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A Robotic Nail Insertion Method Based on Vision Compensation
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A visual compensation and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as high cost and inconsistent incoming materials in automated production lines, and achieve low cost effects
Active Publication Date: 2021-04-20
HARBIN INST OF TECH
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[0006] The purpose of the present invention is to solve the problem of high cost and need for hand-eye calibration in the existing technology caused by the inconsistency of incoming materials in the automated production line, and propose a robotic automatic nail insertion method based on vision compensation
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specific Embodiment approach 1
[0031] Specific implementation mode one: as figure 1 As shown, a robot automatic nail insertion method based on vision compensation includes the following steps:
[0032] The method of the invention proposes a robot automatic nail insertion method based on vision compensation. Since the workpieces in the automatic production line have inconsistencies in the incoming materials, that is, the workpieces processed in batches cannot guarantee that each workpiece has the same position. At this time, it is necessary to compensate the processing process and complete the nail insertion action.
[0033] The method of the invention is applicable to the situation that the fixture has the function of positioning by the side. When the mechanical structure limits the degree of freedom of the workpiece, it is necessary to compensate for an unrestricted degree of freedom of the workpiece. After the calibration of the robot and the fixture is completed, set the direction to be consistent with ...
specific Embodiment approach 2
[0043] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that: in the step 1, the holes that need to be photographed in the holes to be processed in the riveted workpiece are selected as follows:
[0044] The basis for selecting the holes that need to be photographed is to cover the entire workpiece as much as possible while avoiding too dense. The holes that need to be photographed account for less than 10% of the total hole positions, the selected holes are evenly distributed, and the holes on the vertices of the hole connection lines must be selected, such as Figure 12 shown.
[0045] Other steps and parameters are the same as those in Embodiment 1.
specific Embodiment approach 3
[0046] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: in the step two, the robot is used to set the photographing point of the hole that needs to be photographed in the step one, and the specific process of collecting the image is as follows: :
[0047] The hole position of the workpiece to be processed is in the center of the image, and the field of view of the camera should cover the entire range of possible displacement, that is, the error range of the incoming material position is the photographing point;
[0048] After the point is set, the robot records its own state. When taking pictures in the future, the robot moves to the same position and keeps the absolute position of the camera. The advantage of this method is that the camera is fixed, and there is no need to set up multiple cameras and fixtures, but a considerable number of points are obtained.
[0049] Other steps and parameters are the same as those in ...
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Abstract
The invention relates to a robot automatic nail insertion method based on vision compensation, and the invention relates to a robot automatic nail insertion method based on vision compensation. The invention aims to solve the problems of high cost and the need for hand-eye calibration in the prior art caused by the inconsistency of incoming materials in the automated production line. The present invention includes: 1: Select the hole that needs to be photographed in the holes to be processed of the riveted workpiece; 2: Use the robot to set the photographing point of the selected hole that needs to be photographed, and collect the image; 3: Use the robot to process the riveted workpiece The hole position is manually taught and inserted; 4: Replace the workpiece, and the robot collects images at the set photo point; 5: Use the visual compensation algorithm to calculate the hole position offset information, generate compensation information and send it to the robot; 6: The robot Complete the nail insertion process according to the received compensation information; Seventh: After the nail insertion is completed, the workpiece is unloaded, and steps 4 to 6 are repeated until the nail insertion of all workpieces is completed. The invention is used in the application field of industrial robots.
Description
technical field [0001] The invention relates to the application field of industrial robots, in particular to a robot automatic nail insertion method based on vision compensation. Background technique [0002] Riveting technology is widely used in aerospace manufacturing, automobile manufacturing and other industries due to its simplicity and reliability. At present, manual riveting or special equipment riveting is mostly used in China. The riveting work is intense and has many riveting points, so it is of great strategic significance to use automated equipment to complete the riveting task. Industrial robots are flexible and adaptable, and have been widely used in manufacturing automation. [0003] In riveting automation, inserting rivets is an essential part, and the number of rivets in general workpieces is large, which makes it difficult to use general automation equipment to complete the task of inserting rivets and adapt to different workpieces. Industrial robots are ...
Claims
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Application Information
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