Research On Key Technologies Of Automatic Wire Assembly Based On Six Degrees Of Freedom Robot

With the advancement of technology and the development of the times,all aspects of devices in modern society are moving towards informatization and intelligence.And intelligent upgrade requires the installation of a large number of wires in the device as the basic carrier of information transmission,power transmission and other processes.The quality of the wire assembly directly affects the overall performance of the device,so the assembly of the wire becomes more and more important.The survey found that the work of wire assembly is mainly performed manually,but manual assembly has problems such as low efficiency and poor quality,which greatly affects the production of enterprises.Starting from the actual needs of the enterprise,this paper studies the key technologies of automatic wiring based on a6-dof robot,focuses on the force model of the fine wiring and the hole-finding strategy facing porous surfaces.The main work of this article is as follows:(1)Design the process and method of automatic wiring.According to the characteristics of wire assembly,the process and overall plan for automatic wiring are designed.Then the force control,communication,vision,clamping and other functional modules in the automatic wiring are designed and implemented according to the overall wiring plan.(2)Analyze the geometric constraints during the fine wiring and establish a force model of the fine wiring.The fine wiring process is designed,which including approaching the connector,recognizing the contact state and correcting the deviations.Through the geometric analysis of the wire end and the connector hole,the range of the force control is defined,and the contact states between the wire end and the connector hole are summarized into three types of unidirectional deviation,bidirectional deviation and no deviation.The force model of the fine wiring is established by the force analysis of various contact states between the wire end and the connector hole.(3)Propose a hole-finding strategy for porous surfaces.By analyzing the relationship between the axial force change of the wire end in the exploration action and the contact state of the wire and hole,a recognition strategy is proposed for identifying the contact state of the wire end and the target hole through the active exploration action.Corresponding alignment strategies are designed according to different contact states between the wire and the hole,anda blind search method based on a limited range is proposed,which can design a hole-finding trajectory for the contact states in which the direction of correction can not be determined.(4)Build a wiring experiment platform and conduct wiring experiments.A wiring experiment platform is built according to the wiring plan.On this basis,the feasibility of the wiring model and strategy is verified through the wiring experiment,and the wiring performance is evaluated by counting lots of experiment results.The results show that the fine wiring model and hole-finding strategy proposed in this paper can identify the contact state between the wire end and the connector,correct the deviation of various contact states,and provide technical solutions for the automatic wiring task.