大重部件的高精度轴孔自动装配技术研究  

Experimental Study on Assembly of High Precise Peg-in-Hole with Heavy Load Based on Robot

作　　者：陈东生[1] 张世玉 姚云飞 CHEN Dong-sheng;ZHANG Shi-yu;YAO Yun-fei(Institude of Mechanical Technology,China Academy of Engineering and Physics,Sichuan Mianyang 621900,China)

机构地区：[1]中国工程物理研究院机械制造工艺研究所,四川绵阳621900

出　　处：《机械设计与制造》2023年第11期160-163,168,共5页Machinery Design & Manufacture

摘　　要：在一些高新技术装备中有一类轴孔零件:体积大、质量重,轴孔无倒角,且配合间隙为0.05mm左右。这类零件的装配多以人工手动操作为主,但手动装配较难控制装配接触力及配合精度,在装配过程中又存在较高的磕碰风险。这里对轴孔高精度装配方法及精度进行了分析,提出了基于视觉+力位混合控制的柔顺装配方法。并设计了轴孔装配实验系统,对直接装配、示教装配、柔顺装配方法开展了实验研究,通过实验发现:由于视觉测量的精度较低,直接装配方法无法实现精密装配;由于机器人重复精度的影响,基于示教的重复装配方法在多次装配后无法正常入装;基于视觉+力位反馈,柔顺控制算法得到调节量,机器人在5次左右调节后可完成轴孔的精密装配。In some high-tech equipment,there is a kind of peg-in-hole parts:large volume,heavy weight,shaft hole without chamfering,and small clearance:About 0.05mm.The assembly of such parts is mainly manual operation,but manual assembly is difficult to control the assembly contact force and fitting accuracy,and there is a high risk of collision in the assembly process.The high-precision peg-in-hole assembly method are analyzed.Flexible assembly method based on vision and force position hybrid control are proposed.In order to verify the effectiveness of the three assembly methods:direct assembly method,teaching assembly method,and flexible assembly method,the peg-in-hole assembly experimental system was designed.Based on the experimental system,it was found that due to the low accuracy of visual measurement,direct assembly method could not achieve precision assembly;Due to the influence of robot repetitive precision,the repeated assembly method based on teaching could not be installed normally after multiple assembly;Based on vision and force position feedback,the compliance control algorithm can obtain the adjustment value.After 5 times of adjustment,the robot can complete the precise assembly of the shaft hole.

关 键 词：力/力矩反馈 机器人 轴孔装配 柔顺装配 

分 类 号：TH16[机械工程—机械制造及自动化] TH161