Self-assembly system and method for industrial robots

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.

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...

AI Technical Summary

Problems solved by technology

[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 machine tools to complete the assembly work, while manual assembly is time-consuming and laborious and cannot guarantee the consistency of assembly

[0003] For the automatic assembly of such complex workpieces, researchers have conducted in-depth research. Among them, patent No. 201510142501 discloses an assembly tool for spring balance cylinders of industrial robots. This method provides a simple tool for manual assembly of robot balance cylinders. But it cannot complete the automatic assembly of the robot; CN101585137A discloses a multi-axis hole assembly device, which is designed for the elastic multi-axis hole assembly action according to the characteristics of the rigid shaft hole assembly task, but they all It is designed with a single position control mode, but it cannot control the contact force, and is not suitable for assembly operations that require strict contact force; CN102218652B patent mentions compliance to achieve shaft hole assembly, but it uses increased The large position loop gain is completed, and the shaft hole assembly operation can be realized under the condition of hole movement, but it still relies on position control to realize the shaft hole assembly, and cannot control the contact force. When the workpiece with low rigidity is assembled, the uncontrollable contact force is likely to cause assembly failure or damage to the workpiece

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