Peg-in-hole method and device for mechanical arm

A technology of robotic arms and insertion holes, applied in the computer field, can solve the problems of loss of effect, lack of universality, and long debugging time.

Active Publication Date: 2018-12-21
SHANGHAI FLEXIV ROBOTICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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  • Peg-in-hole method and device for mechanical arm

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Embodiment Construction

[0066] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0067] In a typical configuration of the present application, the terminal, the device serving the network and the trusted party all include one or more processors (CPUs), input / output interfaces, network interfaces and memory.

[0068] Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and / or nonvolatile memory such as read only memory (ROM) or flash RAM. Memory is an example of computer readable media.

[0069] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static rando...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1669B25J9/1687B25J9/1697
Inventor 卢策吾丁俊峰王世全钟书耘
Owner SHANGHAI FLEXIV ROBOTICS TECH CO LTD
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