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Movable double-arm flexible assembly robot

A flexible assembly and robotic technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of steering wheel and driving wheel slippage and slippage, etc., to improve adaptability, smooth grasping, high-reliability recognition and The effect of 3D positioning

Pending Publication Date: 2021-10-22
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The invention provides a mobile dual-arm flexible assembly robot, which is used to solve the problem of severe slipping and slippage caused by the coupling of the steering wheel and the driving wheel in the traditional control process, and is used to improve the assembly efficiency of the grabbing device. The adaptability of the shape and size of the workpiece is used to realize high-precision, high-reliability identification and three-dimensional positioning of the assembled workpiece

Method used

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  • Movable double-arm flexible assembly robot
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  • Movable double-arm flexible assembly robot

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Embodiment Construction

[0035] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. 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.

[0036] like figure 1 As shown, a mobile dual-arm flexible assembly robot includes a power management module, a sensor module, a drive module, a control module and a processing module;

[0037] The control module includes a movement controller and an operation controller, the movement controller is used to control the robot to move, and the operation controller is used to control the robot to achieve compliant grasping;

[0038] The drive module includes an active universal caster and a grabbing device; the active univ...

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Abstract

The invention discloses a movable double-arm flexible assembly robot, belongs to the field of intelligent assembly, relates to a robot control technology, and aims to solve the problems of serious sliding rotation and slippage caused by coupling in the movement process of a steering wheel and a driving wheel in a traditional control process. According to the invention, a grabbing device is controlled by an operation controller; and the grabbing device comprises a plurality of flexible joints, the operation controller controls the rotation direction of the flexible joints, the rigidity of the grabbing device in the opening and closing direction is changed, then rigidity is changed into flexibility, flexible grabbing is realized, and the adaptability of the grabbing device to the shape and size of an assembled workpiece is improved. A sensing module is combined with a control module and a processing module to realize high-precision and high-reliability identification and three-dimensional positioning for the assembled workpiece.

Description

technical field [0001] The invention belongs to the field of intelligent assembly and relates to robot control technology, in particular to a mobile dual-arm flexible assembly robot. Background technique [0002] As we all know, the development of robots is divided into industrial robots and service robots. With the gradual expansion of the application market, the product technology is becoming more and more mature. Industrial robots are subdivided into several categories such as industrial robotic arms, AGV / mobile robots, mobile industrial operation robots, and mobile collaborative robots. [0003] The fixed robotic arm or the "mobile collaboration" of different system algorithms and fixed robotic arm + AGV is somewhat unsatisfactory for the title called "mobile collaborative robot". The existing fixed double-arm and mobile single-arm robots do not really "move" and "use". Contents of the invention [0004] The invention provides a mobile dual-arm flexible assembly rob...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0087B25J9/1682B25J9/1687
Inventor 赵韩陈晓飞甄圣超孙浩黄康
Owner HEFEI UNIV OF TECH