Robot automatic shaft and hole axis alignment method and system based on plane surface friction
A plane surface, axis alignment technology, applied in the direction of manipulators, claw arms, manufacturing tools, etc., can solve the problems of difficult application of man-machine cooperation shaft hole assembly scene, increase the shaft hole assembly steps, reduce the degree of automation, etc., to reduce teaching process, improve assembly efficiency, and improve the effect of automation
Active Publication Date: 2021-01-15
XI AN JIAOTONG UNIV
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Problems solved by technology
However, the axis coincidence of the shaft hole assembly through the teaching method reduces the degree of automation, increases the assembly steps of the shaft hole, the assembly efficiency is low, and it is difficult to apply to the human-machine collaborative shaft hole assembly scene
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[0055] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0056] As a specific embodiment of the present invention, in combination with figure 1 with figure 2 As shown, a robot automatic shaft hole axis alignment system based on plane surface friction, including: mechanical arm 1, force sensor 2, shaft hole assembly platform 3, clamping device 4 and host computer 7, force sensor 2 is installed on At the end of the mechanical arm 1, the c...
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The invention discloses a robot automatic shaft and hole axis alignment method and system based on plane surface friction. A to-be-assembled shaft part is demonstrated above a plane, and the plane isperpendicular to the axis of a to-be-assembled hole part placed on a shaft and hole assembly platform; the to-be-assembled shaft part is in contact with the plane; the to-be-assembled shaft part movesforwards and backwards on the plane, the contact force and the moment of force generated after the to-be-assembled shaft part is in contact with the plane are measured by utilizing a force sensor, and the inclination angle and the inclination direction of the to-be-assembled shaft part are calculated according to the contact force and the moment of force; and the axis of the to-be-assembled shaftpart is aligned with the axis of the to-be-assembled hole part according to the inclination angle and the inclination direction. The automation degree of shaft and hole assembling operation can be improved, and the assembling efficiency can be improved.
Description
technical field [0001] The invention relates to the field of robot automation, in particular to a method and a system for automatically aligning axes of shafts and holes of a robot based on plane surface friction. Background technique [0002] Shaft hole assembly is an important part of assembly operations. With the increasing degree of industrial automation, high-freedom industrial robots have been introduced into the field of automated shaft hole assembly. For high-precision shaft-hole assembly, high-precision shaft-hole assembly can only be achieved if high-precision shaft-hole axis alignment and shaft-hole position alignment are achieved. [0003] When traditional industrial robots complete constrained tasks such as shaft hole assembly, they generally use teaching or offline programming, which has problems such as long deployment time and low success rate of high-precision shaft hole assembly. However, in the automatic shaft hole assembly of a robot that introduces a si...
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IPC IPC(8): B25J11/00B25J13/08B25J18/00
CPCB25J11/00B25J13/085B25J18/00
Inventor 赵飞龚陈威孙铮陶涛梅雪松姜歌东
Owner XI AN JIAOTONG UNIV