Shaft hole assembly industrial robot system and working method thereof

Abstract

The invention provides a shaft hole assembly industrial robot system which comprises an industrial robot, a shaft hole assembly platform, a force sense sensor, a clamping device, an assembly workpiece, an assembly hole and an assembly shaft. The shaft hole assembly industrial robot system can accurately control contact force and has the obvious advantages for assembly operation with the strict requirements for the small shaft hole interval, high accuracy and shaft hole contact force, the situation that assembly operation fails and even the assembly workpiece is damaged due to the fact that position control accuracy and contact force are not controllable in a position control mode is avoided, the problems of low efficiency and quality and the like caused by manual assembly in certain high-accuracy assembly operation are solved, and the application fields of the shaft hole assembly industrial robot are expanded.

Description

technical field [0001] The invention relates to the application field of industrial robots, in particular to an industrial robot system for assembling a shaft hole and a working method thereof. Background technique [0002] CNC machining has been widely used in the manufacturing industry. With the increase in complexity and precision of processed parts, the processing and assembly of some fine parts can no longer meet the demand by relying on ordinary CNC machine tools. For example, in the high-precision shaft hole assembly operation, due to many uncertainties and emergencies in the environment, the assembly operation often fails. Under the conventional position control, the small deviation between the assembly parts of the assembly industrial robot may make the assembly parts impossible. Completing the assembly will lead to the failure of the assembly operation, and even damage to the assembly workpiece and peripheral equipment. [0003] The patent of publication number CN...

AI Technical Summary

Problems solved by technology

[0002] CNC machining has been widely used in the manufacturing industry. With the increase in the complexity and precision of processed parts, the processing and assembly of some fine parts relying on ordinary CNC machine tools can no longer meet the needs.

For example, in the high-precision shaft hole assembly operation, due to many uncertainties and emergencies in the environment, the assembly operation often fails. Under the conventional position control, the small deviation between the assembly parts of the assembly industrial robot may make the assembly parts impossible. Complete the assembly, resulting in the failure of the assembly operation, and even damage to the assembly workpiece and peripheral equipment

[0003] The patent of publication number CN101041220A discloses a method of using a low-precision industrial robot to realize high-precision shaft hole assembly. A multi-axis hole assembly device is disclosed, which is designed for the elastic multi-axis hole assembly action according to the characteristics of the rigid shaft hole assembly task, but they are all designed with a single position control mode, and the contact The force cannot be controlled, so it is not suitable for assembly operations that require strict contact force

In view of this problem, CN102218652B patent mentions compliance to achieve shaft hole assembly, but it is completed by increasing the gain of the position loop, which can realize the shaft hole assembly operation in the case of hole movement, but it still relies on position control. Achieving shaft-hole assembly cannot control the contact force. When assembling workpieces with high assembly accuracy requirements or low rigidity, the uncontrollable contact force may easily cause assembly failure or damage to the workpiece.

Images