A human-machine collaborative assembly method and system with multi-mode switching function

A technology of human-machine collaboration and switching functions, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of difficult to meet complex assembly tasks, single mode, etc., achieve good force compliance, expand the scope of application, and prevent false switching. Effect

Active Publication Date: 2022-04-26
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a human-machine collaborative assembly method and system with multi-mode switching function, thereby solving the problem that the existing human-computer collaborative technology has a single mode and is difficult to meet complex assembly tasks question

Method used

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  • A human-machine collaborative assembly method and system with multi-mode switching function
  • A human-machine collaborative assembly method and system with multi-mode switching function
  • A human-machine collaborative assembly method and system with multi-mode switching function

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Effect test

Embodiment 1

[0078] For precision bore shaft assembly, the assembly process has a definite assembly completion position, so the compliance mode is used for assembly. The fixed workpiece is clamped by the table fixing fixture. It has good repetitive clamping accuracy, can obtain assembly position information through one-time teaching, and can automatically assemble in trajectory mode in repeated assembly tasks. The moving workpiece and the end of the robot are equipped with quick-change fixtures, which can be snapped and released quickly through the quick-change fixtures, so the confrontation mode is used for fastening assembly. The position of the moving workpiece is uncertain, so it is dragged by the operator in the drag mode to the vicinity of the mating position.

[0079] Such as image 3 As shown, 1 is the robot body, 2 is the operator, 3 is the fixed workpiece, 4 is the moving workpiece, 5 is the quick-change fixture, 6 is the fixed workbench and the fixed fixture. Such as Figure...

Embodiment 2

[0088] Bolt group fastening assembly. In the assembly task of fastening the connection of workpieces with a set of bolts. If one bolt is tightened first, the connected part is compressed and elastically deformed, and when the adjacent bolt is tightened, the pre-tightening force of the initially tightened bolt is reduced due to the elastic deformation of the connected part. Therefore, when the bolt group is tightened, it is usually divided into initial tightening, re-tightening and final tightening, and it needs to be carried out in a certain order.

[0089] In the compliance mode, the end of the robot is switched to a low-torque automatic screwing tool, and the robot automatically complies with the error to align the bolts with the threaded holes for initial screwing of the bolts. The bolts after the initial tightening cannot meet the pre-tightening force requirements, and retightening and final tightening operations need to be performed in the confrontation mode. The end of...

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Abstract

The invention discloses a human-machine cooperative assembly method and system with multi-mode switching function, which belongs to the field of human-machine cooperative assembly, and divides the human-computer cooperative assembly mode through the combination of force feedback, position feedback and speed feedback according to different feedback forms It is a plurality of modes; the plurality of modes include the drag mode of zero position feedback, the track mode of zero force feedback, the compliance mode of position negative feedback and the confrontation mode of position positive feedback; by dragging mode, track mode, compliance Switch between mode and confrontation mode to complete the assembly task. The invention proposes to divide the man-machine cooperative assembly mode into four modes: drag mode, trajectory mode, compliance mode and confrontation mode. Each mode has its own applicable assembly scenario, decomposing complex assembly tasks into assembly steps solved with a single control mode. Through the arrangement and combination of various modes, it can meet the needs of complex and multi-process assembly, greatly expanding the scope of application of human-machine collaborative assembly.

Description

technical field [0001] The invention belongs to the field of human-machine cooperative assembly, and more particularly relates to a human-machine cooperative assembly method and system with multi-mode switching function. Background technique [0002] Human-machine collaboration technology makes the robot not limited to performing tasks according to the predetermined trajectory, but can adjust the state of the robot in real time according to human intentions. At the same time, it has the advantages of high execution ability of robots and high decision-making ability of humans, and is very suitable for complex assembly environments. Impedance control can enable the dynamic force interaction between the robot and the external environment, which can not only realize the human-machine cooperation, but also realize the force interaction between the robot and the workpiece, and comply with the alignment error in the assembly, which is very suitable for the field of human-machine col...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/08B25J9/16B25J13/08
CPCB25J9/0081B25J9/08B25J9/1679B25J9/1664B25J13/087
Inventor 赵兴炜陶波陈沂洺丁汉
Owner HUAZHONG UNIV OF SCI & TECH
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