wherein double robotic arms comprise a master robotic arm and a slave robotic arm; the master robotic arm is mounted at a side close to a loading tray; the slave robotic arm is mounted at a side close to an assembly carrier; each of the master robotic arm and the slave robotic arm is provided with an end effector, wherein movement processes of the double robotic arms are performed in three working spaces comprising a grabbing space, a collaborative space, and an assembly space; the double-robotic-arm collaborative flexible assembly method comprising: obtaining and processing an image of various types of circuit breaker parts disorderly placed in the loading tray, and determining spatial pose information and type information of each circuit breaker part; determining an optimal obstacle avoidance path and clamping jaw types by using an improved RRT algorithm according to the spatial pose information and the type information of a target circuit breaker part, and determining a moving instruction according to the optimal obstacle avoidance path, wherein the improved RRT algorithm is an algorithm that introduces an artificial potential field on a basis of an RRT algorithm to jointly determine a node growth increment by a fixed step and a potential field component, the moving instruction is configured to control the master robotic arm to move from a corresponding end effector space position to a target circuit breaker part grabbing space position, control the master robotic arm to grab the target circuit breaker part to move from the target circuit breaker part grabbing space position to a collaborative space position, control the slave robotic arm to move from a corresponding end effector space position to the collaborative space position, and control the slave robotic arm to grab the target circuit breaker part with a standard assembly pose from the collaborative space position to the assembly space, and the target circuit breaker part is a circuit breaker part to be grabbed; and determining an optimal double-robotic-arm collaborative technology by using a trained double-robotic-arm collaborative technology decision-making model according to the type information of the target circuit breaker part, and determining a circuit breaker part pose adjustment assembly instruction according to the optimal double-robotic-arm collaborative technology, wherein the circuit breaker part pose adjustment assembly instruction is configured to control the slave robotic arm to adjust the target circuit breaker part that is grabbed by the master robotic arm and does not conform to an assembly pose to the target circuit breaker part with the standard assembly pose, and control the slave robotic arm to place the target circuit breaker part with the standard assembly pose into a loading mold.

Description

CROSS-REFERENCE TO RELATED APPLICATION This patent application claims the benefit and priority of Chinese Patent Application No. 202310859560.1 filed with the China National Intellectual Property Administration on Jul. 13, 2023, the disclosure of which is incorporated by reference herein in its entirety as part of the present application. TECHNICAL FIELD The present disclosure relates to the technical field of circuit breaker assembly and manufacturing, and in particular, to a double-robotic-arm collaborative flexible assembly system and method for disordered circuit breaker parts. BACKGROUND A circuit breaker is an important electric equipment in a distribution network, which is widely applied in fields of industry, civilian use, and the like. The circuit breaker has the characteristics of many parts, complex composition structure, inconsistent size specifications, and the like. Current circuit breakers are mainly manufactured manually. A conventional automatic assembly unit has a great rigid constraint, and can only complete production and assembly of a circuit breaker part in a single specification, which leads to too high equipment investment cost for a manufacturing enterprise with a large number of types of circuit breaker products and high yield. Due to the lack of a flexible assembly technology, an assembly flow is cumbersome and complex, and a traditional automatic assembly production line cannot flexibly adapt to updates and iterations of products, and constrains the efficiency of production assembly and the reliability of the products. An industrial robot has the advantages of high work efficiency, stability, reliability, and the like, and is more and more applied in manufacturing industry. A novel circuit breaker assembly system and method which take flexibility as a main feature are researched by combining the industrial robot and automatic manufacturing of the circuit breaker, which can adapt to different product assembly technologies, greatly reduce cost and shorten time, and are of great significance for improving product performance and production efficiency. For example, a conventional art provides a flexible automatic assembly manufacturing technology and a supporting production line for a circuit breaker. A robotic arm is introduced to match a mechanical auxiliary mechanism to achieve flexible assembly of complex circuit breaker parts of the circuit breaker. However, during a process of adjusting a pose of a workpiece by matching the robotic arm and the mechanical auxiliary mechanism, this solution has the problems of machining action redundancy, over-large joint angles in movement of the robotic arm, and long assembly time. SUMMARY An objective of the present disclosure is to provide a double-robotic-arm collaborative flexible assembly system and method for disordered circuit breaker parts, which can perceive a dynamic assembly environment in a workshop, achieve recognition, positioning, and grabbing of various types of disordered complex circuit breaker parts, can adapt to flexible assembly of circuit breaker parts in different specifications at any pose, and solves the problem about rigid constraint in an assembly manufacturing process of an existing circuit breaker. To achieve the above objective, the present disclosure provides the following solutions: The present disclosure provides a double-robotic-arm collaborative flexible assembly system for disordered circuit breaker parts. The double robotic arms include a master robotic arm and a slave robotic arm. The master robotic arm is mounted at a side close to a loading tray. The slave robotic arm is mounted at a side close to an assembly carrier. Each of the master robotic arm and the slave robotic arm is provided with an end effector. Movement processes of the double robotic arms are performed in three working spaces, comprising a grabbing space, a collaborative space, and an assembly spacey. The double-robotic-arm collaborative flexible assembly system includes: a target detection positioning module, configured to obtain and process an image of various types of circuit breaker parts disorderly placed in a loading tray, and determine spatial pose information and type information of each circuit breaker part;an intelligent obstacle avoidance grabbing module, configured to determine an optimal obstacle avoidance path and clamping jaw types by using an improved Rapidly-Exploring Random Trees (RRT) algorithm according to the spatial pose information and the type information of a target circuit breaker part, and determine a moving instruction according to the optimal obstacle avoidance path, where the improved RRT algorithm is an algorithm that introduces an artificial potential field on a basis of an RRT algorithm to jointly determine a node growth increment by a fixed step and a potential field component; the moving instruction is configured to control the master robotic arm to move from a corresponding end effector space position to a