Method and device for inserting shaft into hole of manipulator

Abstract

The purpose of the present invention is to provide a method and equipment for inserting a shaft into a hole of a mechanical arm. The present invention enables an industrial robot to automatically achieve high-precision shaft insertion by combining machine vision and force control for intelligent assembly of visual guidance technology. Hole task. In the present invention, through the pre-sampling of the target hole, the picture Or of the insertion hole of the insertion shaft collected by the wrist camera, etc. and the data Ft collected by the six-dimensional force sensor are input with a neural network to establish a prediction model for the relative attitude of the hole, and Prediction accuracy can be improved by multiple sampling, and successful insertion is finally achieved. Since there is no need to manually establish rules, it is universal and highly automated.

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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