Compliant assembly system and method integrating 3D vision and contact force analysis

An assembly method and three-dimensional vision technology, applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve problems such as wasting time, and achieve the effect of achieving flexibility and accuracy

Active Publication Date: 2021-04-20
LASER FUSION RES CENT CHINA ACAD OF ENG PHYSICS
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AI Technical Summary

Problems solved by technology

[0008] Most of the existing robot control is to fix the assembly point and the position of the robot, so as to measure and formulate the positional relationship in advance to achieve accurate in-position movement. However, once the workpiece to be assembled deviates, it needs to be readjusted, wasting a lot of time

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  • Compliant assembly system and method integrating 3D vision and contact force analysis
  • Compliant assembly system and method integrating 3D vision and contact force analysis
  • Compliant assembly system and method integrating 3D vision and contact force analysis

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Embodiment Construction

[0051] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0052] A compliant assembly system that integrates 3D vision and contact force analysis, such as figure 1 As shown, it includes an assembly robot 1 and an assembly robot control mechanism 6, the assembly end of the assembly robot 1 is provided with an attitude sensor 1a and a force sensor 1b, and a depth camera 1c is provided in the assembly scene, preferably at the assembly end of the assembly robot 1 superior;

[0053] The system also includes a prediction mechanism 2, a force analysis mechanism 3, a visual analysis mechanism 4, and a hand-eye relationship processing mechanism 5. The data input end group of the prediction mechanism 2 is connected to the output end of the posture sensor 1a and the output end of the force sensor 1b, so The data output end group of the prediction mechanism 2 is connected to the data input end group of the force...

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Abstract

The invention discloses a compliant assembly system and method that integrates three-dimensional vision and contact force analysis, establishes a compliant assembly platform that integrates three-dimensional vision, a six-dimensional force sensor, and a six-degree-of-freedom robot system. Convert it into the position information of the assembly point, and then calibrate the position through the hand-eye relationship processing mechanism, so that the control mechanism of the assembly robot can accurately formulate the action. During the action execution process, by establishing an accurate mathematical model, and then solving the parameters through the collected data , the data pairs collected under different conditions will be used to train the neural network model and establish its mapping relationship, to achieve accurate prediction of force and moment, and after the prediction, accurately analyze whether the assembly is accurate through the force of the large aspect ratio shaft during the assembly process There are deviations, thereby providing analytical support for precise control of assembly movements.

Description

technical field [0001] The invention relates to the technical field of assembly robot control, in particular to a compliant assembly system and method that integrates three-dimensional vision and contact force analysis. 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 problem of precise percept...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/08B25J19/02
Inventor 刘长春张尽力全旭松陈海平徐旭叶郎曹庭分易聪之蒋晓东
Owner LASER FUSION RES CENT CHINA ACAD OF ENG PHYSICS
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