Robot unstacking positioning correction method

A robot and camera technology, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve problems such as wrong grasping, collision, and inaccurate positioning, and achieve the effect of increasing flexibility and fault tolerance

Active Publication Date: 2019-11-22
河南省机械设计研究院有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the displacement of the brick stack in the plane and elevation direction during the firing process, the robot cannot accurately locate the position of the brick in the process of grabbing the brick stack, resu

Method used

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  • Robot unstacking positioning correction method
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  • Robot unstacking positioning correction method

Examples

Experimental program
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Embodiment

[0038] Embodiment: The equipment and models used in this embodiment are shown in Table 1 when the destacking positioning correction method of the present invention is actually used.

[0039] Table 1 equipment and model

[0040]

[0041] In this embodiment, the method for correcting robot destacking and positioning, the process is as follows: figure 1 As shown, it mainly includes the following steps:

[0042] Step 1. Design a standard brick stack, and record the layer number and position number of each brick in the standard brick stack; the standard brick stack must satisfy the requirement that the bricks be placed at equal intervals and at equal heights, regardless of the bricks being fired. Displacement generated during restraint and movement.

[0043] The design of standard brick stacks can be found in figure 2 , the standard brick stack has two brick types: brick type 1 and brick type 2. The brick types are B320 and B620 respectively. For specific brick types, see ...

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Abstract

The invention belongs to the technical field of robot unstacking, and particularly relates to a robot unstacking positioning correction method. In the method, standard brick stacks are firstly designed; then, a robot performs the demonstration and the grabbing position calculation on the standard brick stacks; after grabbing positions are obtained, standard shooting positions of each brick are calculated according to a focal distance and a mounting position of a camera; then, the robot moves to the standard shooting positions; plane deviations are calculated through a visual algorithm; meanwhile, height difference values are calculated through an ultrasonic sensor; the plane deviations and the height difference values are compensated to the standard grabbing positions; and the robot is guided to correct the grabbing positions to realize accurate grabbing. The method solves the limiting problem of a repeated demonstration robot only capable of performing the repeated position positioning operation to a certain extent, enables the repeated demonstration robot to deal with the random positioning problem in a certain range, and improves the robot application flexibility and fault tolerance capability.

Description

Technical field: [0001] The invention belongs to the technical field of robot destacking, and in particular relates to a positioning correction method for robot destacking. Background technique: [0002] The dismantling of brick stacks used to be done manually, but manual dismantling is a job with high physical labor intensity, poor working environment and high turnover of personnel, which has a certain impact on the health of employees and the development of enterprises. Therefore, with the development of the economy, in order to achieve high-efficiency destacking and release the workload of workers, refractory companies have gradually introduced robots to replace manual dismantling of fired brick stacks. Robots can not only replace people in dangerous and harmful environments. It can work under the ground, and has a large operating range, good safety performance, and the work efficiency is several times that of manual unstacking. It can reduce the labor intensity of worker...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16B25J13/08B25J15/00
CPCB25J9/0081B25J9/1697B25J13/08B25J15/00
Inventor 李建普李良赵聪李晓鹏侯龙潇雷珊珊白保坤范宦潼赵贤谢沙沙
Owner 河南省机械设计研究院有限公司
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