CN101972929A - Method for comprehensively compensating assembling force and stiffness - Google Patents
Method for comprehensively compensating assembling force and stiffness Download PDFInfo
- Publication number
- CN101972929A CN101972929A CN 201010501425 CN201010501425A CN101972929A CN 101972929 A CN101972929 A CN 101972929A CN 201010501425 CN201010501425 CN 201010501425 CN 201010501425 A CN201010501425 A CN 201010501425A CN 101972929 A CN101972929 A CN 101972929A
- Authority
- CN
- China
- Prior art keywords
- assembling
- guide rail
- force
- motion guide
- assembly force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method for comprehensively compensating assembling force/stiffness, which is used for precisely assembling a plurality of parts and compensating a position error caused by different assembling force applied to different parts. During assembling work, when an assembled part moves to a preset assembling position along an assembling direction, the actual position of the part is deviated from a preset position due to the assembling force. The method comprises the following steps of: controlling the assembled part to move in a direction opposite to the assembling direction; when actually measured force reaches 0.02 assembling force, stopping moving; calculating system stiffness according to a displacement of a guide rail counter motion and a change value of the assembling force in the moving process; controlling a moving guide rail to move along the assembling direction; measuring the assembling force in the assembling work; and calculating and compensating the position error caused by the assembling force according to the updated system stiffness to ensure that the assembled part reach the actual target position. The invention provides a position compensating method which is easily implemented in actual assembling work, and the method has high capacity of resisting discreteness of the assembling force and can ensure adequate positioning precision.
Description
Technical field
The present invention relates to a kind of assembly force/rigidity comprehensive compensation method, belong to accurate mounting technology field, be used for the precision assembling of part.
Background technology
In the precision assembling, a plurality of being assembled needs to guarantee certain positional precision between part.In the practical set, especially in the interference fit process, assembly force can cause part clamping device and driving mechanism stress deformation, make the part physical location depart from desirable predeterminated position, bring site error thus, influence assembly precision, and different parts are because its manufacturing tolerance, therefore assembly force difference during assembling is difficult to the effect of assembly force is compensated, and improves assembly precision.
Usually, in accurate assembling work, the end effector of assembly system drives and to be assembled element and to move to predeterminated position, when having big assembly force when assembling work, only often is difficult to realize accurate localization to Assembly part by single Position Control.Can adopt intelligent power/Position Hybrid Control, motion platform alliance controller adopts expert PID control; Force controller adopts adaptive fuzzy and the control method that sliding formwork control combines, and can obtain position control accuracy preferably.[Wei Lixin, Tian Xuejing, Wang Hongrui, Zhao Jingbo, small and special electric machine, 2009 (8), 53-55].Also have and adopt adaptive controller On-line Estimation systematic parameter, introduce dead band control in the parameter adaptive rule, when end effector of robot movement locus error enters pre-determined dead zone error band, self adaptation will fail.Though the introducing in dead band has increased parameter estimating error, reduced the control performance of adaptive controller, but Sliding mode variable structure control can be eliminated the influence of the evaluated error and the extraneous uncertain factor of systematic parameter, makes end effector along the environmental constraints apparent motion, can guarantee the tracking performance of adaptive control system to motion and power track like this, the system that can guarantee again has stronger robust performance [Gao Daoxiang, Xue Dingyu, Chen Dali, system emulation journal, 2007 (19), 348-350].Adopt the adaptive wavelet sliding mode control algorithm, the robustness and the self adaptation adjustment capability of sliding formwork control are combined with wavelet neural network, obtain depression of order position model according to coordinate transform, at the non-linear partial in the unknown kinetic model of reduced-order model employing wavelet neural network on-line study system, introduce sliding formwork control simultaneously and adjust the wavelet network weighting parameter automatically, intrinsic approximate error to neutral net effectively compensates, reach the position and the force tracking performance [Zhou Fang of expectation, Zhu Qidan, ginger steps, Wang Tong, Central China University of Science and Technology's journal (natural science edition), 2009 (37), 9-11].
In sum, the most control algolithm complexity of existing power/position control method is loaded down with trivial details, and practicality is not strong, is difficult in the practical set work production use.And existing power/positional control algorithm at the operation control of robot arm, is realized position and power are followed the tracks of control simultaneously mostly, is not suitable for and adopts in the direct assembling work system that drives of motion guide rail.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of assembly force/rigidity comprehensive compensation method, is used for the assembling of a plurality of parts, and the site error that the different assembly forces of different parts are caused compensates.
Technical scheme of the present invention is as follows:
At first the motion guide rail drive is assembled part and moves to predetermined rigging position along assembly direction, and the assembly force that the power sensor detects this moment is F
1, be contained in the positional information X that displacement transducer on the motion guide rail writes down current motion guide rail
0, assembly force F
1Can make part clamping device and driving mechanism stress deformation and produce deflection, make part physical location out of position; Motion guide rail driving afterwards is assembled part and moves with 1/4 forward assembling speed in the other direction along assembling, and the power sensor detects the assembly force size in real time in this motion process, equals 0.02F when detecting assembly force
1The time, stop motion guide rail, displacement transducer write down the positional information X of current motion guide rail
1, calculate because the position deviation value Δ X that assembly force produces
1=X
0-X
1, the system that calculates simultaneously is at assembly force F
1The effect under stiffness K=0.98F
1/ Δ X
1Last motion guide rail drives and is assembled part and compensates along assembly direction, and the power sensor detects the assembly force F in this motion process and the position X of motion guide rail in real time, obtains the stress deformation amount Δ X of system this moment thus
2=F/K, and the physical location X ' X-Δ X that is assembled part
2So, calculate the position deviation Δ X=X that needs compensation
0-X ', when moving to Δ X=0, the stop motion guide rail, assembling work finishes.
Effect of the present invention and benefit are: provide a kind of simple and practical, be easy to the position compensation method of using in the practical set operation; This control method is measured in real time to assembly force, and therefore the computing system rigidity under the real-time different assembly forces can guarantee enough positioning accuracies, and the discreteness of anti-assembly force is strong.
Description of drawings
Fig. 1 is a workflow diagram of the present invention.
Fig. 2 is the specific embodiment of the present invention schematic diagram.
Fig. 3 is compensation principle figure of the present invention.
Among the figure: 1 assembling target part; 2 are assembled part; 3 clamping devices; 4 power sensors; 5 installing plates; 6 displacement transducers; 7 motion guide rails.
The specific embodiment
Be described in detail the specific embodiment of patent of the present invention below in conjunction with technical scheme and accompanying drawing.
At the interference assembling of axis hole class part, adopt assembly force/rigidity comprehensive compensation method to carry out position compensation.Concrete grammar is as follows:
At first, motion guide rail 7 drives the clamp structure 3 that is installed on the installing plate 5 and will be assembled part 2 and move downward predetermined rigging position in the assembling target part 1, and the assembly force that power sensor 4 detects this moment is F
1Be contained in the positional information X of the current motion guide rail 7 of displacement transducer 6 records on the motion guide rail 7
0
In second step, motion guide rail 7 drives and is assembled part 2 upwards with the motion of 1/4 assembling speed, and power sensor 4 detects the assembly force size in real time in this motion process, equals 0.02F when detecting assembly force
1The time, stop motion guide rail 7, the positional information X of the current motion guide rail 7 of displacement transducer 6 records
1At this moment, distortion and the deflection that causes owing to assembly force can be ignored.Calculate because the position deviation value Δ X that assembly force produces
1=X
0-X
1, calculate the assembly system stiffness K=0.98F under this assembly force simultaneously
1/ Δ X
1
In the 3rd step, motion guide rail 7 drivings are assembled part 2 and carry out motion compensation downwards, detect assembly force F and guide rail position X in this motion process, obtain the stress deformation amount Δ X of system this moment thus
2=F/K then is assembled the physical location X ' X-Δ X of part 2
2So, calculate the deviations Δ X=X that needs compensation
0-X ', when moving to Δ X=0, stop motion guide rail 7, assembling work finishes.
Claims (1)
1. assembly force and rigidity comprehensive compensation method is characterized in that following steps,
Motion guide rail (7) drive is assembled part (2) and moves to predetermined rigging position along assembly direction, and the assembly force that power sensor (4) detects this moment is F
1, the displacement transducer (6) that is contained on the motion guide rail (7) writes down the positional information X of current motion guide rail (7)
0Motion guide rail (7) driving is assembled part (2) and moves with 1/4 forward assembling speed in the other direction along assembling, and power sensor (4) detects the assembly force size in real time in this motion process, equals 0.02F when detecting assembly force
1The time, stop motion guide rail (7), displacement transducer (6) writes down the positional information X of current motion guide rail (7)
1, calculate because the position deviation value Δ X that assembly force produces
1=X
0-X
1, the system that calculates simultaneously is at assembly force F
1The effect under stiffness K=0.98F
1/ Δ X
1Motion guide rail (7) drives and to be assembled part (2) and to compensate along assembly direction, and power sensor (4) detects the assembly force F in this motion process and the position X of motion guide rail (7) in real time, obtains the stress deformation amount Δ X of system this moment thus
2=F/K, and the physical location X ' X-Δ X that is assembled part (2)
2So, calculate the position deviation Δ X=X that needs compensation
0-X ', when moving to Δ X=0, stop motion guide rail (7), assembling work finishes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010501425A CN101972929B (en) | 2010-10-09 | 2010-10-09 | Method for comprehensively compensating assembling force and stiffness |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010501425A CN101972929B (en) | 2010-10-09 | 2010-10-09 | Method for comprehensively compensating assembling force and stiffness |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101972929A true CN101972929A (en) | 2011-02-16 |
| CN101972929B CN101972929B (en) | 2011-11-30 |
Family
ID=43572853
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010501425A Expired - Fee Related CN101972929B (en) | 2010-10-09 | 2010-10-09 | Method for comprehensively compensating assembling force and stiffness |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101972929B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041183A (en) * | 2016-07-05 | 2016-10-26 | 大连理工大学 | Limit axial cut depth judging method for stable milling of thin-wall curved surface |
| CN106112505A (en) * | 2016-07-04 | 2016-11-16 | 清华大学 | Double-shaft-and-hole assembly system and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5495085A (en) * | 1978-01-12 | 1979-07-27 | Yamaha Motor Co Ltd | Parts feeding and assembling device |
| JPS5783327A (en) * | 1980-11-07 | 1982-05-25 | Hitachi Ltd | Automatic assembling device with sensing bench |
| US20010005818A1 (en) * | 1999-12-27 | 2001-06-28 | Toshiyuki Itoko | Method and apparatus for automatic position-finding assembling |
| CN101239442A (en) * | 2007-01-29 | 2008-08-13 | 三菱重工业株式会社 | Method of positioning movable body |
| JP2010194658A (en) * | 2009-02-24 | 2010-09-09 | Honda Motor Co Ltd | Workpiece assembling method and workpiece assembling system |
-
2010
- 2010-10-09 CN CN201010501425A patent/CN101972929B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5495085A (en) * | 1978-01-12 | 1979-07-27 | Yamaha Motor Co Ltd | Parts feeding and assembling device |
| JPS5783327A (en) * | 1980-11-07 | 1982-05-25 | Hitachi Ltd | Automatic assembling device with sensing bench |
| US20010005818A1 (en) * | 1999-12-27 | 2001-06-28 | Toshiyuki Itoko | Method and apparatus for automatic position-finding assembling |
| CN101239442A (en) * | 2007-01-29 | 2008-08-13 | 三菱重工业株式会社 | Method of positioning movable body |
| JP2010194658A (en) * | 2009-02-24 | 2010-09-09 | Honda Motor Co Ltd | Workpiece assembling method and workpiece assembling system |
Non-Patent Citations (1)
| Title |
|---|
| 《仪器仪表学报》 20100831 王晓东 等 微小型零件自动装配中的精密测量与控制 285-288 第31卷, 第8期 2 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112505A (en) * | 2016-07-04 | 2016-11-16 | 清华大学 | Double-shaft-and-hole assembly system and control method thereof |
| CN106041183A (en) * | 2016-07-05 | 2016-10-26 | 大连理工大学 | Limit axial cut depth judging method for stable milling of thin-wall curved surface |
| CN106041183B (en) * | 2016-07-05 | 2017-12-26 | 大连理工大学 | The limit axial direction cutting-in decision method of the stable milling of thin-wall curved-surface |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101972929B (en) | 2011-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106197472B (en) | Device and method for distance positioning and mileage calibration of rail-mounted robot | |
| CN104625676B (en) | Peg-in-hole assembly industrial robot system and method for work thereof | |
| CN101402199B (en) | Hand-eye type robot movable target extracting method with low servo accuracy based on visual sensation | |
| CN102943839B (en) | Precision positioning vibration isolation platform | |
| EP2431137A2 (en) | Reducer abnormality determination method, abnormality determination device, and robot system | |
| CN103970069B (en) | A kind of Biaxial synchronous and differential motion system and control compensation methods thereof | |
| CN102189272B (en) | High-frequency-response non-circular cutting device and control method thereof | |
| CN101458532A (en) | Synchronous control system for ultraprecise double-layer macro/micromotion platform | |
| CN102501251A (en) | Mechanical shoulder joint position control method with dynamic friction compensation | |
| CN109591019B (en) | Space accurate positioning method for nondeterministic positioning characteristic object | |
| CN102778895B (en) | Method for accurate positioning control system under overweight environment | |
| CN108445764B (en) | Active compliance control strategy of Stewart platform | |
| CN101972929B (en) | Method for comprehensively compensating assembling force and stiffness | |
| CN102998074A (en) | Device and method for testing vibration performance of basic translation flexible beam | |
| Wang et al. | The development of a high-speed segment erecting system for shield tunneling machine | |
| CN102944997A (en) | Synchronous smooth sliding-mode control method and system of multi-degree-of-freedom redundant parallel mechanism | |
| CN101639665A (en) | Control method of humanoid robot | |
| CN109048874B (en) | Truss robot Z-axis manipulator temperature compensation device and compensation method thereof | |
| Zheng et al. | Nonlinear feedback control of a dual-stage actuator system for reduced settling time | |
| CN107552935A (en) | A kind of fixed steel rail Flash Butt Welding automatic centering and measurement apparatus | |
| CN105814502A (en) | Trajectory measurement device, numerical control device, and trajectory measurement method | |
| CN108161937B (en) | Flexible robot operating arm elastic vibration active control device and method | |
| CA2825664C (en) | Monitoring system and method | |
| CN102785288A (en) | Deviation rectifying device of gypsum board production line | |
| CN114675542A (en) | Trajectory planning method for end effector of target tracking performance testing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111130 Termination date: 20141009 |
|
| EXPY | Termination of patent right or utility model |