CN114654499A - Rigidity-variable industrial robot passive compliant device and cooperative assembly method - Google Patents
Rigidity-variable industrial robot passive compliant device and cooperative assembly method Download PDFInfo
- Publication number
- CN114654499A CN114654499A CN202210140652.XA CN202210140652A CN114654499A CN 114654499 A CN114654499 A CN 114654499A CN 202210140652 A CN202210140652 A CN 202210140652A CN 114654499 A CN114654499 A CN 114654499A
- Authority
- CN
- China
- Prior art keywords
- passive
- mre
- robot
- rigidity
- industrial robot
- 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 32
- 238000001179 sorption measurement Methods 0.000 claims description 40
- 230000005284 excitation Effects 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 14
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 229920001971 elastomer Polymers 0.000 claims description 5
- 244000043261 Hevea brasiliensis Species 0.000 claims description 3
- 239000003795 chemical substances by application Substances 0.000 claims description 3
- 239000004020 conductor Substances 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 229920003052 natural elastomer Polymers 0.000 claims description 3
- 229920001194 natural rubber Polymers 0.000 claims description 3
- 239000004014 plasticizer Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 3
- 230000006798 recombination Effects 0.000 abstract description 3
- 238000005215 recombination Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 239000012530 fluid Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 239000000806 elastomer Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 241001136800 Anas acuta Species 0.000 description 1
- 241000252254 Catostomidae Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 238000001556 precipitation Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a rigidity-variable industrial robot passive compliance device and a cooperative assembly method. The MRE passive compliant device can be fixedly connected with the tail end of the robot through the bearing connecting device, light-load to heavy-load and plane to curved-surface workpieces are covered according to the characteristics of the weight and the volume of the workpieces to be clamped and assembled by the tail end of the robot and the like, the number of the passive compliant devices or the positions of the moving devices can be correspondingly increased/reduced to achieve an ideal effect, and the MRE passive compliant device has the advantages of wide application range, disassembly and recombination, strong flexibility and the like. Finally, by utilizing the variable-rigidity passive compliance characteristic of the device, in the hybrid active and passive compliance high-precision assembly process of the robot, a passive cooperation assembly scheme can be matched with active compliance control to carry out operation at each stage.
Description
The technical field is as follows:
the invention relates to a robot passive compliance control method, in particular to a rigidity-variable industrial robot passive compliance device and a cooperative assembly method.
Background art:
along with the upgrading of the intelligent manufacturing field to the automatic production requirement, the cooperative assembly precision and the assembly efficiency of the industrial robot face higher challenges, and the accurate and efficient robot compliance control technology can bring about the innovation of the production technology for the human-machine cooperative operation. However, for the end of the robot working in the unstructured environment, the active compliance control adjustment method based on six-dimensional force sensing can only meet the requirements of partial stages of the assembly process, and when force sensing information is mixed with uncontrollable forces such as assembly force and constraint force, the damage of equipment or workpieces can be caused by tiny force control deviation, especially in some high-precision assembly fields. Therefore, the passive compliance device is often installed at the end of the robot, and plays a certain role in buffering during assembly contact or is matched with the active compliance control for fine adjustment.
However, the flexibility of a general constant-stiffness passive compliance device exists in the whole assembly process, and influences the force sensing of active compliance control to different degrees according to different end loads, so researchers search for a variable-stiffness compliance control device. Patent "CN 113001398A, a variable stiffness compliant polishing actuator", performs a variable stiffness passive compliant design on the robot polishing process, and can apply force compensation by changing the stiffness of a spring, however, based on its operation target, the end can only bear a small load. The patent CN108481311A, a flexible gripping device with variable stiffness, aims at precise assembly, and is designed to be suitable for gripping workpieces with various hardness and shapes, but the weight and shape of the gripping device for gripping workpieces are limited by the size and gripping friction of the gripping device itself, so the flexibility is poor, and the variable stiffness is reflected in the gripping stiffness and is not suitable for passive flexible control.
The magnetorheological elastomer is a novel material with variable rigidity and widely applied to the field of vibration isolation and shock absorption, but the application of the magnetorheological elastomer as a passive compliant element to the field of force control is less. The thesis 'compliant joint based on magnetorheological fluid and control research thereof' designs a variable-stiffness passive compliant joint based on magnetorheological fluid, which utilizes the variable-stiffness characteristic of magnetorheological material, but the problems of magnetorheological fluid liquid leakage, particle precipitation and the like are inevitable, and the compliant joint is applied to the regulation and control of transmission stiffness and is not suitable for terminal assembly.
In conclusion, the bearing capacity of the conventional variable-rigidity passive compliant device is limited by the device, the bearing range is small, the flexibility of the device is poor, the disassembly and recombination capabilities are avoided, and the coping capability on workpieces in various shapes is also poor.
Therefore, there is a need to improve the prior art to overcome the deficiencies of the prior art.
The invention content is as follows:
the invention aims to solve the technical problem of the prior art and provides a variable-rigidity passive compliance device of an industrial robot and a cooperative assembly method.
The invention adopts the following technical scheme: a rigidity-variable industrial robot passive compliant device comprises a robot body, a control cabinet, a counterweight element, an AGV trolley, a connecting flange, a flange plate, a bearing connecting device, a small moving slide block, a large moving slide block, a passive compliant device, an adsorption workpiece, a first slide rail and a second slide rail, wherein the robot body, the control cabinet, the counterweight element and the AGV trolley form the robot system, the connecting flange is fixedly connected on the bearing connecting device, the tail end of the robot system is provided with the flange plate, the small moving slide block and the large moving slide block are connected with the passive compliant device and the bearing connecting device, the small moving slide block is provided with a first slide rail bolt, the small moving slide block adjusts the height of the passive compliant device along the second slide rail through the first slide rail bolt, the large moving slide block is provided with a second slide rail bolt, the large moving sliding block moves the position of the passive compliance device on the bearing connecting device along the first sliding rail through a second sliding rail bolt, the bearing connecting device, the small moving sliding block, the large moving sliding block and the passive compliance device jointly form a passive compliance device system, and the passive compliance device system is connected with the flange plate through a connecting flange.
Further, the passive compliance device is an MRE passive compliance device.
Further, the bearing connecting device is designed to be a regular cuboid.
Further, the MRE passive compliance device comprises an air guide channel, a support bolt, an upper rod, an upper air channel, a check ring, a thick MRE, an annular magnetizer, an excitation coil, a thin MRE, a sucker, an air cavity, a lower air channel, a baffle, a lead, a magnetic conduction shell and a magnetic conduction lower rod.
Further, the supporting bolt is in threaded connection with the upper rod so as to lock the MRE passive compliance device on the supporting table of the small moving slide block.
Furthermore, the air guide channel is connected with an air pipe, air flow is guided out from the air cavity after passing through the lower air channel and the upper air channel during air exhaust, and the upper rod is in spherical connection with the magnetic conduction lower rod.
Further, the retaining ring is located on the outer side of the magnetic conductive shell to limit displacement of the magnetic conductive shell, the MRE passive compliance device forms an excitation coil by winding a conductive wire around the annular magnetic conductor, and the excitation coil is located between the thick MRE and the baffle plate.
Furthermore, the annular magnetizer, the magnetic shell, the magnetic lower rod and the baffle of the passive compliance device are all made of electromagnetic pure iron with high magnetic conductivity, high magnetic saturation intensity and low coercive force.
Further, the sucker is made of rubber materials.
Furthermore, the thick MRE and the thin MRE are respectively formed by curing micron-sized carbonyl iron powder, natural rubber, a vulcanizing agent and a plasticizer in a magnetic field.
The invention also adopts the following technical scheme: a cooperative assembling method of a passive compliant device of a variable stiffness industrial robot comprises the following steps: when the robot is dragged in a free space, an operator applies external force to the adsorption workpiece, the bearing connecting device and the upper rod, the passive compliance performance of the MRE passive compliance device is considered when the operation force is applied to the adsorption workpiece, the current intensity of the magnet exciting coil is adjusted when the robot is dragged in the free space, the high rigidity of the MRE with the thickness of the key element is kept under the action of a magnetic field, the baffle is kept between the sucker and the annular magnetizer, the tail end system of the robot is shown to be high rigidity, the external force F1 applied by the operator when the robot adsorbs the workpiece can be almost nondestructively transmitted to the active compliance control model of the robot, the tail end of the robot adsorbs the adsorption workpiece to generate delta x displacement, and the free space dragging is completed.
The invention also adopts the following technical scheme: a cooperative assembling method of a passive compliant device of a variable stiffness industrial robot comprises the following steps: when the assembly is carried out in a non-strict constraint space, namely the assembly of the plug, the following is concrete:
1) starting active compliance control according to a free space dragging method, adjusting the rigidity of an MRE passive compliance device, stopping the active compliance control after an operator drags an adsorption workpiece to a rough assembly point, and stopping the movement of the robot;
2) the current intensity of the magnet exciting coil is reduced, the magnetic field intensity is reduced, the thick MRE is adjusted to be converted from a high rigidity state to a weak rigidity state, and the baffle is taken out;
3) the flexibility of the MRE passive compliant device is utilized, and the small displacement delta x of the adsorption workpiece is generated by combining the hand application force F1 and the assembly constraint force F2smallSo that the pin is passively inserted into the hole flexibly to complete the assembly.
The invention also adopts the following technical scheme: a cooperative assembling method of a passive compliant device of a variable stiffness industrial robot comprises the following steps: when the space is strictly and tightly restricted, namely the space is assembled along the track, the following is concrete:
1) before the adsorption workpiece moves along a fixed track, reducing the current intensity of an excitation coil, reducing the magnetic field intensity, adjusting the thickness MRE from a high rigidity state to a weaker rigidity state, and taking out the baffle;
2) the active compliance control is started to enable the adsorption workpiece to move along a fixed track, and the flexibility of the passive compliance device is used for absorbing the force of the constraint force F2 perpendicular to the track direction and the deformation delta x caused by the unstable force in the manual force F1 and the constraint force F2 during the movement along the tracksmallConsuming a portion of the force and kinetic energy;
3) after the passive compliance device is consumed, the force F input into the active compliance control model is relatively stable, and the robot is continuously guided to move by delta x, and the displacement of the adsorbed workpiece is delta xsmallAnd + delta x is approximately equal to delta x, and the small deformation of passive compliance correction can avoid the back-and-forth collision of the adsorption workpiece in the constraint space.
The invention has the following beneficial effects: the invention provides a passive compliant device of a variable-rigidity industrial robot and a cooperative assembly method, and the passive compliant device can adapt to the adsorption of workpieces with different curved surfaces, different sizes and different weights by increasing/reducing the number of devices or moving the device in a six-dimensional space according to working conditions. And the detachable recombination function of the device enables the device to have strong adaptability to different workpieces, the flexibility is high, and the bearing range can include light-load to heavy-load workpieces. In addition, by introducing the MRE variable stiffness element, the stiffness performance of the device can be regulated and controlled by changing the current control magnetic field, different effects can be exerted at each stage of assembly, and the requirements on flexibility and rigidity of the device in the man-machine cooperation dragging and assembling process can be reasonably met.
Description of the drawings:
fig. 1 is a schematic diagram of the whole system of the hardware device of the industrial robot.
FIG. 2 is a schematic diagram of a variable stiffness passive compliant device model of the present invention.
Fig. 3 is a diagram of a cooperative assembly scheme of the present invention.
Illustration of the drawings:
due to the existence of the spherical connection, the cooperative assembly scheme diagram analyzed in fig. 3 is suitable for the multi-sucker adsorption case, namely the case that the number of the passive compliant devices is more than or equal to 3 and the passive compliant devices are not collinear. For the single sucker and the collinear suction condition of the sucker, the variable rigidity characteristic of the passive flexible device is weaker, and the passive flexible device is generally considered as a flexible device.
The specific implementation mode is as follows:
embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The industrial robot hardware device overall system comprises a robot body 1, a control cabinet and counterweight element 2, an AGV trolley 3, a connecting flange 4, a flange plate 5, a bearing connecting device 6, a small moving slide 7, a large moving slide 8, an MRE passive compliance device 9, an adsorption workpiece 10, a first slide rail 11 and a second slide rail 12. The robot system is formed by the robot body 1, the control cabinet, the counterweight element 2 and the AGV trolley 3, the connecting flange 4 is fixedly connected to the bearing connecting device 6, and the tail end of the robot system is provided with a flange 5. The small moving slide block 7 and the large moving slide block 8 are used as movable modules in the device and are connected with the MRE passive compliance device 9 and the bearing connecting device 6. The small moving slide block 7 is provided with a first slide rail bolt 701, and the small moving slide block 7 can adjust the height of the MRE passive compliance device 9 along a second slide rail 12 through the first slide rail bolt 701 so as to adapt to the adsorption of workpieces with curved surfaces and irregular surfaces. The large moving slide block 8 is provided with a second slide rail bolt 801, and the large moving slide block 8 can move the position of the MRE passive compliance device 9 on the bearing connecting device 6 along the first slide rail 11 through the second slide rail bolt 801. The large moving slide block 8 is used for adapting to the adsorption of workpieces with different sizes and weights, and the number of the MRE passive compliant devices 9 can be increased or reduced according to the situation, or the large moving slide block moves along the first slide rail 11.
The bearing connecting device 6, the small moving slide block 7, the large moving slide block 8 and the MRE passive compliance device 9 jointly form a passive compliance device system, the passive compliance device system is connected with the flange plate 5 through the connecting flange 4, the bearing connecting device 6 can be designed according to the characteristics of the shape, the size, the weight and the like of the adsorption workpiece 10 in a customized mode, and generally, the bearing connecting device 6 is designed to be a regular cuboid.
The MRE passive compliance device 9 includes an air guide channel 901, a support bolt 902, an upper rod 903, an upper air channel 904, a retaining ring 905, a thick MRE906, an annular magnetic conductor 907, an excitation coil 908, a thin MRE909, a suction cup 910, an air cavity 911, a lower air channel 912, a baffle 913, a wire 914, a magnetically conductive housing 915, and a magnetically conductive lower rod 916.
The MRE passive compliance device 9 is fixedly connected to the bearing connection device 6 through a first slide rail bolt 701 and a second slide rail bolt 801, wherein the support bolt 902 is in threaded connection with the upper rod 903, and the MRE passive compliance device 9 can be locked on the support table 702 of the small moving slider 7. The air guide channel 901 is used for connecting an air pipe, air flow can be guided out from an air cavity 911 through a lower air channel 912 and an upper air channel 904 during air exhaust, and the upper rod 903 is in spherical connection with the magnetic conductive lower rod 916, so that the initial adsorption angle can be adjusted conveniently to adapt to the shape of a workpiece. The retaining ring 905 is located outside the magnetically conductive housing 915 to limit the displacement of the magnetically conductive housing 915, so that the thick MRE906 can sufficiently absorb the flexible deformation of the suction cup 910 and the thin MRE909 during passive compliance adjustment, thereby changing the coordinates of the adsorbed workpiece in the working space. Because the variable stiffness characteristic of the MRE needs to be realized by depending on the transformation of the magnetic field, the MRE passive compliance device 9 forms the excitation coil 908 by winding the conducting wire 914 around the annular magnetizer 907, and the excitation coil 908 is located between the thick MRE906 and the baffle 913, so as to create the magnetic field condition that can change the stiffness of the thick MRE 906.
The variable stiffness compliance adjustment of the MRE passive compliance device 9 mainly comes from the variable stiffness characteristic of the thick MRE906, so that the part of elements can be equivalently replaced by other variable stiffness elements, and the MRE material is taken as an example for explanation in the patent.
In the aspect of material selection, the annular magnetizer 907, the magnetic conduction shell 915 and the magnetic conduction lower rod 916 of the passive compliance device 9 are all made of electromagnetic pure iron with high magnetic conductivity, high magnetic saturation intensity and low coercive force; the suction cup 910 is made of rubber; the thick MRE906 and the thin MRE909 are respectively formed by curing micron-sized carbonyl iron powder, natural rubber, vulcanizing agent, plasticizer and other additives under a magnetic field, and have anisotropy; the rest materials are non-magnetic steel materials.
The MRE passive compliance device 9 adsorbs the workpiece 10 through the vacuum chuck, the sucker 910 contracts along with the discharge of air from the air cavity 911, and under the condition that a plurality of suckers adsorb and contract, the sucker 910 only slightly deforms under the action of external force and can be ignored. During free space towing as in the cooperative assembly scenario of fig. 3, the operator may apply external forces to the suction work piece 10, the load bearing connection 6, and the upper rod 903.
Wherein, the passive compliance performance of the MRE passive compliance device 9 needs to be considered when applying the operating force to the adsorption workpiece 10. Because the large-range dragging of the free space is unconstrained, the passive compliance effect needs to be eliminated or weakened so as not to interfere with the active compliance control process, and the passive compliance performance of the MRE passive compliance device 9 is mainly controlled by the thick MRE906, therefore, the current intensity of the excitation coil 908 needs to be adjusted when the free space is dragged, so that the thick MRE906 of the key element keeps high rigidity under the action of a magnetic field, and the baffle 913 is kept between the suction cup 910 and the annular magnetizer 907, so that the tail end system of the robot shows high rigidity, an external force F1 applied by an operator on the adsorption workpiece 10 can be almost nondestructively transferred to the active compliance control model of the robot, so that the tail end of the robot adsorbs the adsorption workpiece 10 to generate deltax displacement, and the free space dragging is completed. And the parts of the two force application positions are rigidly connected with the tail end of the robot, so that the passive compliance of the MRE passive compliance device 9 is not involved, and the rigid dragging requirement of a free space is met.
When the assembly is carried out in a non-strict and tightly-constrained space as shown in a cooperative assembly scheme diagram of fig. 3, such as high-precision bolt assembly, the assembly method at the moment is as follows:
1) starting active compliance control according to a free space dragging method, adjusting the rigidity of the MRE passive compliance device 9, stopping the active compliance control after an operator drags an adsorption workpiece to a rough assembly point, and stopping the movement of the robot;
2) by reducing the current intensity of the exciting coil 908 and reducing the magnetic field intensity, the thick MRE906 is adjusted to be converted from a high rigidity state to a weak rigidity state, wherein the weak rigidity state refers to the movement with the maximum displacement of 5mm after the adsorption workpiece 10 is passively compliant by the MRE passive compliance device 9 under the action of the manual force F1 of an operator. In the state adjustment process, the robot needs to be kept still, and the baffle 913 is taken out;
3) by utilizing the flexibility of the MRE passive compliance device 9, an operator applies external force to the adsorption workpiece to calibrate the hole position, and continuously adjusts the relative position relationship between the holes in the plugging process, thereby ensuring the plugging process to be smooth. And for the high-precision bolt inserting process, a hammer is used for hammering the pin tail to complete assembly.
During assembly in a tightly constrained space as shown in the cooperative assembly scheme of fig. 3, such as assembly along a track, the assembly strategy is as follows:
1) before the adsorption workpiece moves along a fixed track, the current intensity of the excitation coil 908 is reduced, the magnetic field intensity is reduced, and the thick MRE906 is adjusted to be changed from a high-rigidity state to a weaker-rigidity state, wherein the weaker-rigidity state refers to that the adsorption workpiece 10 can move slightly with a displacement not exceeding 3mm after being passively subjected to compliance by the MRE passive compliance device 9 under the action of operator manpower F1. In the state adjustment process, the robot needs to be kept still, and the baffle 913 is taken out;
2) the active compliance control is started to enable the adsorption workpiece 10 to move along a fixed track, and the flexibility of the passive compliance device 9 is used for absorbing the force of the constraint force F2 perpendicular to the track direction and the deformation delta x caused by the unstable force in the manual force F1 and the constraint force F2 when the adsorption workpiece moves along the tracksmallA portion of the force and kinetic energy is consumed.
3) After the passive compliance device 9 is consumed, the force F input into the active compliance control model is relatively stable, and the robot is continuously guided to move by the displacement of delta x, and at the moment, the displacement of the adsorption workpiece 10 is delta xsmallAnd + delta x is approximately equal to delta x, and the small deformation of passive compliance correction can avoid the back-and-forth collision of the adsorption workpiece in the constraint space.
The above are only preferred embodiments of the present invention, and the scope of the present invention is not limited to the above examples, and all technical solutions that fall under the spirit of the present invention belong to the scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art without departing from the principles of the present invention may be apparent to those skilled in the relevant art and are intended to be within the scope of the present invention.
Claims (13)
1. A passive compliance device of industrial robot of variable rigidity which characterized in that: the rigidity-variable passive compliance device system of the industrial robot comprises a robot body (1), a control cabinet and counterweight element (2), an AGV trolley (3), a connecting flange (4), a flange plate (5), a load-bearing connecting device (6), a small moving slide block (7), a large moving slide block (8), a passive compliance device (9), an adsorption workpiece (10), a first slide rail (11) and a second slide rail (12), wherein the robot body (1), the control cabinet and counterweight element (2) and the AGV trolley (3) form the robot system, the connecting flange (4) is fixedly connected to the load-bearing connecting device (6), the flange plate (5) is arranged at the tail end of the robot system, the small moving slide block (7) and the large moving slide block (8) are connected with the passive compliance device (9) and the load-bearing connecting device (6), a first slide rail bolt (701) is installed on the small moving slide block (7), the height of the passive compliance device (9) is adjusted by the small moving sliding block (7) through the first sliding rail bolt (701) along the second sliding rail (12), the second sliding rail bolt (801) is installed on the large moving sliding block (8), the large moving sliding block (8) moves the position of the passive compliance device (9) on the bearing connecting device (6) through the second sliding rail bolt (801) along the first sliding rail (11), the bearing connecting device (6), the small moving sliding block (7), the large moving sliding block (8) and the passive compliance device (9) jointly form a passive compliance device system, and the passive compliance device system is connected with the flange plate (5) through the connecting flange (4).
2. A variable stiffness passive compliance device for an industrial robot as claimed in claim 1 wherein: the passive compliance device (9) is an MRE passive compliance device.
3. A variable stiffness passive compliant device for an industrial robot as claimed in claim 1 wherein: the load-bearing connecting device (6) is designed as a regular cuboid.
4. A variable stiffness passive compliant device for an industrial robot as defined in claim 2 wherein: the MRE passive compliance device (9) comprises an air guide channel (901), a supporting bolt (902), an upper rod (903), an upper air channel (904), a retainer ring (905), a thick MRE (906), an annular magnetizer (907), an excitation coil (908), a thin MRE (909), a sucker (910), an air cavity (911), a lower air channel (912), a baffle plate (913), a lead (914), a magnetic conductive shell (915) and a magnetic conductive lower rod (916).
5. The passive compliant device of a variable stiffness industrial robot of claim 4 further comprising: the supporting bolt (902) is in threaded connection with the upper rod (903) so as to lock the MRE passive compliance device (9) on the supporting table (702) of the small moving slide block (7).
6. A variable stiffness passive compliant device for an industrial robot as in claim 5 wherein: the air guide channel (901) is connected with an air pipe, air flow is guided out from an air cavity (911) after passing through the lower air channel (912) and the upper air channel (904) during air exhaust, and the upper rod (903) is in spherical connection with the magnetic lower rod (916).
7. The passive compliant device of a variable stiffness industrial robot of claim 6 further comprising: the retaining ring (905) is located on the outer side of the magnetic conductive shell (915) and used for limiting the displacement of the magnetic conductive shell (915), the MRE passive compliance device (9) forms an excitation coil (908) in a mode that a conducting wire (914) is wound on an annular magnetic conductor (907), and the excitation coil (908) is located between the thick MRE (906) and the baffle plate (913).
8. A variable stiffness passive compliance device for an industrial robot as claimed in claim 7 wherein: the annular magnetizer (907), the magnetic shell (915), the magnetic lower rod (916) and the baffle plate (913) of the passive compliance device (9) are all made of electromagnetic pure iron with high magnetic conductivity, high magnetic saturation intensity and low coercive force.
9. The passive compliant device of a variable stiffness industrial robot of claim 8 further comprising: the sucker (910) is made of rubber materials.
10. A variable stiffness passive compliant device for an industrial robot as defined in claim 9 wherein: the thick MRE (906) and the thin MRE (909) are respectively formed by curing micron-sized carbonyl iron powder, natural rubber, a vulcanizing agent and a plasticizer under a magnetic field.
11. A cooperative assembling method of a passive compliant device of an industrial robot with variable rigidity is characterized in that: the method comprises the following steps: when the robot is dragged in a free space, an operator applies external force to the adsorption workpiece (10), the bearing connecting device (6) and the upper rod (903), when the operator applies operating force to the adsorption workpiece (10), the passive compliance performance of the MRE passive compliance device (9) is considered, the current intensity of the excitation coil (908) is adjusted when the robot is dragged in the free space, the critical element thickness MRE (906) is kept to be high in rigidity under the action of a magnetic field, the baffle (913) is kept between the suction disc (910) and the annular magnetizer (907), a robot tail end system is made to be high in rigidity, the external force F1 applied by the operator on the adsorption workpiece (10) can be almost undamaged and transmitted to the robot active compliance control model, the adsorption workpiece (10) is adsorbed at the tail end of the robot to generate delta x displacement, and free space dragging is completed.
12. A cooperative assembling method of a passive compliant device of an industrial robot with variable rigidity is characterized in that: the method comprises the following steps: when the assembly is carried out in a non-strict constraint space, namely the assembly of the high-precision bolt, the method specifically comprises the following steps:
1) starting active compliance control according to a free space dragging method, adjusting the rigidity of an MRE passive compliance device (9), stopping the active compliance control after an operator drags an adsorption workpiece to a rough assembly point, and stopping the movement of the robot;
2) adjusting the thick MRE (906) from a high stiffness state to a low stiffness state by reducing the current intensity of the excitation coil (908) and reducing the magnetic field intensity, and taking out the baffle (913);
3) the flexibility of the MRE passive compliant device (9) is utilized, and the small displacement delta x of the adsorption workpiece is generated by combining the hand application force F1 and the assembly constraint force F2smallSo that the pin is passively inserted into the hole flexibly to complete the assembly.
13. A cooperative assembling method of a passive compliant device of an industrial robot with variable rigidity is characterized in that: the method comprises the following steps: when the space is strictly restricted, namely the space is assembled along the track, the following is specific:
1) before the adsorption workpiece (10) moves along a fixed track, the current intensity of the excitation coil (908) is reduced, the magnetic field intensity is reduced, the thick MRE (906) is adjusted to be converted from a high-rigidity state to a weaker-rigidity state, and the baffle (913) is taken out;
2) the active compliance control is started to enable the adsorption workpiece (10) to move along a fixed track, and the flexibility of the passive compliance device (9) is used for absorbing the force of the constraint force F2 perpendicular to the track direction and the deformation delta x caused by unstable force in the manpower F1 and the constraint force F2 when the adsorption workpiece moves along the tracksmallA portion of the force and kinetic energy is consumed.
3) After the passive compliance device (9) is consumed, the force F input into the active compliance control model is stable, the robot is continuously guided to move by delta x, and the displacement of the adsorption workpiece (10) is delta xsmallAnd + delta x is approximately equal to delta x, and the small deformation of passive compliance correction can avoid the back-and-forth collision of the adsorption workpiece in the constraint space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210140652.XA CN114654499B (en) | 2022-02-16 | 2022-02-16 | Variable-rigidity passive compliance device of industrial robot and cooperative assembly method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210140652.XA CN114654499B (en) | 2022-02-16 | 2022-02-16 | Variable-rigidity passive compliance device of industrial robot and cooperative assembly method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114654499A true CN114654499A (en) | 2022-06-24 |
| CN114654499B CN114654499B (en) | 2023-10-24 |
Family
ID=82027511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210140652.XA Active CN114654499B (en) | 2022-02-16 | 2022-02-16 | Variable-rigidity passive compliance device of industrial robot and cooperative assembly method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114654499B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101238775A (en) * | 2008-03-18 | 2008-08-13 | 江苏大学 | Fruit and vegetable harvesting robot complaisance picking end effector |
| CN101659054A (en) * | 2009-09-09 | 2010-03-03 | 大连理工大学 | Capsule robot and multi-wedge effect drive control method thereof |
| CN101670578A (en) * | 2009-09-17 | 2010-03-17 | 北京深浪电子技术有限公司 | Arm extending type braking multi-CCD full-angle route inspecting robot |
| DE102010010718A1 (en) * | 2010-03-09 | 2011-09-15 | Kuka Laboratories Gmbh | Method for assembling components by means of an industrial robot |
| CN104002299A (en) * | 2014-05-12 | 2014-08-27 | 西安理工大学 | Six-degree-of-freedom parallel micro platform |
| CN106041933A (en) * | 2016-07-06 | 2016-10-26 | 上海交通大学 | Robot polishing and grinding system and passive compliance and active compliance mixed control method |
| CN209223528U (en) * | 2018-11-12 | 2019-08-09 | 中国工程物理研究院激光聚变研究中心 | Device is matched in a kind of makeup of axis hole parts batch |
-
2022
- 2022-02-16 CN CN202210140652.XA patent/CN114654499B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101238775A (en) * | 2008-03-18 | 2008-08-13 | 江苏大学 | Fruit and vegetable harvesting robot complaisance picking end effector |
| CN101659054A (en) * | 2009-09-09 | 2010-03-03 | 大连理工大学 | Capsule robot and multi-wedge effect drive control method thereof |
| CN101670578A (en) * | 2009-09-17 | 2010-03-17 | 北京深浪电子技术有限公司 | Arm extending type braking multi-CCD full-angle route inspecting robot |
| DE102010010718A1 (en) * | 2010-03-09 | 2011-09-15 | Kuka Laboratories Gmbh | Method for assembling components by means of an industrial robot |
| CN104002299A (en) * | 2014-05-12 | 2014-08-27 | 西安理工大学 | Six-degree-of-freedom parallel micro platform |
| CN106041933A (en) * | 2016-07-06 | 2016-10-26 | 上海交通大学 | Robot polishing and grinding system and passive compliance and active compliance mixed control method |
| CN209223528U (en) * | 2018-11-12 | 2019-08-09 | 中国工程物理研究院激光聚变研究中心 | Device is matched in a kind of makeup of axis hole parts batch |
Non-Patent Citations (1)
| Title |
|---|
| 陆盛等: "康复机器人柔顺变刚度驱动机构研究进展", 中国康复理论与实践, vol. 27, no. 6, pages 627 - 636 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114654499B (en) | 2023-10-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204748076U (en) | Bell housing positioning and clamping device | |
| US6784776B2 (en) | Pole-piece unit, method for assembling the same, and magnetic field generator | |
| CN202922587U (en) | Flexible clamping mechanism | |
| CN111098327B (en) | Electric permanent magnet type mechanical arm tool hand quick changer | |
| WO2012101953A1 (en) | Gripping device, transfer device with same, and method for controlling gripping device | |
| CN105081107A (en) | Drawing forming die with blank pressing conducted by adopting electronic control permanent magnet technique and blank pressing method of drawing forming die | |
| CN108980246B (en) | Vibration isolator based on quasi-zero rigidity | |
| CN111963602B (en) | Bistable nonlinear energy hydrazine based on electromagnetic negative stiffness | |
| CN113172511A (en) | Robot polishing actuator based on constant force mechanism | |
| Zhong et al. | Dynamic performance and control accuracy of a novel proportional valve with a switching technology-controlled pilot stage | |
| CN114654499A (en) | Rigidity-variable industrial robot passive compliant device and cooperative assembly method | |
| CN112247972A (en) | Terminal conformal compliance module | |
| CN104763820A (en) | Two-position three-way valve and vibration isolation system with same | |
| CN108058184B (en) | Electromagnetic adsorption type switching device for clamp switching | |
| CN107745274A (en) | A kind of modularization fixture for automatic production line | |
| CN201556495U (en) | Permanent magnet device for controlling magnetic force by changing magnetic circuit structure | |
| CN113829222B (en) | Robot end polishing actuator and control method | |
| CN212761181U (en) | High-low pressure switching device for chuck | |
| CN118003374A (en) | Variable-rigidity connecting device with vibration reduction function and using method thereof | |
| CN210938173U (en) | Small-size thin wall non-magnetic conduction work piece positioning and clamping device suitable for automation line | |
| CN219340935U (en) | Magnetic core feeding and discharging mechanism | |
| CN217518988U (en) | Magnetic force buffering structure for piston in hydraulic cylinder | |
| CN220636815U (en) | Spot welding fixture | |
| CN112563179B (en) | Deflection type piezoelectric micro-nano wafer deflection table | |
| CN216045723U (en) | Valve core and moving iron fixing structure of proportional solenoid valve |
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 |