Automatic programming system and method based on augmented reality, for movement track of robot

A technology of robot motion and augmented reality, applied in manipulators, program control manipulators, auxiliary devices, etc., can solve the problems of long time, high technical threshold, low efficiency, etc., to achieve strong operability and improve programming efficiency.

Active Publication Date: 2018-09-04
群青华创(洛阳)机器人科技有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Offline programming is based on the accurate robot model, tool coordinate system and workpiece coordinate system model to realize the planning of the actual processing path. In actual production, it is difficult because the accuracy of the robot model and the structured processing environment cannot meet the requirements; the online display

Method used

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  • Automatic programming system and method based on augmented reality, for movement track of robot
  • Automatic programming system and method based on augmented reality, for movement track of robot
  • Automatic programming system and method based on augmented reality, for movement track of robot

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Embodiment 1

[0033] see figure 1 , the present invention is based on an augmented reality robot welding trajectory automatic programming system, including a teaching system, a robot system, a data processing system 8 and a T-shaped workpiece 6 to be welded,

[0034] The teaching system includes a helmet-mounted augmented reality display device 7 and a camera system 9. The helmet-mounted augmented reality display device 7 simulates an augmented reality scene and superimposes a three-dimensional model of a virtual workpiece; The workpiece 6 and the area where the helmet-mounted enhanced display device 7 is located) are connected to the data processing system 8, and the data processing system 8 is connected to the robot controller 2. In the process of collecting feature points, the camera uploads the pictures captured in real time to the data processing system 8, and uploads them to the robot controller 2 after being processed and converted by the data processing system 8, so as to realize th...

Embodiment 2

[0038] see figure 2 , on the basis of automatic programming system, the present invention proposes a kind of robot welding track automatic programming method based on augmented reality, comprises the following steps:

[0039] (1) Utilize augmented reality technology, superimpose and display the three-dimensional model of the virtual T-shaped workpiece in the field of vision through the helmet-type augmented reality display device 7, adjust and place the T-shaped workpiece 6 to be welded at a position roughly overlapping with the three-dimensional model, and complete the T Coarse positioning of workpieces;

[0040] (2) In the augmented reality scene, specify the combination of a series of feature objects of the 3D model of the virtual T-shaped workpiece. see image 3 , the selected feature objects are the vertical plane 6-1, the horizontal plane 6-2, and the edge 6-3 of the T-shaped workpiece, and the intersection line between the edge 6-3 and the vertical plane 6-1 and the ...

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Abstract

The invention relates to an automatic programming system and method based on augmented reality, for the movement track of a robot. The automatic programming system and method can be widely applied tothe field of robot automation. The invention discloses the equipment composition of the automatic programming system based on augmented reality, for the movement track of the robot; on the basis of the equipment, coarse positioning for a workpiece to be machined is completed under the aid of augmented reality at first; then the workpiece to be machined is contacted by an end executer of the robotand by virtue of rapid teaching to acquire a series of feature points, then a transfer matrix between the base coordinate system of an industrial robot and the coordinate system of a virtual workpieceis obtained through the matching of the feature points and corresponding edges or surfaces on the three-dimensional model of the virtual workpiece, and then the movement track of the industrial robotis obtained. The system and the method are capable of realizing automatic programming under the rapid teaching, applicable to the workpieces to be machined and with random shapes or poses, and obvious in advantages compared with the existing online teaching or off-line programming method, and achieve the requirements of flexible manufacturing in the aspects of adaptability and high efficiency.

Description

technical field [0001] The invention relates to an augmented reality-based robot motion trajectory automatic programming system and method, which can be widely used in the field of robot automation production. Background technique [0002] Robot welding has been more and more widely used in the upgrading and transformation of the manufacturing industry. Usually, the position, posture, moving speed, and trajectory of the welding torch held by the end of the welding robot are adjusted before welding by offline programming or online teaching. Planning to ensure welding quality. [0003] Offline programming is based on the accurate robot model, tool coordinate system and workpiece coordinate system model to realize the planning of the actual processing path. In actual production, it is difficult because the accuracy of the robot model and the structured processing environment cannot meet the requirements; the online display The teaching is that the workers manually operate the ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B23K37/00
CPCB23K37/00B25J9/16B25J9/1656B25J9/1664
Inventor 邹怡蓉刘佳君吴哲明马明星李培旭
Owner 群青华创(洛阳)机器人科技有限公司
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