Mobile hole-making robot standard alignment method based on high precision industrial camera

A technology of industrial robots and industrial cameras, applied in metal processing machinery parts, manufacturing tools, metal processing equipment, etc., can solve the problems of cumbersome, expensive, relative position changes, etc., to reduce the workload of measurement and operating procedures simple effect

Active Publication Date: 2015-07-08
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

In the hole-making process of the mobile robot, after the hole-making equipment arrives at the station, the mobile device floats and locks, and the robot arrives at the hole-making position according to the path in the programmed workpiece coordinate system. Due to errors in the positioning of the mobile device or the installation of components, the components and The relative position of the hole-making robot will change, which will eventually lead to a shift in the actual position of the mobile robot
[0003] Some

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  • Mobile hole-making robot standard alignment method based on high precision industrial camera
  • Mobile hole-making robot standard alignment method based on high precision industrial camera
  • Mobile hole-making robot standard alignment method based on high precision industrial camera

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Embodiment Construction

[0032] Describe the present invention below in conjunction with specific embodiment:

[0033] Refer to attached figure 1 , this embodiment mainly introduces the datum alignment method based on the industrial camera in the automatic hole making system of the mobile robot. The main factors affecting the positioning accuracy of the mobile robot hole making system are the positioning deviation of the mobile device and the installation error of the components, resulting in the difference between the relative position of the mobile robot and the components and the theoretical position in the offline programming digital model.

[0034] Move the robot in place, the actual position 2 of the robot does not coincide with the theoretical position 1 of the robot, resulting in a discrepancy between the workpiece coordinate system and the actual workpiece coordinate system established through the reference holes P1, P2 or P1, P2, P3 on the component to be holed in offline programming. There...

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Abstract

The invention provides a mobile hole-making robot standard alignment method based on a high precision industrial camera, and belongs to the industrial robot calibration technical field. The method adopts a high precision industrial camera and a Z-direction laser distance sensor for confirming three-dimensional coordinate value of a standard hole for confirming relative position relationship of the parts and an industrial robot; the industrial robot is circularly adjusted for many times until that the vertical angle between the plane of the part nearby the standard hole and the industrial robot end tool meets the requirement; the standard hole can also get to the preset standard position in the camera coordinate system; the coordinate value of the current standard hole in the robot pedestal coordinate system is used for establishing a workpiece coordinate system. The mobile hole-making robot standard alignment method based on the high precision industrial camera can full-automatically perform standard detection, is high in precision, high in efficiency, economic and practical, simple and pellucid in operation sequence.

Description

technical field [0001] The invention relates to the technical field of calibration of industrial robots, and relates to a benchmark alignment method for a mobile robot, in particular to a benchmark alignment method for a mobile hole-making robot based on a high-precision industrial camera. Background technique [0002] At present, the automatic hole-making system of mobile robots has been gradually applied in the manufacturing fields of aircraft and automobiles. Mobile robot automatic hole making technology is a technology based on product digitization and automation, and it is also one of the most advanced processing technologies in aviation manufacturing. In the hole-making process of the mobile robot, after the hole-making equipment arrives at the station, the mobile device floats and locks, and the robot arrives at the hole-making position according to the path in the programmed workpiece coordinate system. Due to errors in the positioning of the mobile device or the ins...

Claims

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Application Information

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IPC IPC(8): B23Q17/22B23Q17/24
CPCB23Q17/2233B23Q17/2409
Inventor 王战玺李飞飞王宁秦现生谭小群白晶王增翠武俊强刘健王玮郭欣杨奇
Owner NORTHWESTERN POLYTECHNICAL UNIV
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