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

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...

AI Technical Summary

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 existing equipment uses a laser tracker to print out the actual relative position of the mobile robot and components before processing, and compares it with the theoretical position for correction to improve the positioning accuracy of the mobile robot. Due to this method, the price is expensive and the equipment is complicated. The operation process is cumbersome, and compared with the traditional method, the efficiency has not been significantly improved, and the labor intensity of the workers cannot be reduced

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