A system and method for human-robot collaboration for solid rivet riveting

Abstract

This invention provides a system and method for solid rivet riveting using human-machine collaboration. The system includes a robot system (1); the robot system (1) includes a robot body (5) and an elastic anvil end; the elastic anvil end includes a pressure sensor (6), a fixed connecting seat (7), an elastic anvil (8), a ranging unit (9), a normal orientation adjustment unit (10), a human-machine interaction system, and an anvil target plate (13); the collaborative robot system is composed of commonly used modules such as a conventional load collaborative robot (or a low load robot), a pressure transmitter, a camera unit, and a displacement sensor, which effectively reduces the system development cost. The use of an anvil with an elastic structure realizes the functional requirements of buffering the riveting impact force and quickly resetting the anvil.

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