Robot automatic assembling method and system based on vision positioning

Abstract

The invention discloses a robot automatic assembling system based on vision positioning. The robot automatic assembling system comprises an industrial personal computer, a path planning controller, amoving platform, a robot, a robot controller and the like, and the industrial personal computer is connected with the robot controller, a vision system, the moving platform and the like. The moving platform is controlled to transfer the robot to an assembly site; the collected data of the visual system are received and processed, and thus the conversion relationship between the spacecraft coordinate system and the robot base coordinate system is obtained; and then a tail-end actuator is controlled to grab to-be-assembled parts and sends a motion instruction to the robot controller according tothe assembly path given by the path planning controller to control the robot to drive the tail-end actuator to move, and thus automatic assembly of aerospace products is completed. The advantages that operation of the robot is flexible and the working space is large are utilized, the visual system is carried to identify the geometrical features of the mounting position, the detection range is large, positioning accuracy is high, operation is easy and convenient, the response speed is high, and the robot automatic assembling system can be quickly applied to different general assembly stationsof a spacecraft.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a method and system for automatic robot assembly based on visual positioning. Background technique [0002] Overall assembly is the final stage and key link in the realization of the functions and performance of aerospace products. It is an important factor affecting the quality of spacecraft development and service performance. success or failure. At present, the assembly of aerospace products mainly relies on manual operation, supplemented by simple process equipment such as spreaders and support vehicles for positioning and support. There are problems such as unquantifiable adjustment of component poses and low positioning accuracy, and the assembly quality is heavily dependent on the assembly of operators. experience. With the implementation of major national special projects such as the national high-resolution earth observation system, the second-generat...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a robot automatic assembly method and system based on visual positioning, which solves the problems of incomplete positioning information, non-quantifiable pose adjustment, and low assembly accuracy in the assembly process of heavy-weight aerospace products under complex working conditions, and realizes that the equipment Safe and Controlled Self-Installation

Images