System for grabbing part from material frame under visual guidance of robot and control method

Abstract

The invention relates to a system for grabbing a part from a material frame under visual guidance of a robot and a control method. The system comprises the robot, a processor and a grabber assembly. The grabber assembly comprises a main beam, and a part position sensing module and a clamping module which are arranged on the main beam. The part position sensing module comprises a part photoelectricsensor, a dual-channel photoelectric sensor and a 2D camera. The control method includes the steps that the part position sensing module confirms whether there is a part in the material frame or not,obtains the position information of the part and the material frame and obtains the part grabbing position and the returning position according to the position information, and the grabber assembly moves to the part grabbing position to grab the part and then moves to the returning position to move up so as to complete the grabbing of the part. Compared with the prior art, the horizontal positioninformation of the part and the material frame is obtained through the single 2D camera, the robot is guided to move on the basis of the horizontal position information obtained by the 2D camera, thepart is clamped through a telescopic suction cup and a claw, the device cost is low, maintenance is convenience, and the grabbing accuracy and stability are high.

Description

technical field [0001] The invention relates to a system and a control method for grabbing parts from a material frame, in particular to a system and a control method for robot vision to guide the parts to be grabbed from a material frame. Background technique [0002] Vision is more and more widely used in the field of industrial automation, such as visual guidance, visual inspection, visual sensors and so on. Vision guidance is a technology that uses industrial cameras to take pictures, detect and compare, calculate the offset, and correct it according to the position of the part. The visual guidance application grabs parts, grabs from the material frame stack, grabs from the accumulation chain, and grabs parts from the EHB conveyor system, with precise positioning and high-efficiency automation. Among them, grabbing parts from the stacking frame is the most complicated. It is not only necessary to locate the position of the part, but also to judge the position of the par...

AI Technical Summary

Problems solved by technology

[0003] At present, there are two ways to grab parts from the material frame. One is to use a fixed and precise positioning material frame to cooperate with the automatic part-finding function of the robot. This method is used to grab small parts, and the requirements for the material frame are too high. , and a person is required to put the parts into the precise positioning material frame, the automation rate is low

Another method is to use a common material frame. When using this type of material frame, the position of the part in the material frame is biased. It is necessary to use an industrial 3D camera to take pictures of the material frame and the part before grabbing to calculate the offset. Send it to the robot for offset, first take a photo of the material frame to calculate the deviation between the output frames, then offset the robot as a whole, and then take a photo of the part to calculate the deviation between the parts, for example, use an industrial 3D camera When grabbing the car body roof parts from the material frame, it is necessary to use a combination of 4 3D cameras, corresponding to the four corners of the material frame and the part respectively. First, take pictures of the four corners of the material frame to calculate the deviation of the material frame. For irregular material frames, only the middle deviation can be taken, and then the parts are found one by one, and then the four corners of the parts are photographed to calculate the deviation value between the parts, so that the robot guidance system can grab the top cover from the material frame, It is necessary to perform repeated calculations on the parts. If one of the corners of the parts is locally deformed, the calculated value will be biased. The calculation is difficult and the cost is too high.

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