Visual positioning method for robot transport operation

A visual positioning and robot technology, applied in the field of visual positioning, can solve the problems of long switching time, inability to realize, large equipment investment, etc., and achieve the effect of solving the inaccurate feeding accuracy and strong adaptability.

Active Publication Date: 2010-02-03
SHANGHAI FANUC ROBOTICS
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AI Technical Summary

Problems solved by technology

[0003] 1) It is necessary to design a pre-positioning tooling according to each workpiece, and the design workload of the pre-positioning tooling is large;
[0004] 2) The required investment in equipment is large, and since multiple pre-positioning tooling is require

Method used

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Examples

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Embodiment Construction

[0026] The following embodiments describe the present invention in further detail.

[0027] Install a FANUC two-dimensional camera on the gripper of the robot to detect the position of the workpiece, set up a bracket on the ground, install a FANUC three-dimensional laser camera for positioning after the workpiece is grasped, the robot and the computer and the camera and the computer are connected through a network cable , the vision system software named FANUC IRVISION is installed in the computer, which is used to control and process the entire vision positioning process.

[0028] When the robot grabs the workpiece, the two-dimensional visual positioning method is used without mechanical fine positioning. This method mainly includes the following steps:

[0029] A1) Acquisition of standard images: Place the standard workpiece accurately at the grabbing position, take pictures with the FANUC two-dimensional camera, obtain the standard image and transmit it to the computer;

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Abstract

The invention provides a visual positioning method for robot transport operation, which comprises a two-dimensional visual positioning method and a three-dimensional visual positioning method, whereinthe two-dimensional visual sense realizes that workpieces are free from mechanical precision positioning, and a robot can automatically compensate the grabbing function; and the three-dimensional visual sense solves the problem that automation production cannot be carried out by the positional deviation of positioning surfaces of the workpieces. The visual positioning method comprehensively applies two-dimensional visual positioning and three-dimensional visual positioning, solves the problems that workpieces to be processed are blank pieces, positions where the workpieces are grabbed are blank surface simultaneously, and the workpieces grabbed by the robot can not be fed accurately, improves the feasibility of production, has high flexibility, saves labor cost, and reduces labor intensity.

Description

technical field [0001] The invention relates to a visual positioning method, in particular to a visual positioning method for robot handling operations. Background technique [0002] In the existing robot handling operation, when the robot uses hand tools to grab the workpiece, the workpiece needs to be in a fixed position so that the robot can accurately grab the workpiece. In order to ensure that this fixed position is repeatable in production, it is often necessary to provide a pre-positioned tooling to locate the position of the workpiece. In order to adapt to the shape of different workpieces, the design of pre-positioning tooling needs to have many changes. If a production unit or production line needs to meet the handling operations of various workpieces, it is necessary to provide multiple sets of pre-positioning tooling suitable for each type of workpiece. The disadvantages of this pre-positioning method are as follows: [0003] 1) It is necessary to design a pre-...

Claims

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Application Information

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IPC IPC(8): B25J13/00B25J9/16G01B11/00
Inventor 夏伟李广伟田文兴邓文锋
Owner SHANGHAI FANUC ROBOTICS
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