A method to improve the accuracy of automatic pick-and-place workpiece

An automatic pick-and-place and precision technology, applied in manufacturing tools, program-controlled manipulators, manipulators, etc., can solve problems such as insufficient precision of manipulators, achieve the effect of improving the accuracy of picking materials, reducing cumulative errors, and eliminating positioning errors

Active Publication Date: 2021-05-04
CHONGQING LIYING INTELLIGENT TECH RES INST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the defects in the prior art, the present invention provides a method for improving the accuracy of the automatic pick-and-place of workpieces, so as to solve the problem in the prior art that when the manipulator automatically picks and unloads materials when the working area is large Technical issues with insufficient precision

Method used

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  • A method to improve the accuracy of automatic pick-and-place workpiece
  • A method to improve the accuracy of automatic pick-and-place workpiece
  • A method to improve the accuracy of automatic pick-and-place workpiece

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Embodiment 1

[0042] Such as figure 1 and figure 2 As shown, the present invention provides a method for improving the accuracy of automatic pick-and-place workpieces, comprising the following steps:

[0043] S1. The production equipment in the production work area sends a production completion signal to the control platform. After the control platform receives the production completion signal sent by the production equipment, it first controls the elevator to move horizontally back to the preset origin coordinates, and then controls the elevator to drive the workpiece fixture to move horizontally to Reclaiming area, there are workpieces stacked in the reclaiming area;

[0044] S2. Use the image collector to collect the image of the workpiece, and transmit the collected image to the control platform; the control platform performs image recognition according to the received image, and obtains the positioning point of the workpiece; the control platform levelizes the elevator according to t...

Embodiment 2

[0071] In Example 1, when the gripper of the manipulator is used to grab the workpiece, a CCD industrial camera can only be used to collect the two-dimensional image of the tray. There may be a certain deviation in the center of the disc hole. In this way, the positioning point selected when the control platform controls the lifting platform to fine-tune the horizontal position will not be located at the same spatial coordinate point as the actual desired positioning point, which will affect the fine-tuning accuracy.

[0072] In order to solve the above-mentioned technical problems, on the basis of Embodiment 1, further optimize, and install another high-precision CCD industrial camera on the elevator, so that there are two CCD industrial cameras on the elevator, through binocular vision recognition in machine vision , using the images captured by two CCD industrial cameras for three-dimensional reconstruction of spatial coordinates. Specifically, the first CCD industrial cam...

Embodiment 3

[0076] In the actual process of picking and unloading materials, there may be a situation where the gripper claws of the manipulator grab empty. At this time, the actual number of materials to be taken and discharged will deviate from the ideal quantity; because the quantity of materials to be taken and discharged is not accurate, It will cause the production equipment in the production work area to be shut down and wait for materials.

[0077]In order to solve the above-mentioned technical problems, on the basis of Embodiment 1, the following technical solutions are adopted: before reclaiming, the control platform can also judge the reclaiming position according to the height information of the receptacle measured by the first laser rangefinder. Whether there is a tray, and can count the number of trays each time, to determine whether the number of trays picked up is consistent with the number set by the operator in the system; if the number is inconsistent, the control platfo...

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Abstract

The invention provides a method for improving the accuracy of automatic pick-and-place of workpieces, which includes the following steps: S1. Control the elevator according to the preset coordinates to drive the workpiece fixture to move to the pick-up area; S2. Control the platform to perform image processing according to the workpiece image collected by the image collector Identify and obtain the positioning point of the workpiece and fine-tune the horizontal position of the elevator; S3. Use the first distance measuring device to measure the distance between the workpiece and the workpiece fixture, control the elevator to descend according to the distance, and then control the workpiece fixture to take material; S4. Control The elevator moves horizontally to the side of the production equipment; S5. Use the second distance measuring device installed outside the production work area, the third distance measuring device and the auxiliary distance measuring device installed on the elevator to accurately position the elevator in the horizontal direction, and move the elevator Move to the preset discharge position; S6. Control the elevator to descend, loosen the workpiece clamp to complete the discharge; the present invention can solve the technical problem that the precision of the manipulator is not enough when automatically taking and discharging materials when the working area is large.

Description

technical field [0001] The invention relates to the technical field of workpiece handling in industrial production, in particular to a method for improving the accuracy of automatic pick-and-place of workpieces. Background technique [0002] At present, in the field of industrial automation, the workpiece to be processed will be grasped by a manipulator to complete the retrieving and discharging of the workpiece. In the prior art, a workpiece handling system and method are provided, which is to determine the specific placement position of the material through the CCD camera, and then feed back the distance between the manipulator and the material in real time through the ranging sensor. After reaching the preset position, the manipulator is controlled. The material is grabbed; then the material is lifted a certain distance and moved to the placement area for placement. In the prior art, there is control over the accuracy of the manipulator for retrieving materials, but when...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J9/16
CPCB25J9/10B25J9/16B25J9/1697
Inventor 刘宇航
Owner CHONGQING LIYING INTELLIGENT TECH RES INST CO LTD
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