Method for implementing automatic casting discharging through cooperation of three-dimension vision and robot

Abstract

The invention discloses a method for implementing automatic casting discharging through cooperation of three-dimension vision and a robot. A three-dimension camera is adopted for shooting castings ona conveying mechanism, and three-dimension point cloud data collection is conducted; the collected data are processed, and recognition of the multiple castings is finished; the space positions of therecognized castings and the robot grabbing motion track are calculated; a robot finishes casting grabbing according to the received grabbing point positions and the posture movements corresponding tothe grabbing point positions; when the robot leaves the shooting area, the three-dimension camera conducts shooting for data collection, and new point cloud data are calculated when the robot conductssubsequent work; and after grabbing is finished, the robot can place the grabbed castings to the assigned positions according to the previously-demonstrated placing points or the automatically-calculated placing points. According to the method, full-automatic casting discharging track measurement and control are achieved, the three-dimension image technology is used, and the problems including casting incoming material stacking, large-angle inclination and other problems which cannot be solved through traditional two-dimension image processing can be solved.

Description

technical field [0001] The invention relates to a method for unloading castings in the industrial automation of robots, in particular to a method for automatic unloading of castings with three-dimensional vision and a robot. Background technique [0002] With the increasing labor costs and difficulties in recruiting workers, the demand for industrial automation 4.0 is also increasing. Especially for factories with labor-intensive positions similar to automobile casting forging plants, the demand for automation is extremely urgent. The castings of trucks, excavators and some large special vehicles are often seven or eight kilograms or even heavier, and the continuous unloading work is very labor-intensive for the workers at the unloading station. [0003] At present, the automatic blanking device in the casting industry often requires manual intervention in production, or uses a modified mechanical structure similar to a slope to achieve automation. Although the former redu...

AI Technical Summary

Problems solved by technology

Although the former reduces the work intensity, it still does not belong to automation in the true sense. The latter has a narrow application area and is not very versatile. It has certain requirements for the placement of incoming materials, which cannot meet the random position and posture of casting incoming materials and multi-layer stacking. In practical applications, grabbing from the conveyor belt and placing it on the machine of the next processing process is also called blanking. The actual industrial site cannot use all slope-type mechanical structures to transport to the machine of the next processing process.

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