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Robot track teaching device and method based on active infrared binocular vision

A binocular vision and active infrared technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as high precision of coordinate system, occlusion of feature information, large space occupation, etc., to reduce the amount of calculation, disassembly and Ease of operation and improved work efficiency

Active Publication Date: 2018-03-06
于兴虎
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Problems solved by technology

[0006] The purpose of the present invention is to solve the problem that the existing robot teaching method may cause the feature information to be blocked or confused, which requires manual processing, high cost, large space occupation, large amount of calculation, and excessive requirements on the accuracy of the coordinate system. problem, and propose a robot trajectory teaching device, system and method based on active infrared binocular vision

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  • Robot track teaching device and method based on active infrared binocular vision
  • Robot track teaching device and method based on active infrared binocular vision
  • Robot track teaching device and method based on active infrared binocular vision

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Embodiment Construction

[0045] The present invention proposes a spray gun trajectory teaching method based on the combination of active infrared and binocular vision. The binocular camera is used to locate the three-dimensional position of the marking ball and calculate the pose of the teaching pendant. Only one set of binocular cameras is used. By manually moving the position of the binocular camera to obtain the field of view that satisfies the working range of the painting robot, the cost is low, the movement status of the spray gun is easier to monitor, and the equipment is easy to install and disassemble.

[0046] Such as figure 2 As shown, the teaching pendant is composed of a teaching pendant fixture 3, a laser pen holder 1, a laser pen 2, a fluorescent board connecting plate 4, a first fluorescent board 5 and a second fluorescent board 6, and there are several coatings on the fluorescent board A pellet with a fluorescent substance that can be captured by an infrared camera under the illumina...

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Abstract

The invention relates to a robot track teaching device, system and method based on active infrared binocular vision. The problems that according to an existing robot teaching method, feature information is possibly shielded or confused and then needs to be processed manually, the cost is high, the occupied space is large, the calculated amount is large, and the requirement for coordinate system precision is too high are solved. The robot track teaching device based on active infrared binocular vision comprises a laser pen holder, a laser pen, a fixture, a fluorescent plate connection plate, afirst fluorescent plate and a second fluorescent plate; the first fluorescent plate and the second fluorescent plate are each provided with a preset number of balls coated with a fluorescent material;the fixture is fixed to the laser pen holder through screws; the fluorescent plate connection plate is fixed to the laser pen holder through bolts; the laser pen is provided with buttons used for preserving and deleting teaching points. The robot track teaching device, system and method based on active infrared binocular vision are suitable for manufacturing a paint spray robot teaching machine.

Description

technical field [0001] The invention relates to a painting robot control device, in particular to a robot trajectory teaching device and method based on active infrared binocular vision. Background technique [0002] Industrial robots are more and more widely used in various industries. Among them, painting robots are one of the typical applications in industrial robots. They have many advantages in improving the quality of spraying and material utilization, large working space, and improving the working environment of workers. As a very important part of the robot's working process, the robot teaching process consumes a lot of time for the operator. A new teaching method is of great significance to the entire robot working process. [0003] At present, there are mainly two methods in the robot teaching method-manual teaching method and offline teaching method. Manual teaching refers to manually guiding the end effector of the robot, or guiding the mechanical simulation dev...

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Application Information

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IPC IPC(8): B25J9/22
CPCB25J9/0081B25J9/1664
Inventor 于兴虎夏晗李湛佟明斯卫作龙林伟阳
Owner 于兴虎
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