Planning method of heavy-load industrial robot auxiliary assembly safety space
An industrial robot and safety space technology, applied in the planning field of heavy-duty industrial robot-assisted assembly safety space, can solve the problems of planning, difficult safety space, poor flexibility and versatility, etc., and achieve the effect of strong real-time performance and rapid judgment
Pending Publication Date: 2022-05-06
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
However, the method of setting the safe space through the teaching pendant in this patent is difficult to meet the safety space requirements in a complex working environment, the flexibility and versatility are poor, and the visibility for the operator is poor, and only the teaching method is considered. Complete motion trajectory planning, it is difficult to meet the current complex tasks with high requirements for automation and flexibility
[0005] To sum up, in the planning of the safety space of the existing heavy-duty industrial machine-assisted assembly, the safety of the robot clamping the large and heavy workpieces during the manual dragging movement is still less considered, and it is difficult to plan the safety space flexibly. Meet the needs of different tasks
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[0043] The present invention is described in further detail now in conjunction with accompanying drawing.
[0044] The invention proposes a planning method and an interference judging method for a heavy-duty industrial robot auxiliary assembly safety space, which are used to ensure the safety of clamping a large load workpiece in the heavy-duty industrial robot auxiliary assembly to complete the assembly work. The method of the present invention will be described in detail below through specific embodiments. This embodiment is implemented based on the following hardware: heavy-duty industrial robot, assembly workpiece, assembly, and six-dimensional force sensor. Among them, the robot clamps the assembly workpiece through the quick-change fixture, and the robot is located within its own working range during the entire assembly task.
[0045] See figure 1 ,Specific steps are as follows:
[0046] Step S1, establishing a virtual safe space environment and its base coordinate sys...
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The invention discloses a planning method for a heavy-load industrial robot auxiliary assembly safety space, and the method comprises the steps: building models for a heavy-load industrial robot, an assembly workpiece and a working environment, and building a virtual safety space environment; the interference between dynamic transformation parts such as a heavy-load industrial robot and an assembly workpiece in a work task and a work environment is considered, and meanwhile, the interference between the dynamic transformation parts such as the heavy-load industrial robot and the assembly workpiece is also added; the concept of a safety space envelope surface is provided for the safety space planning problem of a heavy-load workpiece, a redundant safety space envelope surface and a safety space buffer strip are sequentially established on the basis, and the movement of the robot is adjusted through flexible application of the safety space buffer strip. The method has universality for automatic programming and man-machine cooperation tasks in the safe space, and the virtual safe space environment can be planned according to actual tasks.
Description
technical field [0001] The invention belongs to the field of human-machine collaborative assembly of robots, and in particular relates to a planning method for a safe space for auxiliary assembly of heavy-duty industrial robots. Background technique [0002] The robot itself has the characteristics of dexterity and efficiency, high flexibility, strong versatility, low cost and easy integration. With the continuous optimization and upgrading of industrial robot hardware, its absolute positioning accuracy, load capacity and structural rigidity have been greatly improved, which can meet the precision assembly of large and heavy workpieces. Compared with small workpieces, industrial robots have extremely high safety risks in the automatic programming of large and heavy workpieces and the application of human-machine collaborative assembly. On the one hand, the characteristics of large load workpieces, large volume, heavy weight, and large motion inertia will bring some troubles...
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Login to View More IPC IPC(8): B25J9/16
CPCB25J9/1664Y02P90/02
Inventor 田威刘明轩段晋军李鹏程王品章沈烨
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS