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Full-pose-and-position active-passive compliant robot and valve screwing-twisting method utilizing robot

An active-passive, robotic technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve problems such as inability to achieve precise positioning in robot operations, robot damage, and inability of robots to move in a large range

Active Publication Date: 2018-05-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of excessive contact force caused by the inability to achieve precise positioning of the remote operation robot, the problem that the robot cannot flexibly move in a large range, and the problem of robot damage caused by excessive valve resistance torque during the process of screwing the valve

Method used

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  • Full-pose-and-position active-passive compliant robot and valve screwing-twisting method utilizing robot
  • Full-pose-and-position active-passive compliant robot and valve screwing-twisting method utilizing robot
  • Full-pose-and-position active-passive compliant robot and valve screwing-twisting method utilizing robot

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specific Embodiment approach 1

[0041] Specific implementation mode 1: This implementation mode provides an active and passive compliant robot in all poses. figure 1 , figure 2 , image 3 and Figure 4 To illustrate, the full-position active-passive compliant robot described in this embodiment includes a wheeled mobile platform 1 , a four-degree-of-freedom robotic arm 2 and a passive compliant end effector 3 . The wheeled mobile platform 1 and the four-degree-of-freedom mechanical arm 2 are connected by screws, and a six-dimensional force sensor 1-5 is installed therebetween; the four-degree-of-freedom mechanical arm 2 and the passive compliant end effector 3 are connected by screws, and a six-dimensional force sensor 1-5 is installed therebetween. There are six-dimensional force sensors 3-2.

[0042] Such as figure 1 and figure 2 , the wheeled mobile platform 1 includes a driven wheel 1-1, a counterweight body 1-2, a mobile vehicle body 1-3, a six-dimensional force mounting flange 1-4, a six-dimensio...

specific Embodiment approach 2

[0046] Specific implementation mode two: combination figure 1 , Figure 4 , Figure 5 and Figure 6 A method for screwing a valve using the robot described above is given,

[0047] After the operator determines the position of the operation target valve 4, he drives the wheeled mobile platform 1 to move to the front of the valve, and then drives the four-degree-of-freedom mechanical arm 2 to adjust the operation posture of the screwing valve. However, errors may occur in the judgment of the valve position, which may cause a rigid collision between the end operation fingers 3-6 and the handwheel of the operation target valve 4, resulting in excessive collision force. The present invention uses the passive and compliant end effector 3 to solve this problem. When a rigid collision occurs, the passive and compliant end effector will adjust its own structure to avoid the rigid collision.

specific Embodiment approach 3

[0048] Specific implementation mode three: combination figure 1 , figure 2 and Figure 5 This embodiment will be described. During the process of the terminal working fingers 3-6 entering the valve handwheel, if there is a large deviation in the judgment of the valve position, a radial contact force will be generated between the terminal working fingers 3-6 and the valve handwheel, and as the fingers The continuous entry, the contact force is getting bigger and bigger. The present invention solves this problem by combining the six-dimensional force sensors 1-5 to drive the wheeled mobile work platform 1 to move through an impedance control algorithm. to combine figure 2 It can be seen that when a radial contact force occurs, the six-dimensional force sensor 1-5 will detect the force and moment because is caused by the contact force in the Y direction, therefore, it is only necessary to eliminate The radial contact force can be eliminated. The selected impedance ...

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Abstract

The invention provides a full-pose-and-position active-passive compliant robot and a valve screwing-twisting method utilizing the robot, and relates to a robot and a valve screwing-twisting method utilizing the robot. The full-pose-and-position active-passive compliant robot and the valve screwing-twisting method utilizing the robot aim to solve the problems that an industrial robot cannot conductlarge overall motion, and the operating range is narrow; rigid collision and radial contact force are generated between an end actuator and a valve handwheel; damage of operating devices is possiblycaused due to the fact that screwing-twisting resistance torques of different valves are different; and the valve handwheel can produce axial displacement while rotating, and axial contact force of the tail end is brought. The full-pose-and-position active-passive compliant robot comprises a wheel type moving platform, a four-degree-of-freedom manipulator and a compliant end actuator, the four-degree-of-freedom manipulator is mounted on the wheel type moving platform, and a six-axis force sensor is mounted between the four-degree-of-freedom manipulator and the wheel type moving platform; the compliant end actuator is mounted at the tail end of the four-degree-of-freedom manipulator, and a six-axis force sensor is mounted between the compliant end actuator and the four-degree-of-freedom manipulator; and through information of the two sensors, impedance control can be conducted on the wheel type moving platform and the four-degree-of-freedom manipulator. The full-pose-and-position active-passive compliant robot and the valve screwing-twisting method utilizing the robot are suitable for robot remote operation, robot compliant control and valve screwing-twisting operation.

Description

technical field [0001] The invention relates to a robot and a method for screwing a valve using the robot, in particular to a wheeled mobile robot based on a passive compliant mechanism and impedance control and a method for compliantly screwing a valve in all poses. Background technique [0002] With the development and progress of science and technology, industrial production has become more and more common. As an essential part of the industrial production site, valves have attracted more and more attention from the society. In some extreme working environments (nuclear power disaster relief, high temperature and high pressure, strong radiation, etc.), operators should not directly enter the work site. Using robots to perform screw valve operations can reduce the personal injury to the operator, which is more and more popular among people. s concern. [0003] The operator operates the robot to perform the operation of screwing the valve, which involves many technical pr...

Claims

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Application Information

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IPC IPC(8): B25J5/00B25J13/08B25J15/10
CPCB25J5/007B25J13/085B25J15/10
Inventor 丁亮邓宗全邢宏军高海波马常友于海涛
Owner HARBIN INST OF TECH
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