Automatic assembling system based on three-dimensional vision

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...

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.

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