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A large-length-diameter-ratio shaft hole assembling system and method based on contact force and torque prediction and analysis

A large length-to-diameter ratio, assembly system technology, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve problems such as inability to complete assembly, assembly obstruction, and increase the difficulty of assembly control, so as to remove interference data and control Effect of Accuracy Improvement

Active Publication Date: 2019-05-10
LASER FUSION RES CENT CHINA ACAD OF ENG PHYSICS
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Problems solved by technology

[0004] The force analysis of the assembly process is the premise of precise control. If the analysis is wrong, the feedback of the control will not be effective. When the assembly angle deviates, the assembly will be hindered. At this time, the force analysis cannot feedback the deviation in time, and it will Increase the difficulty of assembly control, even impossible to complete the assembly

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  • A large-length-diameter-ratio shaft hole assembling system and method based on contact force and torque prediction and analysis
  • A large-length-diameter-ratio shaft hole assembling system and method based on contact force and torque prediction and analysis
  • A large-length-diameter-ratio shaft hole assembling system and method based on contact force and torque prediction and analysis

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Embodiment Construction

[0088] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0089] A large aspect ratio shaft hole assembly system based on contact force and moment prediction and analysis, such as figure 1 As shown, an assembly robot 1 is included, and the assembly end of the assembly robot is provided with an attitude sensor 1a and a force sensor 1b, and the attitude sensor 1a is used to detect the three-axis pose parameter I of the assembly end 1 , the force sensor 1b is used to detect the triaxial contact force data I of the assembly end 2 , Triaxial moment data I 3 ;

[0090] It also includes a prediction mechanism 2 and a force analysis mechanism 3, and the prediction mechanism 2 passes the three-axis pose parameter I 1 , Triaxial contact force data I 2 , Triaxial moment data I 3 Predicting Actual Contact Force / Moment Data I for Assembly Processes 5 , the force analysis mechanism 3 according to the three-ax...

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Abstract

The invention discloses a large-length-diameter-ratio shaft hole assembling system and method based on contact force and torque prediction and analysis. Firstly, a prediction mechanism predicts actualcontact force / torque data I5 in the assembling process through a triaxial pose parameter I1, triaxial contact force data I2 and triaxial torque data I3; and the stress analysis mechanism analyzes thestress conditions of the large-length-diameter-ratio inserting shaft and the assembling hole in the assembling process according to the triaxial pose parameter I1 and the actual contact force / torquedata I5 to obtain an adjusting and analyzing result of the assembling pose. Beneficial effects are as follows: the feed additive is Accurate mathematical model establishment, the parameters are solvedthrough the collected data; data pairs under different conditions are collected to train a neural network model and establish a mapping relationship with the neural network model, accurate predictionof force and torque is realized, and after prediction, whether deviation exists in assembly is accurately analyzed according to the stress condition of a shaft with a large length-diameter ratio in the assembly process, so that analysis support is provided for accurate control of assembly actions.

Description

technical field [0001] The invention relates to the technical field of assembly robot control, in particular to an assembly system and method for a shaft hole with a large aspect ratio based on prediction and analysis of contact force and moment. Background technique [0002] For the consideration of fully automatic assembly, whether the control of the robot during the assembly process is accurate or not directly affects the assembly result, and the accuracy of the parameters of the force and moment of the robot is a necessary condition for precise control. Due to disturbances such as load gravity and installation errors during assembly, the robot It is difficult to accurately calculate the actual force and moment required for control, so it is necessary to predict the contact force and moment. The prediction results can be used as an important reference for actual control. The higher the prediction accuracy, the better the assembly effect of the actual control. [0003] The...

Claims

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Application Information

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IPC IPC(8): G06F17/50B23P19/04B25J19/02
Inventor 刘长春张尽力全旭松陈海平徐旭叶郎曹庭分易聪之
Owner LASER FUSION RES CENT CHINA ACAD OF ENG PHYSICS
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