Binocular stereo vision positioning device and positioning method for spraying robot

A binocular stereo vision and spraying robot technology, which is applied in the field of robots, can solve the problems of spraying failure, robot spraying accuracy drop, and high positioning accuracy of the vehicle body mobile frame, so as to achieve the effect of visual positioning

Active Publication Date: 2018-09-25
山东中清智能科技股份有限公司
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AI Technical Summary

Problems solved by technology

[0003] The working method of the spraying robot requires high positioning accuracy of the mobile frame of the body. Once the position of the mobile frame is different from the situation when the robot is teaching, the spraying accuracy of the robot will drop sharply, and even cause spraying failure.

Method used

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  • Binocular stereo vision positioning device and positioning method for spraying robot
  • Binocular stereo vision positioning device and positioning method for spraying robot
  • Binocular stereo vision positioning device and positioning method for spraying robot

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings and examples, and the contents of the examples are not intended to limit the protection scope of the present invention.

[0028] figure 1 A schematic diagram of the principle structure of the binocular stereo vision positioning device of the spraying robot of the present invention is shown. like figure 1 As shown, the binocular stereo vision positioning device of the painting robot of the present invention includes two sets of binocular stereo vision systems 2 respectively installed at the ends of the two painting robots 1 . The two painting robots 1 are respectively located on the left and right sides of the vehicle body 3 in the painting system. Moreover, the binocular stereo vision system 2 is located about 100mm above the spray gun 9 of the painting robot 1, and the change of the position of the vehicle body 3 is detected by two sets of binocular stereo vision syste...

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Abstract

The invention relates to a binocular three-dimensional vision locating device for spraying robots and a vehicle body positioning method adopting the positioning device. The positioning device comprises two sets of binocular three-dimensional vision systems (2) installed at the tail ends of the two spraying robots (1) correspondingly. Each binocular three-dimensional vision system (2) comprises a shell (8), wherein two cameras (4) and a vision light source (5) are arranged in the shell (8), the vision light source (5) is located between the two cameras (4), a protection glass cover (6) is arranged at the position of an opening of the shell (8), and a micro air cylinder (7) controlling the protection glass cover (6) to be opened and closed is further arranged on the shell (8). According to the binocular three-dimensional vision locating device for the spraying robots and the vehicle body positioning method adopting the positioning device, non-contact high-precision measurement of the spraying robots on an automobile production line relative to the vehicle body pose relation is achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a positioning device and a positioning method, in particular to a binocular stereo vision positioning device and a positioning method of a spraying robot. Background technique [0002] With the popularity of robot applications, robots are used for body spraying on automobile production lines. Generally, two robots are used for spraying operations, which are located on the left and right sides of the car body. Before the traditional spraying robot performs the spraying operation, the worker needs to teach the robot's spraying trajectory completely. After the teaching work is completed, the robot can repeat the spraying operation according to the fixed spraying trajectory. [0003] The working method of the spraying robot requires high positioning accuracy of the vehicle body mobile frame. Once the position of the mobile frame is different from the situation when the robot is teachi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J19/02G01C11/00B25J11/00
CPCB25J9/1697B25J11/0075B25J19/023G01C11/00
Inventor 陈国栋张懿臣赵欣
Owner 山东中清智能科技股份有限公司
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