一种基于手-眼-力一体的接触网腕臂机器人装配方法
By employing a hand-eye-force integrated contact network carousel robot assembly method, and utilizing adaptive multi-exposure fusion technology and impedance control mode, efficient and precise carousel assembly is achieved. This overcomes the shortcomings of traditional visual recognition and manual operation, and improves the assembly success rate and system robustness.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA RAILWAY TENTH BUREAU GRP ELECTRIC ENG CO LTD
- Filing Date
- 2025-11-27
- Publication Date
- 2026-07-17
AI Technical Summary
The assembly of the wrist arm relies on manual operation, which is inefficient, labor-intensive, and difficult to guarantee consistent quality. Furthermore, traditional visual recognition algorithms have difficulty extracting features in strong reflective environments, resulting in large fluctuations in positioning accuracy. The robot also lacks compliance and adaptability during the assembly process.
A hand-eye-force integrated contact network wrist robot assembly method is adopted. Through system calibration and parameter initialization, visual coarse positioning is performed by combining adaptive multi-exposure fusion technology and deep learning framework, fine positioning is performed by combining depth information from 3D camera, and compliant grasping and assembly are achieved through impedance control mode and finite state machine.
It achieves efficient and precise wrist arm assembly, improves the assembly success rate and the engineering practicality of the system, solves the problems of reflection interference and uncertainty in visual recognition and assembly process, and the robot has the ability of "sharp eyes" and "skillful hands", increasing the assembly success rate from 62% to over 90%.
Smart Images
Figure CN121607896B_ABST