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A method for screwing valves of an active and passive compliant robot in all poses

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

Active Publication Date: 2021-06-15
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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  • A method for screwing valves of an active and passive compliant robot in all poses
  • A method for screwing valves of an active and passive compliant robot in all poses
  • A method for screwing valves of an active and passive compliant robot in all poses

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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 six-dimensional force sensors 1-5 of the mobile platform are installed between them; the four-degree-of-freedom mechanical arm 2 and the passive compliant end effector 3 are connected by screws, and An actuator six-dimensional force sensor 3-2 is installed therebetween.

[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-dimensional force se...

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 combines the six-dimensional force sensors 1-5 of the mobile platform to drive the wheeled mobile platform 1 to move through an impedance control algorithm to solve this problem. to combine figure 2 It can be seen that when there is a radial contact force, the six-dimensional force sensor 1-5 of the mobile platform 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 ca...

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Abstract

The invention discloses a valve screwing method of an active and passive compliant robot in all poses, relating to a robot and a valve screwing method using the robot. It is designed to solve the problem that industrial robots cannot move in a large range, and the working range is narrow; rigid collision and radial contact force are generated between the end effector and the valve handwheel; due to the different screwing resistance torque of different valves, it may cause damage to the working device; the valve When the handwheel rotates, it will produce axial displacement, which will cause problems such as axial contact force at the end. It includes a wheeled mobile platform, a four-degree-of-freedom manipulator and a compliant end effector. The four-degree-of-freedom manipulator is installed on the wheeled mobile platform, with a six-dimensional force sensor installed between them, and the compliant end-effector is installed on a four-degree-of-freedom At the end of the mechanical arm, a six-dimensional force sensor is installed between the two. Through the information of the two sensors, the impedance control of the wheeled mobile platform and the four-degree-of-freedom mechanical arm can be performed respectively. It is suitable for robot remote operation, robot compliance control and screw valve 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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Patent Type & Authority Patents(China)
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