Automatic workpiece feeding method suitable for clamping groove type material frame

Abstract

The invention discloses an automatic workpiece feeding method suitable for a clamping groove type material frame. The automatic workpiece feeding method comprises the steps that (1) a visual sensor acquires images of clamping groove strips respectively, and calculates three-dimensional coordinates representing characteristic points of each clamping groove in a reference coordinate system; (2) a robot working pose obtained by teaching and corresponding to the workpiece feeding at the innermost clamping groove position is called to work, the pose of the tail end of a robot at the to-be-mounted position under the reference coordinate system; and workpieces are fed according to preset workpiece feeding steps; (3) three-dimensional coordinates of the feature points of the clamping grooves in which the same workpiece is placed are sequentially obtained outwards, the rotation and translation relation between the feature points and the previous position is calculated, then the pose conversion relation of the tail end of the robot is obtained, the motion track of the robot is adjusted, and the workpiece is fed; and (4) whether the clamping groove is the last clamping groove is determined, if not, the step (3) is repeated, and if so, the workpiece feeding is finished. According to the automatic workpiece feeding method, the positions of the clamping grooves in the plurality of clamping groove strips on the same clamping groove type material frame are positioned through the visual sensor, the motion pose of the robot is adjusted in real time, and the automatic workpiece feeding is achieved.

Description

technical field [0001] The invention relates to the application field of visual detection technology, in particular to an automatic loading method suitable for slot-type material racks. Background technique [0002] In the automobile manufacturing industry chain, the parts used on the body-in-white are made from various parts suppliers or the OEM's own stamping workshop, and then transported to the welding workshop through some storage and transportation equipment for the next step of body-in-white production. Among them, the most commonly used storage and transportation equipment category is the parts storage and transportation material rack, and the card slot type material rack is the most commonly used material rack. The core components of the slotted material rack are the slotted bar, metal cantilever and frame. The slotted bar is usually made of soft materials such as rubber and nylon by injection molding. There are slots with characteristic shapes on it to support and ...

AI Technical Summary

Problems solved by technology

At present, the loading of the slot-type material rack is usually done manually. To realize the automatic feeding process, 1) high-precision material rack (accuracy higher than ±1mm), high-precision station positioning tooling, and fixed running track of the robot can be used. However, this method is expensive, and it is difficult to maintain and repair it in the process of use, so it is difficult to promote it on a large scale; or, it can also use the method of machine vision, which does not require high manufacturing accuracy of the rack and can accommodate The influence brought by the deformation of the slot bar during use, but it is difficult to realize it on the production line as follows:

[0003] 1) The manufacturing precision of the material rack is low, and there is deformation during use. In order to ensure that the parts are loaded correctly, the visual positioning accuracy needs to reach the mm level;

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