Self-assembly system and method for industrial robots

An industrial robot and assembly system technology, applied in the field of industrial robot manufacturing and intelligent application, can solve problems such as inability to ensure assembly consistency, inability to automatically assemble robots, damage, etc.

CN106584093AInactive Publication Date: 2017-04-26SHENYANG SIASUN ROBOT & AUTOMATION
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2017-04-26
Estimated Expiration
Not applicable · inactive patent

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Abstract

The present invention relates to the field of industrial robot manufacturing and intelligent applications, in particularly to a self-assembling system for industrial robots. The system comprises a mechanical part and a control part. The mechanical part comprises an assembly robot, a tightening, a bolt-screwing robot, a clamping mechanism, a nail-screwing device and an assembly platform. The assembly robot, the bolt-screwing robot, and the assembly platform are fixed on a same datum plane. The tail end of the assembly robot is provided with the clamping mechanism. The tail end of the bolt-screwing robot is provided with a nail-screwing device. The control part comprises a robot controller, a visual controller, a visual camera, a driver, a motor, a coded disc and a force sensor. The self-assembly system is capable of automatically recognizing posture deviations of assembly parts during feeding and automatically adjusting postures during assembly according to force feedback information such that complicated parts can be intelligently grabbed and flexibly assembled. The self-assembling system for industrial robots can be used for high-precision assembly occasions of diversity of more structures.
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Description

technical field

[0001] The invention relates to the field of industrial robot manufacturing and intelligent application, in particular to an industrial robot self-assembly system. Background technique

[0002] Industrial robots and CNC machine tools have been widely used in the assembly manufacturing industry. However, the assembly process of some high-precision, heavy-weight, and complex-structure parts still uses manual assembly. The reason is that traditional industrial robots and CNC machine tools can only be programmed repeatedly. Sex work, unable to cope with uncertainties and emergencies in the environment. For example, the assembly operation of the main parts of industrial robots (base, waist seat, upper arm, small arm, three-axis, wrist), due to the structural diversity and complexity of various components, the randomness of component feeding poses and other factors , which makes it difficult to use traditional industrial robots (position control type) and CNC mach...

Examples

Embodiment Construction

[0040] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:

[0041] Such as figure 1 , 2 , 3, the industrial robot self-assembly system, including the mechanical part and the control part;

[0042]The mechanical part includes an assembly robot 3, a screwing robot 4, a clamping mechanism 5, a screwing device 10, and an assembly platform. The assembly robot 3, the screwing robot 4 and the assembly platform are fixed on the same reference plane, and the assembly robot 3 A clamping mechanism 5 is installed at the end, and a screwing device 10 is installed at the end of the screwing robot 4; when the system is working, the assembly part 6 is clamped by the clamping mechanism 5 on the assembly robot 3, and moves with the robot; The fixed position of the accessory 7 is in the working space of the assembly robot 3 and the screwing robot 4;

[0043] The control part includes a robot controller, a vision controlle...