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Visual real-time deviation rectifying system and visual real-time deviation rectifying method for robot

A robot vision and robot technology, applied in auxiliary devices, arc welding equipment, auxiliary welding equipment, etc., can solve the problems of real-time and unreliable control accuracy of the robot deviation correction system, saving conversion time, reducing control complexity, reducing The effect of manufacturing cost

Active Publication Date: 2012-07-18
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0007] The technical problem to be solved by the present invention is to overcome the unreliable shortcomings of the existing robot deviation correction system in terms of real-time performance and control precision, and provide a real-time deviation correction system for robots with good real-time performance and high control precision

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Embodiment Construction

[0024] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0025] According to the present invention, a robot vision real-time deviation correction system is composed of a vision module and a robot controller. The robot includes a robot body and an end tool installed at the end of the body. The vision module is installed at the front end of the end tool and rigidly connected with the end tool to ensure a fixed positional relationship between the vision module and the end tool. The robot controller consists of a main controller, a motion control card, a power supply board and an input and output interface board. The main controller mainly completes the generation of Cartesian space trajectory, the conversion of joint space trajectory, the conversion of position deviation informati...

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Abstract

The invention discloses a visual real-time deviation rectifying system for a robot. The robot comprises a robot body (4) and an end tool (5) connected to the tail end of the robot body. The system comprises a visual module (3) and a robot controller (2), wherein the visual module (3) is electrically connected with the robot controller (2), and is used for acquiring target image information in real time, processing the acquired target image information so as to obtain position deviation information between the end tool (5) and a target, and sending the position deviation information to the robot controller (2); and the robot controller (2) is electrically connected with the robot body (4), and is used for generating a real-time servo command for controlling the end tool (5) according to the position deviation information from the visual module (3), and sending the servo command to the robot body (4) in real time so as to perform real-time deviation rectifying for the end tool (5).

Description

technical field [0001] The present invention relates to a system and method for using a vision system to correct a robot in real time, in particular to a welding seam visual real-time deviation correction system and method for identifying, tracking and correcting a weld seam during the welding process for a welding robot . Background technique [0002] Industrial robots have been widely used in automobiles, construction machinery and other industries, mainly to complete welding, assembly and handling operations. Among them, welding robots dominate and are most widely used. [0003] Most of the current welding robots are programmable teaching and reproducing robots, which can accurately complete the teaching trajectories and actions in their workspaces. In the robotic welding process, due to the influence of various factors, the actual welding conditions often change. For example, due to the influence of strong arc radiation, high temperature, smoke, spatter, groove condit...

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Application Information

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IPC IPC(8): B23K9/127B23K37/00
Inventor 景奉水谭民李恩梁自泽强艳辉贾鹏霄戚玉函杨超
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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