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Vision-guided discharging positioning method of clutch

A positioning method and clutch technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as limiting the application of manipulators and failure of manipulator tasks, so as to improve intelligence and flexibility, and ensure accuracy and stability Effect

Inactive Publication Date: 2016-09-28
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the robot arm and the AGV trolley are combined to complete the fixed-position unloading of the product, if the environment where the workpiece is unloaded, that is, the position of the AGV trolley, changes, it is likely to cause the task of the robotic arm to fail. This is because the robotic arm cannot recognize the external environment. The disadvantages of changes greatly limit the application of robotic arms in industrial production

Method used

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  • Vision-guided discharging positioning method of clutch
  • Vision-guided discharging positioning method of clutch
  • Vision-guided discharging positioning method of clutch

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Embodiment Construction

[0021] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0022] attached figure 1 It shows a positioning principle diagram of a clutch blanking positioning method under visual guidance, and the specific method for the visual positioning unit to obtain the position information of the AGV trolley 15 is as follows:

[0023] 1) Place the AGV trolley 15 at the standard position, set the robot arm workpiece coordinate system O r The center A of the feature hole at the bottom right of the AGV trolley 15 when the origin of the AGV is established at the standard position 0 at point A 0 is the coordinate origin of the standard position coordinate system. point B 0 is the center of the upper right feature hole, put point A 0 to point B 0 The direction of the X axis is regarded as the positive direction; the A 0 The direction along the short side of the AGV trolley is regarded as the positive direction...

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Abstract

The invention discloses a vision-guided discharging positioning method of a clutch. The method is characterized in that a vision positioning unit can be used for acquiring a discharging environment, namely, the position variation information of an AGV (Automatic Guided Vehicle) ; two industrial cameras are provided to position, and the positioning object is the clutch discharging position, namely, the position of the AGV; the industrial camera 1 is used for acquiring an image of a property hole in the lower right of the AGV, and the industrial camera 2 is used for acquiring an image of a property hole in the upper right of the AGV; the acquired images of the property holes are compared with the standard position information of the AGV, so as to achieve the positioning of the AGV, and as a result, the clutch discharging positioning can be achieved. With the adoption of the method, a manipulator can quickly, accurately and stably discharge the clutch from the AGV under the vision guide.

Description

technical field [0001] The invention relates to a method for positioning a product at the unloading position of an AGV trolley, in particular to a clutch unloading positioning method under visual guidance, and belongs to the field of visual positioning for clutch unloading on an AGV trolley. Background technique [0002] Workpiece unloading is an important part of the effective application of robotic arms on production lines. At present, robotic arms have been widely used in industrial production lines, but many of them complete some preset fixed actions under the teaching programming of teaching personnel or offline programming. and function. When the robot arm and the AGV trolley are combined to complete the fixed-position unloading of the product, if the environment where the workpiece is unloaded, that is, the position of the AGV trolley, changes, it is likely to cause the task of the robotic arm to fail. This is because the robotic arm cannot recognize the external envi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/16B25J13/08
CPCB25J11/00B25J9/1697B25J13/08
Inventor 潘丰秦朗朗王振宇
Owner JIANGNAN UNIV