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A registration method of visual off-line teaching instrument

An offline teaching and teaching device technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of troublesome operation, high application accuracy, errors, etc.

Active Publication Date: 2020-12-29
智昌科技集团股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the production process, due to uncertain errors in processing and assembly, their relative positions must be recalculated, otherwise there will be a large accuracy error in the application, and the operation is troublesome

Method used

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  • A registration method of visual off-line teaching instrument
  • A registration method of visual off-line teaching instrument
  • A registration method of visual off-line teaching instrument

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0019] 1. Design a three-dimensional angle tool, the teaching point can be pushed to the top position of the three-dimensional angle tool, and when the teaching instrument rotates around any direction in a small range, ensure that the teaching point is still at the same position;

[0020] 2. The teaching pendant rotates around the three-dimensional angle tool by n angles, n is any angle. When rotating, each position of the main body of the teaching pendant ensures that the sharp point is at the same position, and each angular position uses the binocular reconstruction system to reconstruct the marker point Array, so as to get n point cloud;

[0021] 3. Match the point clouds in the above n point clouds to obtain relative external parameter parameters, namely the rotation parameter R and the translation parameter T;

[0022] 4. If the matching is successful, use the matching relationship of these point clouds to fit the precise position of the cusp. The specific method is as fo...

Embodiment 2

[0026] Design a three-dimensional included angle tool, the teaching point can reach the top position of the three-dimensional included angle tool, when the teaching pendant rotates in a small range around any direction, ensure that the teaching point is still at the same position; The tool rotates at 9 angles. During the rotation, each position of the main body of the teaching pendant ensures that the sharp point is at the same position. At each angular position, the binocular reconstruction system is used to reconstruct the marker point array to obtain 9 point clouds. Each point The cloud has 6 points;

[0027]

[0028] Match the above-mentioned point clouds to obtain relative external parameter parameters, namely the rotation parameter R and the translation parameter T; set the position of the cusp as P(x, y, z), and the rotation relationship between point cloud Set1 and point cloud Seti is Seti=*Set1. But it satisfies P(x,y,z)=*P(x,y,z) at the same time, since multiple g...

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Abstract

The invention provides a visual offline teaching instrument registration method, firstly, a three-dimensional included angle tool is designed, a teaching sharp point can prop up a top position of thethree-dimensional included angle tool, when the teaching instrument rotates in a small range about any direction, the teaching sharp point is guaranteed to be still in the same position; and in the method provided by the invention, the position of the sharp point of the teaching instrument can be obtained by fitting through a software method, and precision of the method provided by the invention is greatly higher than the precision of processing and assembling. In a registration process, accurate calculation of the teaching sharp point can be executed without acquisition of design parameters,so the method provided by the invention is simple and convenient.

Description

technical field [0001] The invention relates to the technical field of industrial robot manipulation and teaching, in particular to a registration method for a visual offline teaching instrument. Background technique [0002] With the continuous improvement of industrial automation, industrial robots have been widely used in the fields of automobile and auto parts manufacturing, heavy machinery, aerospace, shipbuilding, chemical industry, and electronics industry. Usually, the teaching of industrial robots mainly includes online teaching and offline teaching. In today's robot vision offline teaching system, the relative positions of the teaching cusp and the marker point array are fixed. It is necessary to obtain their precise relative positions in space before. In general, the array and teaching point of the teaching pendant are precisely designed, that is, their relative positions can be obtained through the design drawings. However, in the production process, due to unc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1692
Inventor 张庆久
Owner 智昌科技集团股份有限公司