Force feedback-based industrial robot auxiliary assembling and flexible docking method

An industrial robot and auxiliary assembly technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as uneven force, and achieve the effect of improving docking efficiency

Active Publication Date: 2017-05-10
BEIJING INST OF SPACECRAFT ENVIRONMENT ENG
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  • Abstract
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  • Claims
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Problems solved by technology

[0006] Aiming at the problem of uneven force caused by non-parallel docking surfaces encountered in assembly and docking, the present invention obtains the external interference force received by the workpiece during the assembly process through a six-dimensional sensor, and further

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  • Force feedback-based industrial robot auxiliary assembling and flexible docking method
  • Force feedback-based industrial robot auxiliary assembling and flexible docking method
  • Force feedback-based industrial robot auxiliary assembling and flexible docking method

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[0028] The flexible force control system of the industrial robot of the present invention will be described in detail below with reference to the accompanying drawings. These specific implementations are only exemplary and are not intended to limit the protection scope of the present invention in any way.

[0029] See figure 1 , figure 1 It shows that the flexible force control system of the industrial robot of the present invention is similar to the system in the prior art. The system is mainly composed of an industrial computer, an industrial robot controller, an industrial robot, two large and small six-dimensional force sensors, an end effector, and a workpiece And other composition. Among them, the large six-dimensional force sensor has a larger range and is installed between the end of the industrial robot and the load (that is, the end effector and the workpiece). After the gravity compensation algorithm eliminates the influence of the load's gravity, the external force on ...

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Abstract

The invention discloses a force feedback-based industrial robot auxiliary assembling and flexible docking method which is characterized in that a low-six-dimensional-force sensor is manually pushed or twisted to enable a workpiece at the tail end of an industrial robot to do corresponding instant motion; the workpiece docking posture is subjected to fine adjustment to realize posture adjustment for mounting the workpiece; and meanwhile, the moving track of the industrial robot is corrected in real time through a force/posture mixing control method according to feedback information of a high-six-dimensional-force sensor and an error between actual acting force and ideal acting force, so that contact force can be retained in a desired range, and flexible docking is realized. According to the force feedback-based industrial robot auxiliary assembling and flexible docking method, by means of force feedback and algorithm control, mounting equipment can be completely fitted with the mounting surface, and the fitting precision is much higher than that obtained by visual observation and manual following adjustment fitting; and repeated visual observation of the docking condition and repeated adjustment of the equipment posture are not needed, so that the docking efficiency is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of aerospace equipment assembly. Specifically, it relates to an industrial robot-assisted assembly flexible docking method for aerospace equipment interference detection, pose adjustment and flexible docking. [0002] technical background [0003] At present, industrial robots have the characteristics of large load capacity and high adjustment accuracy, which can realize stable maintenance and precise adjustment of heavy parts. In order to combine the installation of industrial robots and aerospace equipment, two Chinese invention patents have been disclosed in the prior art: (1) "A Method for Flexible Follow-up Control of Robotic Arms of Spacecraft", application number: CN2013105721 78.9; ( 2) "A Gravity Compensation Method for Flexible Follow-up Control of Spacecraft Manipulator", application number: CN201310552492.0. The above two methods have been tested to realize that the installation equipment moves ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1633
Inventor 易旺民胡瑞钦张立建孟少华万毕乐卫月娥徐奕柳郎冠卿
Owner BEIJING INST OF SPACECRAFT ENVIRONMENT ENG
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