A dual-arm collaborative intelligent assembly system based on vision positioning

A visual positioning and assembly system technology, applied in the direction of program-controlled manipulators, metal processing equipment, manipulators, etc., can solve the problems of slow assembly speed and high labor costs, reduce requirements, reduce labor costs, and solve the effect of unable to assemble

Active Publication Date: 2022-01-28
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, the assembly of such LED street light modules is all done manually, which has the problems of high labor cost and slow assembly speed.

Method used

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  • A dual-arm collaborative intelligent assembly system based on vision positioning
  • A dual-arm collaborative intelligent assembly system based on vision positioning
  • A dual-arm collaborative intelligent assembly system based on vision positioning

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Embodiment Construction

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0037] The embodiment of the present invention discloses a dual-arm collaborative intelligent assembly system based on visual positioning, which includes two robotic arms and two cameras, wherein the first camera is fixed on the end effector of the active robotic arm to photograph the module base; the second camera is fixed on the outside of the active manipulator; the end effector of the slave manipulator is an automatic screwdriver. Calibration,...

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Abstract

The invention discloses a dual-arm collaborative intelligent assembly system based on visual positioning, which includes two mechanical arms and two cameras, wherein the first camera is fixed on the end effector of the first mechanical arm and is used to photograph the base of the module ; The second camera is fixed on the outside of the first mechanical arm; the end effector of the second mechanical arm is an automatic screwdriver. Before the system officially starts to work, the pre-calibration is carried out, and the base coordinate system of the first camera and the first mechanical arm is calibrated. Calibration, the calibration of the base coordinate system of the second camera and the first manipulator, and the calibration work of the position transformation between the first manipulator and the second manipulator, obtain the corresponding transformation matrix, so that the position of the point in the picture taken by the camera Transform to the base coordinate system of the manipulator, guide the manipulator to the specified position; system assembly.

Description

technical field [0001] The invention belongs to the technical field of image recognition and control, and in particular relates to a dual-arm cooperative intelligent assembly system based on visual positioning. Background technique [0002] In the prior art, there is a LED street lamp module, see figure 1 As shown, it includes the LED light source and the module base. During assembly, the LED light source and the module base are provided with two sets of corresponding screw holes to complete the assembly of the LED street lamp module. At present, the assembly of such LED street lamp modules is all done by manual operation, which has the problems of high labor cost and slow assembly speed. [0003] In order to accelerate the realization of "Industry 4.0", it is necessary to intelligently upgrade the street lamp module production line in the LED street lamp module production process combined with visual technology, and change the original manual operation production line incl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/04B25J9/16B23P19/06
CPCB25J19/04B25J9/16B23P19/06B25J9/1687
Inventor 曹衍龙张琪琦杨将新曹彦鹏董献瑞陈洪凯朱文斌
Owner ZHEJIANG UNIV
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