A nine-degree-of-freedom robot tightening control method for the assembly of thin-walled large threaded parts

Abstract

The invention discloses a nine-degree-of-freedom robot tightening control method for assembling thin-walled large screw parts. The robot tightening control system includes a tightening controller, a six-degree-of-freedom Stewart platform at the bottom for adjusting the posture of the upper platform tightening mechanism, A three-degree-of-freedom series mechanism fixed on a six-degree-of-freedom Stewart platform for tightening control; the laser ranging module is used to collect the distance information between the shell and the bolts to be assembled, and the axis of the bolts and the shell is realized through the pose compensation algorithm. Pose error correction in the alignment and bonding stages; using a switching control method based on a pose / torque / rotation angle controller, and performing a segmented switching control strategy according to feedback information from various heterogeneous sensors; the invention realizes thin-walled large The automatic alignment, error compensation, and tightening control operations in the assembly of threaded parts can reduce the probability of thread pair jamming, and effectively improve the assembly efficiency and quality of thin-walled large threaded parts.

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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