摘要
对于航天装备的组装、部装和总装,采用机器人自动智能装配代替手工装配,是提升航天装备组装效率和精度、一致性和安全性以及应对突发情况、降低人工成本的重要技术。本文针对航天装备舵机安装的实际需求,开发了基于3D视觉与力控反馈的双机械臂协同自动装配机器人系统,主要采用3D视觉实现舵机、基座和螺丝孔洞的识别与精准定位,采用6维力传感器实现机械臂对于舵机的柔性抓取与放置,最终利用智能电批完成整个舵机工件的螺丝锁付操作。实验结果表明:采用以上技术方案,对于舵机安装基座和螺丝孔洞的位姿识别,精度可达到±0.1 mm,姿态角可以达到±0.2°,因而能实现带定位销精密工件的柔性装配以及高精度的螺丝孔识别和螺丝锁付,且舵机的安装效率提高30%。
For the assembly process of aerospace equipment,the robot automatic intelligent assembly is an excellent substitute for manual mode,depending on the advantage to improve assembly efficiency,reduce labor cost and ensure the assembly accuracy,consistency and safety.In this paper,according to the actual needs of the installation of the steering gear in aerospace equipment,a dual manipulator cooperative automatic assembly robot system based on 3D vision and force control feedback is developed.It mainly uses 3D vision to realize the identification and accurate positioning of the actuator,base and screw holes,and uses six dimensional force sensor to realize the flexible grasp and placement of the manipulator for the actuator.Finally,it uses the intelligent electric screwdriver to complete the screw locking operation of the entire actuator workpiece.The experimental results show that the visual identification of highprecision screw holes/locating pins and force-controlled assembly of steering gear with an accuracy of±0.1mm,the attitude angle can reach±0.2°,thus realizing high-precision grasping,placing and screw locking installation of steering gear,and the installation efficiency of actuator can be improved by 30%.
作者
蔡虎
李倩
曹英荣
刘英智
刘丁洋
Cai Hu;Li Qian;Cao Yingrong;Liu Yingzhi;Liu Dingyang(Beijing Xinghang Mechanical-electeonic Equipment Co.,Ltd.,Beijing 100074)
出处
《航天制造技术》
2025年第6期58-65,共8页
Aerospace Manufacturing Technology
关键词
机器视觉
视觉伺服
力控柔性装配
双臂协作机器人
螺丝锁付
machine vision
visual servoing
force controlled compliant assembly
double arm cooperative robot
screw lock
