Staged moving method for machine arm
A robot arm and stage technology, applied in the direction of manipulators, manufacturing tools, etc., can solve problems such as the inability to maintain accurate relative orientation, hinder product production and assembly, and the inability of the clamping device 14 to move accurately.
Active Publication Date: 2017-01-04
TECHMAN ROBOT INC
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Problems solved by technology
[0005] However, the robotic arm system 10 in the prior art uses the EIH camera 15 to take images of the object 16 at a distance, because the ETH camera images are not only prone to errors, but also the errors in the mechanism and control movement of the robotic arm 11 will affect the movement of the gripper. The accuracy of the picking device 14 causes the picking device 14 to be unable to accurately move to the gripping position of the object 16, causing the gripping device 14 of the robot arm 11 and the gripped object 16 to maintain a precise relative orientation, so that the movement to After the target area, the object 16 with orientation error cannot be smoothly inserted into the assembly groove 18, which hinders the production and assembly of the product
In addition, in order to ensure accurate movement to the clamping position of the object 16, a slower moving speed will also reduce the operating efficiency of the robotic arm 11
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[0029] In order to achieve the above-mentioned purpose, the technical means and effects thereof adopted by the present invention are now given as preferred embodiments, and are described as follows in conjunction with the accompanying drawings.
[0030] Please also see figure 2 , image 3 and Figure 4 , figure 2 It is a schematic diagram of the robot arm system of the present invention, image 3 It is a schematic diagram of the image of the detection area at the starting point of the present invention, Figure 4 A schematic diagram of an image of a detection zone at a prepared position for the present invention. figure 2 In the robotic arm system 20 of the present invention, a controller 22 is provided around the robotic arm 21 , and the controller 22 is provided with a control program to control the movement of the robotic arm 21 . The gripping device 23 at the end of the robotic arm 21 is equipped with an EIH camera 24 to monitor the working environment of the robot...
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The invention discloses a staged moving method for a machine arm. The method includes the steps that an image of an article is shot in the first time through an EIH camera arranged on the machine arm, the article is rapidly moved and clamped in the first moving stage, the relative position of the article and a clamping device is shot in the second time, it is judged that the orientation of the image of the article is not consistent with preset orientation, the orientation error of the image of the article is calculated, the offset angle and displacement of the article are compensated for, and the clamped article is slowly moved in the second moving stage for assembly.
Description
technical field [0001] The invention relates to a robot arm, in particular to a moving method of the robot arm during the stages of gripping and moving objects. Background technique [0002] With the rapid development of production technology, factory automation uses vision devices to locate objects, guide robotic arms to grab objects, and automatically assemble and manufacture to increase production speed. The key to the automatic movement efficiency of the robotic arm is the accuracy with which the robotic arm automatically picks and places objects, which has become an important issue for the robotic arm. [0003] Such as figure 1 As shown, it is a schematic diagram of a robotic arm system 10 in the prior art. The robot arm system 10 is usually provided with a controller 12 around the robot arm 11. The controller 12 is provided with a control program of the robot arm 11, allowing the controller 12 to control the robot arm 11 fixed on the base 13 by using the control prog...
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IPC IPC(8): B25J13/08
Inventor 许锦发黄钟贤黄识忠
Owner TECHMAN ROBOT INC