A flexible assembly system and method

Abstract

The invention discloses a flexible assembly system, comprising an industrial computer, a data acquisition card, a motion control card, a six-degree-of-freedom assembly platform, a first vision platform, a second vision platform and a support platform. The six-degree-of-freedom assembly platform includes four degrees of freedom. A motion platform and a two-degree-of-freedom adjusting device, the two-degree-of-freedom adjusting device includes a two-degree-of-freedom motion platform and a clamping mechanism, and the clamping mechanism includes an outer frame, a flexible wrist rotatably connected in the outer frame, and two flexible wrists mounted on the flexible wrist. A clamping piece, two driving members corresponding to the two clamping pieces, two first load cells arranged on the outer frame, and two second load cells arranged on the flexible wrist, a first vision platform A first image acquisition device is installed on the second visual platform, and a second image acquisition device is installed on the second visual platform. The invention also discloses a flexible assembly method. The invention quickly eliminates the chattering problem in the part assembly process, improves the part assembly efficiency, and improves the rapidity and stability of the assembly process.

Description

technical field [0001] The invention relates to the technical field of micro-assembly, in particular to a flexible assembly system and method. Background technique [0002] Micro-assembly technology plays an important role in the national defense industry and the development of the national economy, and plays an important role in promoting the miniaturization and intelligence of weapons and equipment, and improving the performance of civilian high-tech products. Therefore, the development of high-precision, high-efficiency, flexible and intelligent assembly robot technology to replace traditional manual and semi-automatic assembly technology has become the main development direction, and has been valued by major industrial countries. One of the key technical means of industrial demand. [0003] At present, the size of the micro gripper is large, it is difficult to integrate sensors to detect external forces; and it is easily affected by the gravity of the part itself, resul...

AI Technical Summary

Problems solved by technology

[0003] At present, the size of the micro gripper is large, it is difficult to integrate the sensor to detect the external force; and it is easily affected by the gravity of the part itself, resulting in low detection accuracy of the follow-up force

Secondly, for the vibration problem encountered in the flexible assembly process of parts, generally rely on the experience of the operator to actively interfere with the adjustment, or wait for the parts to stabilize independently, which will delay the assembly time and cannot meet the requirements of the parts assembly process. Requirements for intelligence and speed; in addition, operators also need to concentrate on the operation process for a long time, and it is difficult to provide continuous work output

Moreover, in the current research at home and abroad, the micro-assembly system usually adopts microscopic vision and visual servo technology, the system design is relatively complicated, and the precision requirements for the visual sensor (camera) are high. The identification and positioning technology of the corresponding operating environment and the automatic conversion and calibration technology of the operating space, as well as the use of system identification to obtain the transformation matrix (Jacobian matrix) parameters required for system calibration, etc., cannot achieve comprehensive utilization of multi-source information, such as visual navigation. Technology combined with force detection feedback

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