Nine-degree-of-freedom robot tightening control method for assembling thin-wall large threaded part

Abstract

The invention discloses a nine-degree-of-freedom robot tightening control method for assembling a thin-wall large threaded part. The robot tightening control system comprises a tightening controller, a six-degree-of-freedom Stewart platform and a three-degree-of-freedom series mechanism, wherein the six-degree-of-freedom Stewart platform is located at the bottom and used for adjusting the pose of an upper platform tightening mechanism; the three-degree-of-freedom series mechanism is fixed to the six-degree-of-freedom Stewart platform and used for executing tightening control; a laser ranging module is used for collecting information about the distance between a shell and a to-be-assembled bolt piece, and axial alignment of the bolt piece and the shell and pose error correction in the fitting stage are achieved through a pose compensation algorithm; and a switching control method based on a pose / torque / corner controller is used, and a segmented switching control strategy is executed according to feedback information of various heterogeneous sensors. According to the method, automatic alignment, error compensation and tightening control operations in the assembly of the thin-wall large-thread part are realized, the occurrence probability of the thread pair jamming phenomenon can be reduced, and the assembly efficiency and quality of the thin-wall large-thread part are effectively improved.

Description

technical field [0001] The invention belongs to the technical field of robot control in the assembly operation of large threaded parts, and in particular relates to a nine-degree-of-freedom robot tightening control method for assembling thin-walled large threaded parts. Background technique [0002] Threaded joints are one of the most common mechanical products in mechanical assembly, among which tightening control technology is the core technology of threaded parts assembly, which is related to the reliability of the connection and the overall quality of the product. Compared with ordinary small-size threaded connectors, thin-walled large threaded parts, round tubular parts with a ratio of outer diameter to wall thickness greater than 20, due to the characteristics of size and structure, the assembly process is special and the assembly is difficult. The radial rigidity of the internal thread of this kind of parts is small, and may be deformed when subjected to radial load, ...

AI Technical Summary

Problems solved by technology

When the friction resistance moment of the thread pair is greater than the design torque of the large thread assembly, the thread pair will be stuck, which will affect the assembly quality of the thin-walled large threaded parts

[0003] Due to the particularity of the assembly process of thin-walled large threaded parts, it is difficult to complete the assembly with the existing tightening control method

At present, the assembly of such parts is mostly realized by manual operation, which not only requires high experience of operators, but also has relatively low assembly efficiency.

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