Robot shaft hole assembly system and method based on teaching learning

Abstract

The invention discloses a robot shaft hole assembly system and method based on teaching learning. The system comprises a mechanical arm, a six-dimensional force/torque sensor, a passive flexible RCC device and a PC upper computer, wherein the mechanical arm is a multi-axis mechanical arm, the six-dimensional force/torque sensor is arranged at the tail end of the mechanical arm, the passive flexible RCC device is arranged on the six-dimensional force/torque sensor, the passive flexible RCC device is provided with a clamping tool used for clamping a to-be-assembled component, and the PC upper computer can achieve real-time communication with the mechanical arm and six-dimensional force/torque sensor. Firstly, a manual teaching recorder completes the assembly of task data, an assembly skill model is trained by adopting a learning algorithm, then under a control command of the PC upper computer, the mechanical arm carries a pin component to perform shaft hole assembly, and a control systemestablished by the PC upper computer is based on an ROS platform. The robot shaft hole assembly system and method based on teaching learning have the advantages that a flexible behavior of a person when an assembly task is completed is imitated by combining teaching learning, so that the automatic flexible assembly operation of a robot is achieved, and the operation requirements can be met well.

Description

technical field [0001] The invention belongs to the field of intelligent manufacturing, and relates to a teaching robot, in particular to a robot shaft hole assembly system and method based on teaching learning. Background technique [0002] Manufacturing technology is the core of economic competition, and the degree of automation in manufacturing and processing is getting higher and higher. Industrial robots are widely used in manufacturing to improve production efficiency and product quality. At present, industrial robots are mainly used for unconstrained operations such as handling and painting, and the movement of the end tools of the robot is not restricted. For constrained tasks, such as assembly and other tasks that are in contact with the workpiece, there are certain tolerance and precision requirements in general precision assembly tasks, and the assembly gap is small, which is very easy to cause assembly jamming. Industrial robots based on position or speed contr...

AI Technical Summary

Problems solved by technology

For constrained tasks, such as assembly and other tasks that are in contact with the workpiece, there are certain tolerance and precision requirements in general precision assembly tasks, and the assembly gap is small, which is very easy to cause assembly jamming

Industrial robots based on position or speed control have high contact stiffness, and are prone to generate large contact forces during the contact process, causing damage to workpieces or tools, and basically unable to complete precision assembly tasks.

When traditional industrial robots complete

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