CN110480338A - A kind of compliance device of big L/D ratio peg-in-hole assembly, assembly system, assembly method - Google Patents
A kind of compliance device of big L/D ratio peg-in-hole assembly, assembly system, assembly method Download PDFInfo
- Publication number
- CN110480338A CN110480338A CN201910802877.5A CN201910802877A CN110480338A CN 110480338 A CN110480338 A CN 110480338A CN 201910802877 A CN201910802877 A CN 201910802877A CN 110480338 A CN110480338 A CN 110480338A
- Authority
- CN
- China
- Prior art keywords
- assembled shaft
- connecting portion
- assembly
- point
- stroke
- 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
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000006073 displacement reaction Methods 0.000 claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000012360 testing method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of compliance devices of big L/D ratio peg-in-hole assembly, assembly system, assembly method, wherein compliance device includes first connecting portion, second connecting portion, elastic telescopic device and displacement sensor；Wherein, elastic telescopic device can utilize the spacing of elasticity adjustment first connecting portion and second connecting portion；Displacement sensor is able to detect the spacing variation of first connecting portion and second connecting portion.Compliance device provided by the present application detects the contact condition of assembled shaft and pilot hole by displacement sensor, reduces costs, and improves work efficiency.
Description
Technical field
The present invention relates to industrial robot applied technical fields, more specifically to a kind of big L/D ratio peg-in-hole assembly
Compliance device, assembly system, assembly method.
Background technique
In actual industrial production, assembling link expends a large amount of man power and material.With industrial machine man-based development,
Robot, which replaces, manually goes completion fittage to have become a kind of trend.But carrying out accurate big L/D ratio axis hole dress
Timing can not be assembled, the position of workpiece substantially since robot repetitive positioning accuracy is lower using conventional position control
Deviation can not be eliminated by the method for robot teaching and vision positioning.It is bigger additionally, due to the major diameter of assembled shaft, it is filling
With the phenomenon for being easier to occur stuck in the process, inappropriate assembly method can damage assembly workpiece.
Currently, carrying out accurate big L/D ratio peg-in-hole assembly with industrial robot mainly uses active compliance assembly method,
Add force snesor i.e. outside industrial robot end, robot is controlled by intelligent Force control algolithm and carries out high-precision assembly work
Industry.But the method needs to increase the cost of system using expensive force snesor or torque sensor.In addition complicated control
Algorithm processed makes control process, and there are certain delays, to reduce the efficiency of assembly.
It is that current those skilled in the art urgently solve in conclusion how reducing peg-in-hole assembly cost, improving assembly efficiency
Certainly the problem of.
Summary of the invention
In view of this, the object of the present invention is to provide compliance device, assembly system, the dresses of a kind of big L/D ratio peg-in-hole assembly
Method of completing the square, assembly cost is lower, and assembly efficiency is higher.
To achieve the goals above, the invention provides the following technical scheme:
A kind of compliance device of big L/D ratio peg-in-hole assembly, comprising:
It is respectively used to first connecting portion, the second connecting portion with robot, assembly axis connection；
The elastic telescopic device that both ends are fixed with the first connecting portion and the second connecting portion respectively；
For measuring the displacement sensor of the stroke of the elastic telescopic device, the both ends difference of institute's displacement sensors
It is fixed with the first connecting portion and the second connecting portion.
Preferably, the elastic telescopic device includes spring, position-limit mechanism, the guiding fixed with the first connecting portion
Bar, the guide cylinder fixed with the second connecting portion, the guide cylinder are sheathed on the periphery of the guide rod, the position-limit mechanism
It is relatively rotated for limiting the guide cylinder and the guide rod, the spring pocket is set to the periphery of the guide rod, and described
End face of the both ends of spring respectively with the first connecting portion and the guide cylinder towards the first connecting portion offsets.
Preferably, the guide rod is equipped with the limited block of protrusion, the guide cylinder far from the end of the first connecting portion
Middle part be equipped with it is radial inside contract, the limiting stand for offseting with the limited block, it is the position-limit mechanism, the limiting stand, described
Limited block is sequentially distributed along the axial direction of the guide cylinder.
Preferably, the lateral wall of the guide rod is equipped with the groove axially extended, and the position-limit mechanism includes ball flower
Key, the ball spline cylinder fixed with the guiding medial wall of the tube, the ball spline are set to the groove and the ball spline
Between cylinder.
Preferably, it is equipped with inside the guide cylinder and offsets with the ball spline cylinder first end face, the ball spline
Circlip, the spacing of the ball spline cylinder second end to the guide rod are less than the diameter of the ball spline.
A kind of assembly system of big L/D ratio peg-in-hole assembly, including the submissive dress of robot, controller, any one of the above
It sets, the first connecting portion of the robot and the compliance device is fixed, and the displacement sensor of the compliance device will be for that will examine
The stroke of survey is sent to the controller, and the controller is used to control the robot motion, institute according to the stroke
State robot, institute's displacement sensors are electrically connected with the controller respectively.
A kind of assembly method of big L/D ratio peg-in-hole assembly is applied to above-mentioned assembly system, comprising:
It determines and the second point being located in assembly hole end surface circumferential direction at first point, and determines and the second point at first point
The perpendicular bisector of line；Wherein, the perpendicular bisector, the pilot hole end face be respectively positioned on X/Y plane；
In the axis of the assembled shaft, coplanar and axis and the Z axis of the vertical X/Y plane have the with the perpendicular bisector
In the state of one default angle, the contact point of the assembled shaft and the X/Y plane is controlled along the perpendicular bisector to the pilot hole
Movement, and stroke is obtained using displacement sensor in the assembly system；
When the variable quantity of the stroke is 0, controls the assembled shaft and rotated around origin, so that the axis of the assembled shaft
Line is overlapped with the Z axis；Wherein, the origin is the center of circle of the assembled shaft close to the end face of the pilot hole.
Preferably, the determination is located at and second point in assembly hole end surface circumferential direction at first point, comprising:
The end for obtaining the assembled shaft is in stroke under first state；Wherein, when the end of the assembled shaft
When first state, the end of the assembled shaft offsets with the X/Y plane and the axis of the assembled shaft has with the Z axis
Second default angle；
The end for obtaining the assembled shaft is in stroke under the second state；Wherein, when the end of the assembled shaft
When the second state, the assembled shaft is rotated around the Z axis and the axis of the assembled shaft and the Z axis are pre- with described second
If angle；
And institute are determined at described first point according to the stroke under the first state and the stroke under second state
State second point.
Preferably, described in the stroke under the stroke according under the first state and second state determines
First point and the second point, comprising:
When stroke under stroke in the first state and second state is unequal, calculate the assembled shaft with
First coordinate of the contact point of the X/Y plane, and sit target value for described first and assign at described first point；
When stroke in said second condition and the again equal stroke under the first state, the dress is calculated
The second coordinate with axis Yu the contact point of the X/Y plane, and sit target value for described second and assign the second point.
Preferably, the described first default angle is equal with the described second default angle.
The compliance device of big L/D ratio peg-in-hole assembly provided by the invention includes first connecting portion, second connecting portion, elasticity
Telescopic device and displacement sensor；Wherein, elastic telescopic device can adjust the spacing of first connecting portion and second connecting portion；Position
Displacement sensor is able to detect the spacing variation of first connecting portion and second connecting portion.
During the work time, first connecting portion is fixed with robot, and second connecting portion is fixed with assembled shaft to be installed, bullet
Property telescopic device provides activity surplus using the elastic telescopic of itself for the spacing of first connecting portion and second connecting portion.When second
After interconnecting piece is by external force, elastic telescopic device is shunk, and pushes second connecting portion using elastic-restoring force, and then push assembly
Axis plays the role of accommodating the submissive of rigging error.Meanwhile the variation of the spacing of first connecting portion and second connecting portion is passed by displacement
Sensor detection, the testing result of displacement sensor can determine the contact condition of assembled shaft and pilot hole in operation.
Force snesor or torque sensor in compared with the prior art, the cost of displacement sensor is lower, and detection is more
It is convenient.And elastic telescopic device utilizes the stress condition of natural resiliency adjust automatically assembled shaft, without assembly system to dress
Stress condition with axis carries out active accommodation after being calculated.Therefore the cost for reducing peg-in-hole assembly, improves work efficiency.
Present invention also provides a kind of assembly systems, have above-mentioned beneficial effect.
Assembly method provided by the present application determines perpendicular bisector, i.e. pilot hole circle first with the point in assembly hole end surface circumferential direction
Straight line where the heart；Then the assembled shaft of the first default angle of control inclination is stretched close to pilot hole by what displacement sensor detected
Contracting amount determines the positional relationship of assembled shaft and pilot hole；When stroke not variation when, illustrate that assembled shaft end fully enters dress
In distribution, then control assembled shaft is upright, and assembled shaft enters in pilot hole under the action of elastic telescopic device, realizes axis hole dress
With operation.
In assembling process, the stroke variation of displacement sensor detection can determine assembly hole site indirectly, to make
Assembled shaft is accurately close to the center of circle of pilot hole；The variation of simultaneous retractable amount can also embody assembled shaft indirectly and the position of pilot hole is closed
System, so that assembled shaft be made to be properly inserted into pilot hole, solves the problems, such as the card resistance of peg-in-hole assembly, improves work efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the structural schematic diagram of compliance device provided by the present invention；
Fig. 2 is the partial sectional view of Fig. 1；
Fig. 3 is peg-in-hole assembly process schematic provided by the present invention；
Fig. 4 is a kind of flow chart of assembly method provided by the present invention.
Fig. 5 is a kind of algorithm pattern of assembly method provided by the present invention.
Appended drawing reference in Fig. 1~5 are as follows:
First connecting portion 1, guide rod 2, displacement sensor 3, guide cylinder 4, second connecting portion 5, spring 6, circlip 7, ball
Spline 8, limited block 9, ball spline cylinder 10, limiting stand 11.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1~5 is please referred to, Fig. 1 is the structural schematic diagram of compliance device provided by the present invention；Fig. 2 is that the part of Fig. 1 is cutd open
View；Fig. 3 is peg-in-hole assembly process schematic provided by the present invention；Fig. 4 is a kind of assembly method provided by the present invention
Flow chart.Fig. 5 is a kind of algorithm pattern of assembly method provided by the present invention.
This application provides a kind of compliance devices of big L/D ratio peg-in-hole assembly, including first connecting portion 1, second connecting portion
5, elastic telescopic device and displacement sensor 3；Wherein, for fixing with robot, second connecting portion 5 is used for first connecting portion 1
It is fixed with assembled shaft to be installed, the both ends of elastic telescopic device are fixed with first connecting portion 1 and second connecting portion 5 respectively；Position
Displacement sensor 3 is used to measure the stroke of elastic telescopic device, and both ends are solid with first connecting portion 1 and second connecting portion 5 respectively
It is fixed.
Specifically, first connecting portion 1 and second connecting portion 5 can be flange or other parts, compliance device can be made
It is fixed with robot, assembled shaft.Optionally, dust cover is provided between first connecting portion 1 and second connecting portion 5, accordingly
, the inside of dust cover is then arranged in elastic telescopic device and displacement sensor 3.
Displacement sensor 3 is used to detect the displacement of compliance device, the i.e. spacing of first connecting portion 1 and second connecting portion 5.Position
Displacement sensor 3 is connect by bolt with first connecting portion 1, and the displacement bar of displacement sensor 3 itself is connect from threaded with second
Portion 5 is fixed.
The spacing that elastic telescopic device passes through itself flexible change first connecting portion 1 and second connecting portion 5.Elastic telescopic
Device mainly includes spring 6 or other elastic components, and after second connecting portion 5 is by external force, elastic component shrinks and adjusts the second company
The position of socket part 5；Meanwhile when the spacing of first connecting portion 1 and second connecting portion 5 is lower than certain value, elastic recovery is utilized
Power pushes second connecting portion 5.Therefore elastic telescopic device plays the role of accommodating rigging error.
Using compliance device provided by the present application, displacement sensor 3 substitutes force snesor in the prior art, reduces soft
Along the cost of device.It does not need to simplify assembly system using intelligent Force control algolithm, improve assembly in assembling process simultaneously
Efficiency.
Optionally, in a kind of embodiment of elastic device provided by the present application, elastic telescopic device includes spring 6, limit
Mechanism, guide rod 2, guide cylinder 4；Wherein, guide rod 2 and the fixation of first connecting portion 1, guide cylinder 4 and the fixation of second connecting portion 5,
And it is set in the periphery of guide rod 2, position-limit mechanism is relatively rotated for restricted guidance cylinder 4 and guide rod 2, and spring 6, which is sheathed on, leads
To the periphery of bar 2, and end face of the both ends of spring 6 respectively with first connecting portion 1 and guide cylinder 4 towards first connecting portion 1 offsets.
Specifically, the upper end of guide rod 2 is bolted with first connecting portion 1, the lower end of guide cylinder 4 and 5 bolt of second connecting portion
It is fixed.Spring 6 is used to store the energy generated when compliance device is subjected to displacement.
Optionally, in a kind of embodiment of position-limit mechanism provided by the present application, the lateral wall of guide rod 2 is equipped with to be prolonged along axial direction
The groove stretched, position-limit mechanism include ball spline 8, the ball spline cylinder 10 fixed with 4 inner sidewall of guide cylinder, and ball spline 8 is set
Between groove and ball spline cylinder 10.Specifically, guide cylinder 4, ball spline cylinder 10, ball spline 8, guide rod 2 are from extroversion
Inside it is sequentially distributed.Ball spline cylinder 10 and guide cylinder 4 are interference fitted, and are provided with arc-shaped groove, ball spline 8 on guide rod 2
It can only moved in the groove of guide rod 2, thus the torsion of restricted guidance bar 2 and guide cylinder 4, so that compliance device only exists
One degree of freedom.
Optionally, in order to facilitate the assembling of each component of compliance device, circlip 7, circlip 7 and ball are equipped with inside guide cylinder 4
10 first end face of spline tube, ball spline 8 offset, while the spacing of 10 second end of ball spline cylinder to guide rod 2 is less than ball
The diameter of spline 8, to limit axial movement of the ball spline 8 relative to ball spline cylinder 10.It should be understood that when being provided with
When circlip 7, the end of spring 6 can be in contact with circlip 7, to offset indirectly with guide cylinder 4.
Optionally, in a kind of embodiment provided by the present application, guide rod 2 is equipped with protrusion far from the end of first connecting portion 1
Limited block 9, the middle part of guide cylinder 4 be equipped with it is radial inside contract, the limiting stand 11 for offseting with limited block 9, position-limit mechanism, limit
Platform 11, limited block 9 are sequentially distributed along the axial direction of guide cylinder 4.Specifically, limiting stand 11 will be divided into two parts inside guide cylinder 4,
Position-limit mechanism is arranged in a portion, and limited block 9 is arranged in another part.Limited block 9 is connect with the lower end of guide rod 2, for limiting
The displacement of compliance device processed.
It should be understood that position-limit mechanism can also by the relative rotation of other structures restricted guidance bar 2 and guide cylinder 4,
For example, the periphery of limited block 9 and the inner sidewall of guide cylinder 4 are provided with the groove body and strip bulge that can cooperate sliding.
The present invention also provides a kind of assembly system of big L/D ratio peg-in-hole assembly, including it is robot, controller, above-mentioned any
A kind of compliance device.Specifically, the first connecting portion 1 of robot and compliance device is fixed, the displacement sensor 3 of compliance device is used
It is sent to controller in the stroke that will test, controller is used to control robot motion according to stroke, and robot, displacement pass
Sensor 3 is electrically connected with the controller respectively.Refer to the prior art for the structure of other each sections of the assembly system, no longer superfluous herein
It states.
A kind of assembly method for big L/D ratio peg-in-hole assembly that the application also provides is applied to above-mentioned assembly system, including
Following steps:
Step S1, and the second point being located in assembly hole end surface circumferential direction are determined at first point, and determines and second point at first point
The perpendicular bisector of line.
Specifically, needing first assemble by compliance device, robot, assembled shaft solid when actually carrying out assembly manipulation
It is fixed.Robot is installed assembled shaft into the pilot hole of mounting platform by compliance device, and robot is by setting when operation
Coordinate system calculate movement routine, wherein coordinate system is the three-dimensional cartesian coordinate system including X-axis, Y-axis, Z axis.It can manage
Solution, since pilot hole is set in mounting platform, the end face of pilot hole and the surface of mounting platform are coplanar.For convenience
Operation, the surface for defining mounting platform is X/Y plane, then the axis of Z axis and pilot hole is each perpendicular to X/Y plane.
First point and second point are located on the circumference of assembly hole end surface, that is, are located at the surface of pilot hole end face and mounting platform
Intersection.Determine the perpendicular bisector of the two at first point in the xy plane according to and second point, the center of circle of pilot hole is in the two at this time
Perpendicular bisector on, so that it is determined that position of the pilot hole relative to assembled shaft.
It is worth noting that, the specific location of first point and second point does not limit, the two can in several ways into
Row selection.For example, assembly system can automatically select two points in the circumference of assembly hole end surface equipped with visual response device
As first point and second point, certainly, the application has also been introduced below another and has determined and the specific position of second point at first point
The preferred embodiment set.
Step S2, in the axis of assembled shaft, coplanar and axis and Z axis have the state of the first default angle with perpendicular bisector
Under, the contact point for controlling assembled shaft and X/Y plane is moved along perpendicular bisector to pilot hole, and utilizes displacement sensor 3 in assembly system
Obtain stroke.
Specifically, controlling for convenience, set assembled shaft distal center position to the coordinate origin of robot, i.e., it is former
Point is the center of circle of the assembled shaft close to the end face of pilot hole.After the relative position of pilot hole and assembled shaft determines, assembled shaft is in
Vertical line is close to pilot hole, and since the diameter of pilot hole is greater than the diameter of assembled shaft, the displacement that displacement sensor 3 detects at this time can not
It is disconnected to change.
More specifically, before reaching pilot hole, since the spacing of robot and mounting platform is constant, displacement sensing
The stroke that device 3 detects is constant；And when assembled shaft initially enters pilot hole, assembled shaft the lowermost position is flat lower than installation
Face, the elastic telescopic device of compliance device pushes the stroke that assembled shaft is mobile, and displacement sensor 3 detects to change at this time.
And when assembled shaft end is completely into pilot hole region, stroke no longer changes, i.e., the variable quantity of stroke is at this time
0。
Step S3, when the variable quantity of stroke is 0, control assembled shaft is rotated around origin, so that the axis and Z of assembled shaft
Overlapping of axles.
Specifically, assembled shaft is excluded herein along the moving process of mounting platform surface, the feelings that the variable quantity of stroke is 0
Condition.Therefore when the variable quantity of stroke is 0, after assembled shaft end is fully located at pilot hole region, displacement sensor 3 is examined
The stroke of survey no longer changes.The assembled shaft of robot control at this time stops movement, while controlling assembled shaft and being leaned on the basis of origin
Nearly Z axis makes the default angle of assembled shaft inclined first be reduced to 0, the vertical X/Y plane of assembled shaft.Then in the work of elastic telescopic device
Under, assembled shaft will enter in pilot hole, realize peg-in-hole assembly.
So far, the end of assembled shaft can be properly inserted into pilot hole, if assembly shaft length is longer, the elasticity of compliance device
The active strokes of telescopic device are not enough to for assembled shaft being fully inserted into pilot hole, then can also control assembled shaft by robot
It is moved along Z axis, i.e., robot pushes directly on assembled shaft movement, completes peg-in-hole assembly.
Further, assembly hole end surface week is positioned in a kind of preferred embodiment provided by the present application, in step S1 really
Upward first point and second point, comprising the following steps:
Step S11, the end for obtaining assembled shaft is in the stroke under first state；Wherein, when the end of assembled shaft
When first state, end and the X/Y plane of assembled shaft offset and the axis of assembled shaft and Z axis have the second default angle.
Step S12, the end for obtaining assembled shaft is in the stroke under the second state；Wherein, when the end of assembled shaft
When the second state, assembled shaft is turned about the Z axis and the axis of assembled shaft and Z axis have the second default angle.
Step S13, and second point are determined according to the stroke under the stroke and the second state under first state at first point.
Specifically, assembled shaft is in the first state, assembled shaft tilts the second default angle of a low-angle, displacement sensing
The stroke detected of device 3 is benchmark stroke.When assembled shaft is in the second state, assembled shaft equally tilts a low-angle
Second default angle, while robot end is around coordinate system Z axis rotary motion.
It can refer to Fig. 3 during robot motion, in Fig. 3, the coordinate system in the upper left corner indicates respectively to sit under diagram state
The direction of parameter, O1 are assembled shaft close to the center of circle of the end face of pilot hole, and O2 is the end face center of circle of pilot hole, and r is assembled shaft half
Diameter, R are assembly pore radius, and α is the axis of assembled shaft and the angle of Z axis, and C is first point, and D is second point, and A is under diagram state
The contact point of assembled shaft and mounting platform；Circle of dotted line indicate assembled shaft in the second default angle rotation process, assembled shaft and XY
Contact point in plane forms motion track.It should be understood that the numerical value needs of α flexibly determine that guarantee is being carried out according to r and R
When step S3, after the axis of assembled shaft is vertical with X/Y plane, the lower end of assembled shaft can be completely into pilot hole.
Assembled shaft includes two processes in the movement of the second state.During first, the bottom of assembled shaft and installation are flat
Platform is in contact, and the stroke of elastic telescopic device is equal with benchmark stroke at this time；And due to there is pilot hole on mounting platform, then
The second process can be entered during rotation, i.e. assembled shaft bottom turns to the plane domain where pilot hole, elastic at this time
Telescopic device pushes assembled shaft to move down, and displacement sensor 3 detects the stroke of elastic telescopic device relative to benchmark stroke
It changes, so that it is determined that position of the pilot hole relative to assembled shaft.
In the actual operation process, it in first state, is transported downwards preferably by robot control assembled shaft along Z axis
It is dynamic, and elastic telescopic device is compressed to minimum stroke.It, can be with for being provided with the compliance device of limited block 9, guide rod 2
Assembled shaft is moved down, limited block 9 is made to be in contact with second connecting portion 5, then will be set as machine in assembled shaft distal center position at this time
The coordinate origin of device people.
It is worth noting that, first point of assembly hole end surface and the can be contacted to ensure assembled shaft during rotation
2 points, the error of assembled shaft and pilot hole is in a diameter of axle.That is, there are two circle of dotted line in Fig. 3 and pilot hole tools
Intersection point.
Further, in a kind of preferred embodiment provided by the present application, in step S13 according to flexible under first state
Amount determines and second point at first point with the stroke under the second state, comprising the following steps:
Step S131, when the stroke under stroke and the second state in the first state is unequal, assembled shaft is calculated
With the first coordinate of the contact point of X/Y plane, and by first sit target value assign first point.
Step S132, stroke in the second condition and when the again equal stroke under first state, calculates assembly
Second coordinate of the contact point of axis and X/Y plane, and sit target value for second and assign second point.
Specifically, if assembled shaft and robot are rigid connections, first point and second point assembled shaft not with pilot hole
It is in contact.And since robot is connected by compliance device with assembled shaft, then assembled shaft is first on assembly hole end surface circumference
Point and second point can generate the displacement of different directions due to elastic-restoring force.
More specifically, in assembled shaft rotation process, after assembled shaft contacts at first point, displacement sensor 3 is detected flexible
Amount starts to increase；Then robot continues to control assembled shaft rotation, and after assembled shaft contacts second point, the bottom of assembled shaft is again
It is contacted with mounting platform, the stroke that displacement sensor 3 detects restores to benchmark stroke.
On the one hand, displacement sensor 3 is able to detect the contact condition of axis hole；It is accurate to determine dress according to the variation of stroke
Distribution relative to assembled shaft position on the perpendicular bisector of first point and second point line.On the other hand, aforesaid way determines
First point and second point are respectively that the stroke that detects of displacement sensor 3 starts variation, stops position corresponding when variation, control
The algorithm routine of device processed is simpler.
Optionally, the preferably first default angle is equal with the second default angle.Then in practical operation, controlled in robot
After assembled shaft is turned about the Z axis to determine assembly hole site, and before the robot axial pilot hole of control assembly is mobile, machine
People does not need the tilt angle of adjustment assembly axis again, to be further simplified operation.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The compliance device of big L/D ratio peg-in-hole assembly provided by the present invention, assembly system, assembly method are carried out above
It is discussed in detail.Used herein a specific example illustrates the principle and implementation of the invention, above embodiments
Explanation be merely used to help understand method and its core concept of the invention.It should be pointed out that for the common of the art
, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention for technical staff, these
Improvement and modification are also fallen within the protection scope of the claims of the present invention.
Claims (10)
1. a kind of compliance device of big L/D ratio peg-in-hole assembly characterized by comprising
It is respectively used to first connecting portion (1), the second connecting portion (5) with robot, assembly axis connection；
The elastic telescopic device that both ends are fixed with the first connecting portion (1) and the second connecting portion (5) respectively；
For measuring the displacement sensor (3) of the stroke of the elastic telescopic device, the both ends point of institute's displacement sensors (3)
It is unfixed with the first connecting portion (1) and the second connecting portion (5).
2. compliance device according to claim 1, which is characterized in that the elastic telescopic device includes spring (6), limit
Mechanism, the guide rod (2) fixed with the first connecting portion (1), the guide cylinder (4) fixed with the second connecting portion (5), institute
State the periphery that guide cylinder (4) is sheathed on the guide rod (2), the position-limit mechanism is for limiting the guide cylinder (4) and described
Guide rod (2) relatively rotates, and the spring (6) is sheathed on the periphery of the guide rod (2), and the both ends of the spring (6) point
End face not with the first connecting portion (1) and the guide cylinder (4) towards the first connecting portion (1) offsets.
3. compliance device according to claim 2, which is characterized in that the guide rod (2) is far from the first connecting portion
(1) end is equipped with the limited block (9) of protrusion, and the middle part of the guide cylinder (4), which is equipped with, radial to be inside contracted, is used for and the limited block
(9) limiting stand (11) to offset, the position-limit mechanism, the limiting stand (11), the limited block (9) are along the guide cylinder (4)
Axial direction be sequentially distributed.
4. compliance device according to claim 2, which is characterized in that the lateral wall of the guide rod (2) is equipped with along axial direction
The groove of extension, the position-limit mechanism include ball spline (8), the ball spline cylinder fixed with the guide cylinder (4) inner sidewall
(10), the ball spline (8) is set between the groove and the ball spline cylinder (10).
5. compliance device according to claim 4, which is characterized in that be equipped with and the ball inside the guide cylinder (4)
The circlip (7) that spline tube (10) first end face, the ball spline (8) offset, ball spline cylinder (10) second end to institute
The spacing for stating guide rod (2) is less than the diameter of the ball spline (8).
6. a kind of assembly system of big L/D ratio peg-in-hole assembly, which is characterized in that including robot, controller, claim 1 to
The first connecting portion (1) of compliance device described in 5 any one, the robot and the compliance device is fixed, described submissive
The stroke that the displacement sensor (3) of device is used to will test is sent to the controller, and the controller is used for according to
Stroke controls the robot motion, and the robot, institute's displacement sensors (3) are electrically connected with the controller respectively.
7. a kind of assembly method of big L/D ratio peg-in-hole assembly, which is characterized in that being applied to assembly as claimed in claim 6 is
System, comprising:
It determines and the second point being located in assembly hole end surface circumferential direction at first point, and determines and the second point line at first point
Perpendicular bisector；Wherein, the perpendicular bisector, the pilot hole end face be respectively positioned on X/Y plane；
The assembled shaft axis with the perpendicular bisector coplanar and axis and the Z axis of the vertical X/Y plane have it is first pre-
If in the state of angle, the contact point for controlling the assembled shaft and the X/Y plane is transported along the perpendicular bisector to the pilot hole
It is dynamic, and stroke is obtained using the displacement sensor (3) in the assembly system；
When the variable quantity of the stroke be 0 when, control the assembled shaft around origin rotate so that the axis of the assembled shaft with
The Z axis is overlapped；Wherein, the origin is the center of circle of the assembled shaft close to the end face of the pilot hole.
8. assembly method according to claim 7, which is characterized in that the determination is located at the in assembly hole end surface circumferential direction
A little and second point, comprising:
The end for obtaining the assembled shaft is in stroke under first state；Wherein, when the end of the assembled shaft is in the
When one state, the end of the assembled shaft offsets with the X/Y plane and the axis of the assembled shaft and the Z axis have second
Default angle；
The end for obtaining the assembled shaft is in stroke under the second state；Wherein, when the end of the assembled shaft is in the
When two-state, the assembled shaft is rotated around the Z axis and the axis of the assembled shaft and the Z axis have the described second default folder
Angle；
And described the are determined at described first point according to the stroke under the first state and the stroke under second state
2 points.
9. assembly method according to claim 8, which is characterized in that the stroke according under the first state with
Stroke under second state determines and the second point at described first point, comprising:
When stroke under stroke in the first state and second state is unequal, calculate the assembled shaft with it is described
First coordinate of the contact point of X/Y plane, and sit target value for described first and assign at described first point；
When stroke in said second condition and the again equal stroke under the first state, the assembled shaft is calculated
With the second coordinate of the contact point of the X/Y plane, and target value is sat by described second and assigns the second point.
10. assembly method according to claim 9, which is characterized in that the first default angle is default with described second
Angle is equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910802877.5A CN110480338B (en) | 2019-08-28 | 2019-08-28 | Compliant device, assembly system and assembly method for assembling shaft hole with large length-diameter ratio |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910802877.5A CN110480338B (en) | 2019-08-28 | 2019-08-28 | Compliant device, assembly system and assembly method for assembling shaft hole with large length-diameter ratio |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110480338A true CN110480338A (en) | 2019-11-22 |
| CN110480338B CN110480338B (en) | 2020-08-25 |
Family
ID=68554844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910802877.5A Expired - Fee Related CN110480338B (en) | 2019-08-28 | 2019-08-28 | Compliant device, assembly system and assembly method for assembling shaft hole with large length-diameter ratio |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110480338B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010085013A (en) * | 2001-07-16 | 2001-09-07 | 주상완 | Remote Center Compliance Device for Forced Insertion |
| JP2006026779A (en) * | 2004-07-14 | 2006-02-02 | Toyota Motor Corp | Shaft-like part fitting method |
| JP2009066733A (en) * | 2007-09-14 | 2009-04-02 | Univ Kinki | Robot hand for assembling |
| CN102218652A (en) * | 2011-05-09 | 2011-10-19 | 无锡引域智能机器人有限公司 | Device and method for realizing axle hole assembly by utilizing flexibility of robot |
| CN104057290A (en) * | 2014-06-24 | 2014-09-24 | 中国科学院自动化研究所 | Method and system for assembling robot based on visual sense and force feedback control |
| CN105479146A (en) * | 2016-02-03 | 2016-04-13 | 中山市工业技术研究中心 | Equipment and method for achieving shaft hole assembly |
| CN105522369A (en) * | 2016-02-03 | 2016-04-27 | 中山市工业技术研究中心 | Compliant device and method for realizing peg-in-hole assembly |
| CN106799728A (en) * | 2017-03-16 | 2017-06-06 | 天津工业大学 | A kind of passive compliance device |
| CN206287165U (en) * | 2016-12-23 | 2017-06-30 | 上海莘翔自动化科技有限公司 | A kind of peg-in-hole assembly device based on compliant mechanism |
| CN107186460A (en) * | 2017-07-10 | 2017-09-22 | 上海新时达电气股份有限公司 | Industrial robot carries out the method and its system of peg-in-hole assembly |
| CN107511649A (en) * | 2016-06-15 | 2017-12-26 | 上海交通大学 | Air-driven type is adjustable remote center compliance device |
| CN107571154A (en) * | 2017-10-10 | 2018-01-12 | 张欢 | A kind of integrated Compliant Force control device |
-
2019
- 2019-08-28 CN CN201910802877.5A patent/CN110480338B/en not_active Expired - Fee Related
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010085013A (en) * | 2001-07-16 | 2001-09-07 | 주상완 | Remote Center Compliance Device for Forced Insertion |
| JP2006026779A (en) * | 2004-07-14 | 2006-02-02 | Toyota Motor Corp | Shaft-like part fitting method |
| JP2009066733A (en) * | 2007-09-14 | 2009-04-02 | Univ Kinki | Robot hand for assembling |
| CN102218652A (en) * | 2011-05-09 | 2011-10-19 | 无锡引域智能机器人有限公司 | Device and method for realizing axle hole assembly by utilizing flexibility of robot |
| CN104057290A (en) * | 2014-06-24 | 2014-09-24 | 中国科学院自动化研究所 | Method and system for assembling robot based on visual sense and force feedback control |
| CN105479146A (en) * | 2016-02-03 | 2016-04-13 | 中山市工业技术研究中心 | Equipment and method for achieving shaft hole assembly |
| CN105522369A (en) * | 2016-02-03 | 2016-04-27 | 中山市工业技术研究中心 | Compliant device and method for realizing peg-in-hole assembly |
| CN107511649A (en) * | 2016-06-15 | 2017-12-26 | 上海交通大学 | Air-driven type is adjustable remote center compliance device |
| CN206287165U (en) * | 2016-12-23 | 2017-06-30 | 上海莘翔自动化科技有限公司 | A kind of peg-in-hole assembly device based on compliant mechanism |
| CN106799728A (en) * | 2017-03-16 | 2017-06-06 | 天津工业大学 | A kind of passive compliance device |
| CN107186460A (en) * | 2017-07-10 | 2017-09-22 | 上海新时达电气股份有限公司 | Industrial robot carries out the method and its system of peg-in-hole assembly |
| CN107571154A (en) * | 2017-10-10 | 2018-01-12 | 张欢 | A kind of integrated Compliant Force control device |
Non-Patent Citations (1)
| Title |
|---|
| 杨汝清等: "《智能控制工程》", 31 January 2001 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110480338B (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102309861B1 (en) | Method of adjusting posture of 6-axis robot | |
| CN109278042A (en) | The eccentric error bearing calibration of angle detector and robot system | |
| WO1996030171A1 (en) | Method and device for calibration of movement axes of an industrial robot | |
| US10773391B2 (en) | Control device and robot system | |
| CN105811219B (en) | Aligned in position method | |
| CN205201527U (en) | Robot zero calibration system | |
| CN113942034A (en) | Method for orientation of a robot arm | |
| WO1993011915A1 (en) | Method and device for calibration of movement axes of an industrial robot | |
| CN110595504A (en) | Automatic calibration method and automatic calibration system for inertial measurement unit | |
| CN105364924A (en) | robot zero calibration system and robot zero calibration method | |
| CN110480338A (en) | A kind of compliance device of big L/D ratio peg-in-hole assembly, assembly system, assembly method | |
| CN111095518A (en) | Substrate transfer device and method for determining positional relationship between substrate transfer robot and substrate placement unit | |
| CN114589692A (en) | Robot zero calibration method and calibration equipment thereof | |
| US11541541B2 (en) | Gripping system | |
| CN204203269U (en) | A kind of testing jig for electrostatic test | |
| US20160008980A1 (en) | Inspection system for inspecting object using force sensor | |
| JP6361207B2 (en) | Robot, robot system and robot controller | |
| KR100499090B1 (en) | Device and Method for Kinematic Calibration of Robots | |
| JP6136337B2 (en) | Attitude detection control apparatus, polishing apparatus, and attitude detection control method | |
| WO2023037110A1 (en) | Measurement strut | |
| JP2003181782A (en) | Industrial robot | |
| JP4120460B2 (en) | Bearing alignment method and bearing alignment assembly apparatus | |
| JP2538287B2 (en) | Origin adjustment method for horizontal joint robot | |
| JPS63318275A (en) | Operation coordinate correction system of robot | |
| JP2012232369A (en) | Parts assembling method, and parts assembling device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200825 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |