Flexible assembly robot with autonomous navigation positioning function

Abstract

The invention relates to a flexible assembly robot with an autonomous navigation positioning function. The flexible assembly robot comprises a movable chassis, a control unit, a navigation device, a first binocular camera and a Stewart parallel robot which are arranged on the chassis, and the navigation device is composed of a laser radar, an inertial navigator and a second binocular camera; the second binocular camera is used for collecting environment point cloud data, the first binocular camera is used for collecting a three-dimensional model and pose information of a to-be-assembled workpiece, and the Stewart parallel robot is used for bearing the to-be-assembled workpiece and is provided with a first pressure sensor used for measuring the weight of the workpiece and a second pressuresensor used for measuring assembly environment force; and the control unit is used for controlling the chassis and the Stewart parallel robot to execute corresponding actions in combination with related data acquired by the navigation device, the first binocular camera, the first pressure sensor and the second pressure sensor. According to the flexible assembly robot, the operation space range ofthe assembly robot can be effectively widened, and assembly stress can be reduced or stress-free assembly can be achieved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a flexible assembly robot with an autonomous navigation and positioning function. Background technique [0002] Docking assembly is a key process in aerospace and marine equipment manufacturing. The production cycle and production cost of the assembly process play an important role in the entire product production cycle. The flexible assembly robot with autonomous positioning function is mainly used in the field of automated assembly. The main application is in the assembly process of large-sized and complex-shaped parts such as aviation aircraft, ships, and automobiles, as well as the assembly process with a large number of connectors. [0003] The existing institutions have the following shortcomings: [0004] 1) At present, most of the technologies used by most domestic assembly robots are aimed at specific assembly objects, with low flexibility and flexibility, and they are immovable ...

AI Technical Summary

Problems solved by technology

[0004] 1) At present, most of the technologies used by most assembly robots in China are aimed at specific assembly objects, with low flexibility and flexibility, and they are immovable and have a small working space;

[0005] 2) At present, most assembly robots in China cannot directly and effectively measure the influence of environmental forces on the stress of the workpiece assembly and docking process during the assembly process, and cannot eliminate the stress during the assembly process

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