The Key Technology Research Of Multi-information Fusion Printing Machine Assembly Robot

Printing machine bearing sleeve assembly is a typical shaft hole assembly operation.Printing presses are generally large,complex,expensive and difficult to install various mechanical parts,of which the sleeve assembly process is the most complex.The printing machine sleeve is a circular device installed between the printing machine bearing and the body wall plate for the purpose of receiving and protection.Because of the large weight of the sleeve itself,the location of the sleeve is relatively critical,so the installation of high precision requirements,but also because of this reason,the difficulty factor of the installation of the sleeve is more difficult than other parts of the printing machine installation drugs.In China,even in the printing machine manufacturing industry has a weighty status of enterprises can only use manual installation,but manual installation will have low installation efficiency,injury to workers’ bodies and other problems.The robot is designed with a six-degree-of-freedom parallel mechanism as the motion actuator,and three sensing systems are designed to measure and collect the corresponding information,namely the visual position measurement system,the laser position measurement system and the six-dimensional force/torque sensor measurement system,together with a complete and practical software and hardware control system to realize the purpose of automatic assembly of printing machine sleeves.The purpose of automatic assembly of printing machine sleeves.The main research elements in the paper are as follows:(1)A multi-information fusion printing press assembly robot is proposed and designed,which uses a six-degree-of-freedom parallel mechanism as the motion actuator,three sensing systems,namely,a visual posture measurement system,a laser posture measurement system,and a six-dimensional force/moment sensor measurement system,to measure and collect the corresponding information,and a complete and practical hardware and software control system.Multi-information fusion refers to the fusion of posture information from the vision measurement system,posture information from the laser posture measurement system,and force information from the six-dimensional force/torque sensor measurement system,with the aim of calculating the reasonable position of the probing fixture into the through-hole for further automated assembly.(2)The key algorithms involved in this thesis are proposed and verified,including: the inverse solution algorithm of the six-degree-of-freedom parallel mechanism and the probing tooling,which is solved by establishing the relationship between the laser sensor readings in the laser posture measurement system and the relationship between the probing tooling and the rod length;the binocular camera calibration algorithm in the visual posture measurement system and the axis posture solution algorithm in the probing tooling under the camera system The six-dimensional force/moment sensor measurement system is used to determine and collect data on possible non-contact forces at the end of the tooling.(3)A multi-information fusion printing machine assembly robot control system software is studied and designed to make the control of this robot more convenient.