Title:
SCREW INSERTION METHOD FOR LARGE-SIZE PEG-IN-HOLE WORKPIECE ASSEMBLY
Document Type and Number:
WIPO Patent Application WO/2021/003869
Kind Code:
A1
Abstract:
A screw insertion method for large-size peg-in-hole workpiece assembly. During implementation, a mechanical arm (M) receives a movement instruction of an upper computer (C), and manipulates a large-size workpiece peg (P) so as to be inserted into a large-size workpiece hole (H) in the form of reciprocating screw movement; a force sensor (S) monitors, in real time, the contact force/moment between the peg and the hole; and the upper computer (C) uses the pose of the end of the mechanical arm (M) during assembly and the contact force/moment between the peg and the hole, to implement the function of adjusting the relative pose between the peg and the hole. Furthermore, the present invention is used to monitor the jamming state of peg-in-hole assembly, and adjust movement parameters of screw insertion, so as to reduce the frictional resistance between large-size peg-in-hole workpieces, and prevent mechanical jamming.
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Inventors:
XU JING (CN)
LIU ZHI (CN)
CHEN KEN (CN)
WU DAN (CN)
WANG GUOLEI (CN)
LIU ZHI (CN)
CHEN KEN (CN)
WU DAN (CN)
WANG GUOLEI (CN)
Application Number:
PCT/CN2019/110631
Publication Date:
January 14, 2021
Filing Date:
October 11, 2019
Export Citation:
Assignee:
UNIV TSINGHUA (CN)
International Classes:
B23P19/04; B23P19/00
Foreign References:
| CN102218652A | 2011-10-19 | |||
| CN106112505A | 2016-11-16 | |||
| CN106335057A | 2017-01-18 | |||
| CN109382828A | 2019-02-26 | |||
| US5566436A | 1996-10-22 | |||
| JP2008221387A | 2008-09-25 |
Attorney, Agent or Firm:
TSINGYIHUA INTELLECTUAL PROPERTY LLC (CN)
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