| 标 题： |
A Bolt Fastening Robot System Based on Hybrid Vision and Its Effect Analysis of Process Parameters on Fastening Performance
基于混合视觉的螺栓紧固机器人系统及其工艺参数对紧固性能的影响分析 |
| 作 者： |
Jianzhou Chen
Zhifeng Liu
Jingjing Xu
Lianming Hun
Long Tao
Kaiguo Peng |
| 关键词： |
Assembly [装配]
Robotic system [ 机器人系统]
Hybrid vision [ 混合视觉]
Process parameters [ 工艺参数] |
| 出版年： |
2025 |
| 文集名： |
Intelligent Robotics and Applications
智能机器人与应用 |
| 会议名： |
17th International Conference on Intelligent Robotics and Applications (ICIRA 2024)
第17届智能机器人与应用国际会议（ICIRA 2024） |
| 届 次： |
17th |
| 摘 要： |
With the improvement of industrial automation levels, the demand for automatic assembly increases. In this work, a bolt fastening robotic system based on hybrid vision is proposed to enhance environmental adaptability and reduce costs. In its fastening strategy, the hole pose is determined accurately using hybrid vision, which uses the scene camera to obtain the rough pose and uses the end-effector camera to obtain the precision pose based on its high-quality images acquisition. After the positioning, the efficiency of the fastening process is significantly influenced by motion parameters of the robotic system, such as the angle between bolt and hole, the speed of the end-effector, and the rotation speed of the tool. The maximum allowable angle of bolt and hole is calculated. The M10 bolt can be smoothly inserted into the hole when angle is less than 2.92 degrees. The experiments were conducted to investigate how changes in these motion parameters collectively impact bolt fastening efficiency. Changes in the angle between the bolt and the hole do not affect the robotic bolt fastening efficiency. These results provide the significant theoretical basis for the selection of process parameters of the robotic system, considering the specific requirements of the bolt assembly task.
随着工业自动化水平的提高，对自动装配的需求日益增长。本文提出一种基于混合视觉的螺栓紧固机器人系统，以增强环境适应性并降低成本。在紧固策略中，系统通过混合视觉技术精确确定孔位姿态：利用场景相机获取粗略姿态，再利用末端执行器相机结合高质量图像采集获得精确定位姿态。定位完成后，紧固过程的效率受到机器人系统运动参数的影响，如螺栓与孔之间的夹角、末端执行器速度以及工具转速等。本文计算了螺栓与孔的最大允许夹角，当夹角小于2.92度时，M10螺栓可顺利插入孔内。通过实验研究了这些运动参数变化对螺栓紧固效率的综合影响结果表明，螺栓与孔之间的夹角变化不会影响机器人紧固效率。这些结果为机器人系统工艺参数的选择提供了重要的理论依据，同时考虑了螺栓装配任务的具体要求。 |
| 中文内容为网络AI翻译，专业术语未必准确，仅供参考。 |
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