A method to achieve precise fit through the cooperation of two cameras and robots
A robot and fitting technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high computational performance requirements of cameras, time-consuming, and the coordinate center of the robot and the center of the camera do not coincide.
Active Publication Date: 2021-08-03
深圳市策维软件技术有限公司
View PDF6 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
But there will be a problem. The coordinate center of the robot does not coincide with the center of the camera. Generally, it is common to use the camera to calculate this deviation.
The accuracy calculated in this way has a large error and is time-consuming, and the calculation performance of the camera is relatively high, which requires a professional camera to achieve
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0025] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0026] The invention relates to a method for realizing precise lamination through the cooperation of two cameras and a robot, which is completed through the transformation and motion characteristics of the robot tool coordinate system and the workpiece coordinate system and then cooperates with the two cameras. The equipment involved in the method includes a robot and two industrial cameras, one of which is installed on a tool on a flange of the robot (referred to as a mobile camera), and the other is fixed on a machine plate under the robot (referred to as a fixed camera). The mobile camera on the robot takes pictures at the material picking position, and the robot picks the material according to the coordinates given by the mobile camera. After the robot picks up the material, it goes to the fixed camera on the machine to take pictures. The fixed camer...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a method for realizing precision lamination through the cooperation of two cameras and a robot. The given coordinates are used to pick up the first material; after the robot finishes picking up the first material, it goes to the fixed camera on the machine to take pictures, and the fixed camera gives the deviation after the robot picks up the material; The second material deviation of the material level; the robot corrects according to the two deviation values, and then sticks the two materials together. It does not need manual teaching through the eyes. The establishment and calibration of the coordinate system are mainly realized through the robot side. The computing performance requirements of the camera and the fixed camera end are not high, and ordinary cameras can be competent, which can reduce the cost of automation equipment.
Description
technical field [0001] The invention relates to the field of precision lamination in automation, in particular to a method for realizing precise lamination through the cooperation of two cameras and a robot. Background technique [0002] With the increase of labor costs and the development of science and technology, industrial robots are more and more widely used in the field of industrial automation. In the 3C industry, the requirements for the accuracy of equipment are very high. The robot is equivalent to the human arm. If you want its accuracy High need to use the camera. The cooperation between the robot and the camera is the key to the problem, but we will find that it takes too long to cooperate with the robot and the camera, which is seriously limited by the performance conditions of the camera. [0003] Robot movement is three-dimensional space movement, so there will be X, Y, Z plane, Rx, Ry, Rz space angle. Now the common camera in the industry is a two-dimensio...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16B25J11/00B25J19/02
CPCB25J9/0081B25J9/1697B25J11/00B25J19/021
Inventor 梅焱军郭治荣吴战胜
Owner 深圳市策维软件技术有限公司