Method and system for automatic shaft hole axis alignment of robot based on plane surface friction

A plane surface, axis alignment technology, applied in the direction of manipulators, manufacturing tools, claw arms, 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, ensure compliance, and improve the effect of automation

Active Publication Date: 2022-02-01
XI AN JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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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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  • Method and system for automatic shaft hole axis alignment of robot based on plane surface friction
  • Method and system for automatic shaft hole axis alignment of robot based on plane surface friction
  • Method and system for automatic shaft hole axis alignment of robot based on plane surface friction

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Embodiment Construction

[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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Abstract

The invention discloses a robot automatic shaft hole axis alignment method and system based on plane surface friction. The shaft to be assembled is taught above the plane, and the plane is perpendicular to the axis of the hole to be assembled placed on the shaft hole assembly platform; The shaft to be assembled is in contact with the plane; the shaft to be assembled is moved back and forth on the plane, and a force sensor is used to measure the contact force and moment of the shaft to be assembled in contact with the plane According to the size of the contact force and moment, the inclination angle and direction of the shaft to be assembled are calculated; according to the angle of inclination and the direction of inclination, the axis of the shaft to be assembled is aligned with the axis of the hole to be assembled Axis aligned. The invention can improve the automation degree of the shaft hole assembly operation and improve the assembly efficiency.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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
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