Industrial robot with visual system and control method of industrial robot

A technology of industrial robots and vision systems, applied in the field of industrial robots and their control, can solve problems such as the inability to meet the requirements of flexible production systems for conveying and handling, and the poor flexibility of production lines.

Inactive Publication Date: 2018-02-23
西安华航唯实机器人科技有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

In this way, the flexibility of the production line is poor, which cannot meet the re

Method used

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  • Industrial robot with visual system and control method of industrial robot
  • Industrial robot with visual system and control method of industrial robot
  • Industrial robot with visual system and control method of industrial robot

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Embodiment Construction

[0019] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0020] As shown in the figure, an industrial robot with a vision system includes a robot body, a robot vision system, a robot industrial computer and a control cabinet; five servo drivers, transformers, relays and I / O terminal boards of the robot are installed in the control cabinet , the servo drive adopts the full-digital AC servo drive unit of the model HSV-16 developed by Huazhong CNC. The interfaces XS30, XS31, XS34, XS35 and XS36 of the feed drive device are connected to the industrial computer, and the switches outside the system, such as travel switches and limit switches on each joint of the robot, are connected to the I / O terminals in the electric cabinet. On the board, through one-to-one correspondence, the lead wires from the terminal board are connected to the industrial control system through the XS10 digital input interface;

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Abstract

The invention discloses an industrial robot with a visual system and a control method of the industrial robot. Position information of a target object is obtained by utilizing a camera and is converted to grabbing information of a robot gripper through operation transformation, then a rotation angle of each joint of a set of mechanical arms by utilizing an inverse kinematic algorithm of kinematicof the industrial robot, and rotating of each joint of the robot is controlled, so that the robot gripper reaches the position of the target object in a specific posture and achieves accurate grabbingof the target object. According to the industrial robot with the visual system and the control method of the industrial robot, position and posture information fed back by a visual sensor is utilizedso that the end actuator, that is the gripper, of the industrial robot can automatically be aligned with the target object and grab the target object.

Description

technical field [0001] The invention relates to the field of robots, in particular to an industrial robot with a vision system and a control method thereof. Background technique [0002] As one of the first two industrial robots used in production, handling robots have always played a very important role in industrial production automation. And in the total number of installed industrial robots, handling robots also account for a large proportion. With the continuous expansion of the application scope of industrial robots, handling robots are showing a trend of developing into multiple industries such as food and beverage, household appliances, semiconductor wafers, and liquid crystal panels, becoming a new growth point in the development of industrial robots. [0003] At present, most of the handling industrial robots used in the production line realize the operation of the robot through teaching reproduction or pre-programming. In this way, the initial pose and end pose o...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/04
CPCB25J9/16B25J9/1679B25J19/04
Inventor 贺雷
Owner 西安华航唯实机器人科技有限公司
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