Micron precision three-layer plane workpiece alignment robot system

Abstract

The invention provides a micro precision three-layer plane workpiece aligning robot, which comprises a computer control system, a robot body and a pneumatic system. Images of specific marks at four corners of a plane workpiece are acquired by adopting four black and white image sensors with movable positions, the data are input to an industrial microcomputer, and displacement data are respectively provided for execution motors with four degrees of freedom after image identification, comparison, judgment, calculation and optimization. An upper sucking disc of the vacuum adsorption plane workpiece can move in the vertical direction, and a lower sucking disc of the vacuum adsorption plane workpiece can move in three directions of front and back, left and right and horizontal rotation. The original partitioned air discs can adapt to the workpieces of different size, and greatly reduce the limitation of the size of the workpieces when being matched with a mobile CCD photographing mechanism; the upper and lower air discs are controlled by the computer to perform blowing and sucking operations so as to press and fix the positioned workpieces; multi-plane positioning can be performed by asingle machine; and the aligning precision can be greatly improved by four-CCD photographing processing.

Description

technical field [0001] The invention relates to the technical field of mechanical processing, in particular to a micron precision three-layer planar workpiece positioning robot system. Background technique [0002] With the progress of automated production in the industrial field, machine vision replaces the role of human eyes with machines, and is widely used in the fields of working condition monitoring, finished product inspection and quality control. The machine vision system is a non-contact measurement, which will not cause any damage to the observed person. Thereby improving the reliability of the system. Machine vision systems have a wide spectral response range, for example using infrared measurements, extending the visual range. The machine vision system can work stably for a long time. Human eyes will get tired when observing objects for a long time, while machine vision can perform measurement, analysis and identification tasks stably for a long time. [0003]...

AI Technical Summary

Problems solved by technology

[0003] The current high-precision alignment device mainly has the following disadvantages: it has high requirements on the size of the workpiece, can only adapt to limited workpieces, and can only achieve two-plane positioning; to achieve three-plane or more workpieces requires the joint operation of multiple machines; Only a single alignment function can be realized, the workpiece cannot be fixed after alignment, and other auxiliary equipment is required to process the workpiece; the number of CCD camera mechanisms is small, and only one-sided alignment can be performed; alignment accuracy cannot be guaranteed when the workpiece expands and contracts

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