Dynamic shaft hole assembling device and method based on multi-camera visual servo

Abstract

The invention discloses a dynamic shaft hole assembling device and method based on multi-camera visual servo, and belongs to the field of mechatronics. The dynamic shaft hole assembling device comprises a mechanical part and a control part, wherein the mechanical part comprises an operation platform, an assembly robot, a tool flange, a driving shaft support, a driving shaft, a camera holder, a linear guide rail, an assembling hole, an assembling platform and a tripod; the assembly robot and the linear guide rail are fixed to the operation platform; the linear guide rail can drive the assembling platform to do linear motion, and the assembling platform can drive a to-be-assembled hole to do linear motion; and the control part comprises a main control computer, a robot controller and depth cameras. According to the dynamic shaft hole assembling device, the position deviation of the moving assembling hole and the driving shaft can be automatically recognized, and the position deviation isautomatically adjusted by means of a visual servo controller, so that dynamic shaft hole assembling of the moving assembling hole is achieved, and more efficient automatic assembling can be achieved.

Description

technical field [0001] The invention belongs to the field of mechatronics, and in particular relates to a device and method for dynamic shaft hole assembly based on multi-camera visual servoing. Background technique [0002] In industrial production, efficient automated assembly is particularly important, and it is also a problem that needs to be improved urgently. In the manufacturing industry, a large number of robot assembly tasks can be attributed to the problem of robot shaft hole assembly. For example, in the 3D product assembly process, some components need to be put into the set slots, etc. Assembly efficiency can directly affect the efficiency of the entire industrial production, thereby reducing assembly costs. [0003] An earlier researcher, Newman, in his article [W.S.Newman, Y.Zhao, and Y.Pao, "Interpretation of force and moment signals for compliant peg-in-hole assembly"], used the force sensor to scan and search to locate the assembly The position of the ho...

AI Technical Summary

Problems solved by technology

However, shaft-hole assembly operations for moving assembly holes pose new challenges to various parts of the overall system - including dynamic positional uncertainty of moving assembly holes

[0006] At present, in some dynamic assembly processes, because it is difficult to realize the positioning and tracking of continuous assembly holes, it is only possible to perform shaft hole assembly tasks on static assembly holes by stopping the movement of the assembly holes.

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