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Method and device for inserting shaft into hole of manipulator

A technology of manipulators and insertion holes, applied in the computer field, can solve problems such as long debugging time, loss of effect, and lack of universality, and achieve a high degree of automation, high universality, and various non-contact measurement and processing methods Effect

Active Publication Date: 2021-08-27
SHANGHAI FLEXIV ROBOTICS TECH CO LTD
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  • Abstract
  • Description
  • Claims
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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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  • Method and device for inserting shaft into hole of manipulator

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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 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...

Claims

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Application Information

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Patent Type & Authority Patents(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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