Method for intelligently assembling automotive generator end cap based on force sensor
A technology of automotive generators and force sensors, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficulty in completing complex assembly in changing environments, lack of perception and adaptive control capabilities, and low assembly efficiency
Inactive Publication Date: 2018-10-16
NINGBO DONGHAO DIE CASTING
View PDF4 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, the traditional assembly robot must go through point-by-point teaching to complete the "grab-place" action. The gripping point, placement point, and motion trajectory between the gripping and placing of the workpiece are all determined, and the height structure of the automated production line must be required. Traditional assembly robots have high requirements on the accuracy of the assembly environment and the machine itself, low assembly efficiency, lack of perception and adaptive control capabilities, and it is difficult to complete complex assembly in a changing environment, especially when the workpieces on the conveyor belt are moving and scattered. Yes, the poses of grabbing and placing points are generally not fixed, which limits the application of traditional robots in modern flexible production lines
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment
[0032] This embodiment provides a method for intelligently assembling an automobile generator end cover based on a force sensor, such as figure 1 As shown, this method includes:
[0033] S1: Receive the torque signal during the process of assembling the end cover of the automobile generator through the force sensor;
[0034] S2: Combined with receiving the torque signal in the process of assembling the automobile generator end cover, according to the preset torque deviation calculation formula, obtain the torque deviation in the process of assembling the automobile generator end cover;
[0035] S3: Judging whether the torque deviation obtained during the assembly of the automobile generator end cover is changed according to the preset torque deviation reduction direction;
[0036] S4: If yes, then control the position of the assembled automobile generator end cover according to the preset torque deviation reduction control method;
[0037] S5: If not, control the position of...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides a method for intelligently assembling an automotive generator end cap based on a force sensor. The method is used for solving the problem that the prior art always aims at multi-station flexible grasping and placement of the automotive generator end cap. The method comprises the steps: obtaining torque deviation in the assembly process of the automotive generator end cap; judging whether the torque deviation obtained in the assembly process of the automotive generator end cap changes according to the decreasing direction of the preset torque deviation; if yes, controlling the assembly position of the automotive generator end cap according to a preset torque deviation decreasing control method; if not, controlling the position of the automotive generator end cap according to a preset torque deviation increasing control method. The method adopts the force sensor to collect force sense deviation in the assembly process of the automotive generator end cap and the rate of change of the force sense deviation for stepped hierarchical intelligent control, and combines with the control process of force sense by human and a logical method to realize the purpose of flexibly grasping and placing the automotive generator end cap.
Description
technical field [0001] The invention relates to the technical field of robot control, in particular to a method for intelligently assembling an end cover of an automobile generator based on a force sensor. Background technique [0002] In the multi-station machining process of the end cover of the automobile generator, the grabbing and placing technology of the end cover of the automobile generator is a combination of mechanics, mechanics, electronics and intelligent control technology. Supporting technology for workpiece handling, assembly and palletizing. However, the traditional assembly robot must go through point-by-point teaching to complete the "grab-place" action. The gripping point, placement point, and motion trajectory between the gripping and placing of the workpiece are all determined, and the height structure of the automated production line must be required. Traditional assembly robots have high requirements on the accuracy of the assembly environment and the...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1669B25J9/1694
Inventor 陈光圆蔡文杰刘立君杨文浩杨乾恩张意斌贾志欣李继强李贤义杜瑞唐东城熊春辉
Owner NINGBO DONGHAO DIE CASTING