Automatic assembling system based on three-dimensional vision

An automatic assembly and three-dimensional vision technology, applied in the system field of parts assembly, can solve problems such as high system hardware requirements, increase modification costs, increase load, etc., achieve the effect of reducing debugging time, lowering the threshold of use, and wide application range

Inactive Publication Date: 2016-12-14
杭州鹰睿科技有限公司
View PDF7 Cites 23 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method requires repeated real-time acquisition and calculation of each target position during each assembly process, which requires high system hardware; it needs to install a camera on the camera, which increases the cost of modification and increases the load.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Automatic assembling system based on three-dimensional vision
  • Automatic assembling system based on three-dimensional vision
  • Automatic assembling system based on three-dimensional vision

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0028] Such as figure 1 As shown, the automatic assembly system based on three-dimensional vision includes a frame 4, an industrial manipulator 1 fixedly installed on the frame 4, a manipulator controller 3 and a three-dimensional camera 2; the three-dimensional camera 2 obtains the two-dimensional Image and depth information, the industrial manipulator 1 completes the automatic assembly task according to the teaching process after the teaching training. During the teaching process, the workpiece is held by the human hand to complete the migration of the workpiece from the original pose, the initial assembly pose and the assembly end pose ;

[0029] Teaching training includes:

[0030] S1. Calibrate the manipulator coordinate system OXYZ and the three-dimensional camera coordinate system oxyz, and calculate the conversion matrix from the three-dimensional camera coordinate system oxyz to the industrial manipulator coordinate system OXYZ;

[0031] S2. The three-dimensional ca...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides an automatic assembling system based on three-dimensional vision. The automatic assembling system comprises a machine frame, an industrial mechanical hand, a mechanical hand controller and a three-dimensional camera, wherein the industrial mechanical hand is fixedly arranged on the machine frame; the three-dimensional camera obtains two-dimensional pictures and depth information of the industrial mechanical hand at the current work moment; after the industrial mechanical hand is subjected to teaching training, the automatic assembling task is completed according to the teaching process; in the teaching process, a workpiece is held by the hand of a person, and the migration of the workpiece from the original posture, assembly initial posture and assembly termination posture is completed. The automatic assembling system has the advantages that the plan can be completed on the movement of the mechanical hand according to the one-step manual assembly teaching training, so that the mechanical hand can independently and repeatedly complete the artificial demonstration.

Description

technical field [0001] The invention relates to a system for automatically completing assembly of parts by using three-dimensional vision to control a manipulator. Background technique [0002] A machine needs to go through the assembly process from many parts to a complete individual. For a long time in the past, the assembly of parts was done manually by assembly workers. With the rapid development of industrial automation, more and more assembly work has been transferred to machines. Automatic assembly machines for fire extinguisher heads and automatic flat gaskets A series of special automatic assembly machines such as assembly machines came into being. Although these assembly machines can better complete the predetermined assembly work, they are usually complex in structure and can only be used for one assembly occasion. When the assembly line is adjusted, the equipment needs to be replaced, which is costly. In order to further improve the versatility of assembly equi...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T1/00G06K9/46G06K9/62B25J9/22
CPCG06T1/0014B25J9/1687G06T2207/10012G06V10/462G06F18/22
Inventor 范锦昌毕千彭时林白小龙魏谦笑张绍勇周志敏
Owner 杭州鹰睿科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap