RV减速器装配机器人系统设计

RV Reducer Moveable Assembly Robot System Design

在分析了RV减速器配件支撑盘和针齿壳的装配要求后,设计了由AGV和机械臂组成的移动装配机器人系统来代替人工实现工件的装配,以提高RV减速器工件的装配速度与精度,减少人为因素影响。提出了二次目标定位的机械臂定位控制策略,弥补了AGV的定位误差,提高了机器人的识别精度,减小了系统整体运行时间。利用HALCON软件实现对装配对象的识别与定位,加入了去除物体阴影的自适应阈值算法,提高了目标的识别速度和精度。大量实验测试表明,所设计的机器人能够完成RV减速器支撑盘和针齿壳的定位抓取和装配工作,最大定位误差为0.906mm,平均定位误差为0.4325mm,平均识别时间为0.695s。在现有软硬件条件下,该系统能够替代人工完成1mm内的间隙配合装配工作。

After analyzing the assembly requirements of the RV reducer supporting-plate and the pin-wheel, a mobile assembly robot system consisting of AGV and robot arm is designed to replace the manual assembly works, which reducing the influence of human factors. A control strategy of secondary target-position of the robot arm is proposed, to remedy the position error of the AGV, to improve the recognition accuracy and to reduce the overall running time. The three-dimensional recognition and positioning of the assembly objects is achieved by HALCON software, adding the improved adaptive threshold algorithm to remove the shadow of the object, which to improve the recognition speed and accuracy. The large number of experiments shows that the position and assembly tasks can be fullfilled with the maximum position error 0.906 mm, average position error 0.4325 mm, and average recognition 0.695 s, which means the designed system can be the replacement of manual assembly work within 1 mm clearence with existing hardware nad software.