Robot automatic step-by-step bolt assembly method and system and double-arm robot
The invention relates to the technical field of robot automatic assembly, and provides a robot automatic step-by-step bolt assembly method and system and a double-arm robot. The method comprises the following steps of driving a first mechanical arm to clamp a pin to a first preassembly point located...
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| creator | ZHOU XINZHAO ZHANG MIN LI BIQIANG LI MIAO YAN LIN MING PENG FU ZHONGTAO LONG HUICAI |
| description | The invention relates to the technical field of robot automatic assembly, and provides a robot automatic step-by-step bolt assembly method and system and a double-arm robot. The method comprises the following steps of driving a first mechanical arm to clamp a pin to a first preassembly point located in a first mechanical arm base coordinate system; driving a second mechanical arm to clamp a pin seat with an inlet into a second preassembly point located in a second mechanical arm base coordinate system; obtaining inlet three-dimensional information of the inlet in the second machine arm base coordinate system when the pin seat is positioned at the second preassembly point; continuously detecting multi-dimensional force information of a pin wall on the pin seat in the second mechanical arm base coordinate system; and driving a first preassembly point of the first mechanical arm to start to assemble the pin into the pin seat step by step according to the three-dimensional information of the inlet and the multi-d |
| format | Patent |
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| language | chi ; eng |
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| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMBINED OPERATIONS HAND TOOLS MACHINE TOOLS MANIPULATORS METAL-WORKING NOT OTHERWISE PROVIDED FOR OTHER WORKING OF METAL PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING UNIVERSAL MACHINE TOOLS |
| title | Robot automatic step-by-step bolt assembly method and system and double-arm robot |
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