多传感器在机器人精准装配中的应用

Application of Multisensor in Robotic Precision Aassembly

传统机器人工件装配系统对工件运输系统要求高,一旦出现误差就会影响装配的质量与装配的成功率,在实际推广中受到很大限制。采用位移传感器与力控传感器联合工作的机器人精准装配方法,通过位移传感器实现工件位姿的粗略调整,力传感器对工件装配过程优化,提升了装配的精度。将提出的机器人精准装配方法应用于孔类零件与轴类零件装配中,结果表明,该方法对工件运输系统的适应性强,工件装配效率高,对产品生产中推广机器人装配具有一定的实际指导意义。

The traditional robot workpiece assembly system has high requirements for the workpiece transportation system.Once there is an error,it will affect the assembly quality and the success rate of assembly,and the actual popularization is thus greatly limited.A robotic precision assembly method using displacement sensor and force control sensor is proposed.The rough adjustment of workpiece position and posture is realized through displacement sensor.The force control sensor optimizes the workpiece assembly process and improves assembly accuracy.The proposed method is applied to the assembly of hole parts and shaft parts.The results show that this method has strong adaptability to the workpiece transportation system and high assembly efficiency,which has some practical guiding significance for the promotion of robotic assembly in product production.