Method and system for assembling robot based on visual sense and force feedback control

Abstract

The invention discloses a system for assembling a robot based on visual sense and force feedback control. The system comprises an industrial robot, a workpiece contour detection unit, an assembling force detection unit, a clamping unit and a system control host machine, wherein the industrial robot is used for driving the tail end to move according to a control command of the system control host machine; the assembling force detection unit is used for acquiring the contact force between a shaft workpiece and a hole during the assembling process; the clamping unit is used for clamping the shaft workpiece; the workpiece contour detection unit is used for acquiring the measured data of workpiece contour; the system control host machine is used for receiving the position and the force data and positioning the assembled workpiece according to received data so as to generate the control command to be sent to the industrial robot. The invention further discloses a method for assembling the robot based on visual sense and force feedback control. Rapid hole positioning is carried out and the optimal path of assembling is planned according to the three-dimensional data of hole contour and the force feedback data when the axle hole is assembled, and thus high-precision self-assembling of the axle hole is realized.

Description

technical field [0001] The invention relates to the technical field of robot assembly, in particular to a robot method and system based on vision and force feedback. Background technique [0002] Assembly is a very critical part of industrial production, and the quality of assembly often affects the final quality of products. With the development of high-precision technologies in the fields of aerospace, automobiles, and national defense, challenging requirements have been placed on assembly technology, such as high-precision assembly of RV reducers and aero-engines is still a difficult problem. [0003] Due to the heavy workload and low efficiency of manual assembly, sometimes the working environment is very dangerous, and the quality of workpiece assembly cannot be guaranteed, so the realization of automatic assembly is the trend of the situation; and traditional industrial robot assembly cannot be well adapted to assembly Due to the changing factors in the process, only ...

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Problems solved by technology

[0005] The above methods and devices are all carried out under the condition of precise positioning of the holes, but the algorithm for searching holes in the actual autonomous assembly process mostly uses the traditional spiral hole searching method, which is time-consuming; moreover, due to the high-precision shaft-hole assembly It is a complex process, and the planning of the assembly path also limits the application of these methods in actual production

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