Peg-in-hole method and device for mechanical arm

Abstract

The object of the present invention is to provide a peg-in-hole method and a device for a mechanical arm. The invention enables industrial robots to automatically achieve high-precision peg-in-hole tasks by a visual guiding technical method for intelligent assembly by combining machine vision and force control. The invention collects the image Or of the insertion hole of the insertion shaft collected by the wrist camera or the like and data Ft collected by six axis force sensor and inputs into a prediction model for the relative posture of the hole established by the neural network by pre-sampling the target hole. The prediction accuracy can be improved by multiple samplings, finally the successful insertion is achieved, and it is universal and highly automated because there is no need toartificially establish rules.

Description

technical field [0001] The invention relates to the field of computers, in particular to a method and equipment for inserting a shaft into a hole of a mechanical arm. Background technique [0002] In the part assembly production task, the task of inserting the shaft into the hole is one of the common task types. Industrial robots are required to automatically and accurately position while satisfying the correct assembly correspondence. More importantly, there is a need to avoid collisions between the two workpieces which could lead to defects. The problem of inserting the shaft into the hole requires the manipulator to estimate the relative position of the shaft in the hand and the hole to be inserted very accurately, and also requires the manipulator to have the ability to control the force to prevent the workpiece from being damaged due to violent collision. [0003] The existing method of inserting the shaft into the hole of the mechanical arm can only set the correspon...

AI Technical Summary

Problems solved by technology

[0003] The existing method of inserting the shaft into the hole of the mechanical arm can only set the corresponding rules for specific shaft hole components, and the debugging time is long. Although the accuracy can be guaranteed, every time a new original with a different size and shape is encountered It loses its effect and needs to re-design rules and parameters artificially, which is not universal and requires a lot of manpower

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