A vision-guided method for robotic screw driving
A vision-guided, robotic technology, applied in manipulators, program-controlled manipulators, metal processing equipment, etc., can solve the problem of easy deviation in screwing, and achieve the effect of avoiding deviation, easy implementation, and simple operation.
Active Publication Date: 2021-01-22
四川长虹智能制造技术有限公司
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Problems solved by technology
[0003] In order to overcome the problem of easy deviation in screw driving in the prior art, a visual guidance method for robot screw driving is provided
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[0041] The specific implementation manners according to the present invention will be described below in conjunction with the accompanying drawings.
[0042] In the following description, many specific details are set forth in order to fully understand the present invention, but the present invention can also be implemented in other ways different from those described here, therefore, the present invention is not limited to the specific embodiments disclosed below limit.
[0043] In order to solve the problem that screw driving is prone to deviation, the present invention provides a visual guidance method for robot screw driving.
[0044] Such as figure 1 As shown, the present invention provides a visual guidance method for robot screwing, comprising the following steps:
[0045] S1. Establish the camera image coordinate system and the robot coordinate system;
[0046] In this step, establish the camera image coordinate system o P -x P the y P z P and robot coordinate s...
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The invention provides a visual guidance method for a robot to fix screws. The method comprises the following steps that a camera image coordinate system and a robot coordinate system are established;the mapping relation between the camera image coordinate system and the robot coordinate system is obtained; the distance between a camera and a robot tool is obtained; an image template database isestablished, wherein the image template database comprises a plurality of image templates; a plurality of ideal fixing points are set on the image templates, and coordinates of the ideal fixing pointsare obtained; actual fixing points, corresponding to the ideal fixing points, of products are shot, and coordinates of the actual fixing points are obtained; the angle difference is obtained according to the coordinates of the ideal fixing points and the coordinates of the actual fixing points; ideal coordinates of the screws on the image templates are obtained; the deviation values of the idealcoordinates of the screws are obtained according to the ideal coordinates of the screws and the angle difference; and actual coordinates of the screws are obtained according to the deviation values. According to the visual guidance method, the robot tool is correctly guided to reach actual screw fixing positions, deviation phenomena in the screw fixing process are avoided, and operation is easy and simple to implement.
Description
technical field [0001] The invention relates to the technical field of visual guidance for robot screw driving, in particular to a visual guidance method for robot screw driving. Background technique [0002] In the existing technology, manual operation is usually used in the process of locking screws, but this method is inefficient and prone to offset problems; some companies use mechanized operations to lock screws through robotic tools, that is, use robots to drive screws, But it is prone to the problem of offset. Contents of the invention [0003] In order to overcome the problem that screw driving is prone to offset in the prior art, a visual guidance method for robot screw driving is further provided. [0004] In order to achieve the above object, the present invention provides a visual guidance method for robot screwing, comprising the following steps: [0005] Establish camera image coordinate system and robot coordinate system; [0006] Obtain the mapping relat...
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IPC IPC(8): B25J9/16B25J9/02B25J19/04B23P19/06
CPCB23P19/06B25J9/023B25J9/1697B25J19/04
Inventor 吴鲁滨李强徐志超张文强
Owner 四川长虹智能制造技术有限公司