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Method and device of robot automatic assembly based on multisensor fusion

A multi-sensor fusion and assembly device technology, which is applied in metal processing, metal processing equipment, manufacturing tools, etc., can solve problems such as incomplete detection information, inaccurate contact force between objects to be assembled, system detection, and inaccurate positioning accuracy , to achieve the effect of improving completeness, precise detection, and expanding the positioning range

Active Publication Date: 2019-10-18
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Claims
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Problems solved by technology

[0004] The problem to be solved by the present invention is that the system detection and positioning accuracy in the automatic assembly of robots in the prior art is inaccurate, the detection information is incomplete, and the actual contact force between the objects to be assembled is inaccurate

Method used

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  • Method and device of robot automatic assembly based on multisensor fusion
  • Method and device of robot automatic assembly based on multisensor fusion
  • Method and device of robot automatic assembly based on multisensor fusion

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Embodiment Construction

[0074] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention, and are not intended to limit the protection scope of the present invention.

[0075] A robotic automatic assembly device based on multi-sensor fusion, including a host computer system, an industrial robot, a clamping system and a multi-sensor system, wherein,

[0076] The upper computer system is based on the three-dimensional pose information of the object to be assembled collected by the multi-sensor system, the distance information data between the objects to be assembled and between the object to be assembled and different sensors, and the distance information between the objects to be assembled The three-dimensional position and posture are analyzed online, and relevant measures are formulated. The relevant measures ...

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Abstract

The embodiment of the invention relates to the technical field of automatic assembly, and discloses a method and device of robot automatic assembly based on multisensor fusion. The invention solves the problemsthatthe positioning range of a system is small, the positioning precision is not accurate and the detection information is incompletein the prior art, according to the technical scheme, thesystem comprises an upper computer system, an industrial robot, a clamping system, a multisensor system and to-be-assembled bodies, wherein the upper computer system is used for acquiring measurementdata of the multisensor system and performing calculation, planning the movement of the robot according to acalculation result and feeding back the movement of the robot to the industrial robot; the industrial robot is used for conveying the to-be-assembled bodies,the clamping system is used for clamping the to-be-assembled bodies,and the multisensor system is used for obtaining the pose relationship and contact force information among the assembly bodies. According to the method and the device, the assembly process is planned according to theaccurate detection of the multisensor fusedmulti-parameter data of the to-be-assembled bodies, so that high-precision automatic assembly of acomplex large body is realized, the system positioning range is expanded, and the positioning precision is improved.

Description

technical field [0001] The invention relates to the technical field of automatic assembly, in particular to a method and device for automatic assembly of a robot based on multi-sensor fusion. Background technique [0002] The robot automatic assembly system is widely used in automobile manufacturing, home appliance production, logistics and warehousing and other fields due to its advantages of high transfer accuracy, long working cycle, good stability, and adaptability to extreme environments. With the continuous increase of labor costs, the labor-intensive industries represented by the manufacturing industry have higher and higher demands for automated assembly systems. Compared with the dedicated automated assembly systems represented by combined machine tools, the robot automatic assembly system is adaptable Strong, short installation cycle and other advantages, has gradually become the mainstream automated assembly system, in recent years, more and more robotic assembly ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23P19/00
CPCB23P19/00B23P19/001
Inventor 王鹏许广云钟君郝高明
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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