Robot force perception assembly method and system for spatial electrical connector in any attitude

Through the force control and inverted cone diffusion motion of the six-axis robot, the contact status of the plug and socket can be identified, and the arbitrary posture assembly of spatial electrical connectors can be achieved in the absence of visual assistance, which improves the assembly efficiency and stability and adapts to complex environments.

CN118721193BActive Publication Date: 2025-10-17HUAZHONG UNIV OF SCI & TECH
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Patent Information

Application Number
CN202410849407.5
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-06-27
Publication Date
2025-10-17
Estimated Expiration
2044-06-27

AI Technical Summary

Technical Problem

In the absence of visual assistance, existing technologies make it difficult to achieve precise assembly of spatial electrical connectors in arbitrary postures, especially under the influence of complex contact features and light sources caused by rotation, making it impossible to effectively complete the assembly task of electrical connectors.

Method used

A six-axis robot force control combined with inverted cone diffusion motion and contact torque mutation is used to identify the angular range of the plug and socket. The contact status of the plug and socket is identified by judging the torque change, and the robot is guided to search and assemble the plug and socket in the absence of visual assistance, including the conversion from single-point contact to double-point contact and Z-axis alignment.

Benefits of technology

The operational efficiency of space electrical connector robot assembly tasks is improved under extreme conditions, ensuring stable assembly of electrical connectors in complex environments, avoiding damage, and adapting to electrical connectors of different sizes.

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Abstract

The application belongs to the technical field of automatic control, and particularly discloses a robot force perception assembly method for a space electrical connector under an arbitrary posture, which comprises the following steps: after single-point contact of a plug and a socket, a reverse conical diffusion motion is adopted to identify a deflection angle range of the plug and the socket in combination with a contact torque mutation condition; if the deflection angle range is small deflection angle contact, then corresponding plug and socket posture information is recorded according to a contact torque mutation direction, that is, the corresponding plug and socket are in a double-point contact state; if the deflection angle range is large deflection angle contact, then single-point contact is judged to be bottom surface contact or side surface contact according to a spiral motion track tracking error; in the double-point contact state, expected contact force along the tail end is set to guide the plug to move along the surface of the socket, so as to realize Z-axis alignment of the plug and the socket; and expected contact torque along the Z-axis of the plug is set to drive protection grooves of the plug and the socket to be aligned. The application guarantees that the space assembly task can still be completed under extreme conditions, and improves assembly efficiency.
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