Research On Key Technologies Of Robot Collaborative Assembly For Micro Motors

The structure of micro-motor is complex,the number of parts is large and the assembly accuracy requirement is high.The assembly accessibility of some parts is poor,which is easy to cause assembly interference.Automated assembly technology,especially robot collaborative assembly technology,can improve the assembly efficiency and accuracy of micro-motor parts,and effectively reduce labor costs.In this paper,the automatic assembly of micro-motor components is studied.The main work and research contents are as follows:(1)Aiming at the assembly problem of a certain type micro-motor components,a two-robot collaborative assembly system for micro-motor is designed,and the overall design is carried out from three aspects: system structure,assembly process and system composition.(2)The kinematics constraints of the two-robot collaborative assembly system are derived,and the principle of motion planning for master and slave robots in collaborative assembly is derived.Taking ABB IRB 140 robot as an example,the forward kinematics and inverse kinematics equations are established,and the virtual simulation system of micro-motor automatic assembly product line is established in V-REP software to verify the kinematics of ABB IRB140 robot and assembly process.(3)A dynamic measurement system of four-station wire encoder is adopted to calibrate the base frame of the robot.The calibration methods of the base frame of two robots and multi-robots are deduced,and the calibration methods are verified by experiments on two robots.The results show that the proposed calibration method has high precision and meets the assembly task requirements.(4)The opinion that the layout of dual robots affects their workspace and collaborative workspace is put forward.Monte Carlo method is used to solve the workspace of two robots,and space meshing method is used to calculate the cooperative workspace of two robots.In the established virtual simulation environment,the proposed workspace and collaborative workspace calculation method are verified.The results show that the precision is high and meets assembly requirements.The robot collaborative technology proposed in this paper can improve the flexibility,efficiency and accuracy of automatic assembly of micro-motors,greatly improve the level of assembly process and production efficiency,effectively reduce human costs,and promote the quality and efficiency of enterprises.