Method for planning double-TCP dispensing path of manipulator based on 3D vision
A path planning and manipulator technology, applied in manipulators, program-controlled manipulators, and devices for coating liquid on surfaces, etc., can solve the problems of spending a lot of time and increasing production costs, and reduce the number of uses, save processing costs, and save tracks. Effect of teach time
Active Publication Date: 2021-08-03
深圳群宾精密工业有限公司
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Problems solved by technology
[0002] At present, in the automatic production process, when the robot needs to perform two kinds of spraying treatments on the surface of a single product, the existing solution is to use two robots to teach the trajectory path respectively, and then install different dispensing heads on the two robots For spraying, when using this method to solve this problem, two robots need to coordinate their work, so it is necessary to teach the spraying path to the two robots. The execution trajectory path teaching between the two robots will take a lot of time, and the use of two robots Finishing the product will increase the cost of production
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[0016] In order to describe the technical solution of the present invention more clearly and completely, the present invention will be further described below in conjunction with the accompanying drawings.
[0017] Please refer to figure 1 , the present invention proposes a method for planning a dual TCP dispensing path of a manipulator based on 3D vision, comprising the following steps:
[0018] Step 1: Install two dispensing heads on the manipulator and establish a tool coordinate system; in step 1, among the two dispensing heads installed on the manipulator, one dispensing head is the main body, and the other dispensing head is connected with the main body. The X-axis direction of the dispensing head maintains a fixed distance, and establishes the tool coordinate system at the end of the main body dispensing head.
[0019] Step 2: 3D vision processing system and the tool coordinate system established on the manipulator perform hand-eye calibration; Step 2 is to unify the 3...
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The invention provides a method for planning a double-TCP (Transmission Control Protocol) dispensing path of a manipulator based on 3D (Three-Dimensional) vision. The method comprises the following steps that firstly, two dispensing heads are mounted on the manipulator, and a tool coordinate system is established; secondly, a 3D visual processing system conducts hand-eye calibration with the tool coordinate system established on the manipulator; thirdly, the 3D visual processing system generates the double-TCP execution track path based on object scanning; and fourthly, the manipulator executes spraying work according to the execution track. By means of the method, one manipulator can control the two dispensing heads to conduct spraying operation at the same time, the production efficiency is improved, and the production cost is saved.
Description
technical field [0001] The invention relates to the technical field of automatic processing, in particular to a method for planning a dual TCP dispensing path of a manipulator based on 3D vision. Background technique [0002] At present, in the automatic production process, when the robot needs to perform two kinds of spraying treatments on the surface of a single product, the existing solution is to use two robots to teach the trajectory path respectively, and then install different dispensing heads on the two robots Spraying, using this method to solve this problem requires two robots to coordinate their work, so it is necessary to teach the spraying path to the two robots. The execution trajectory path teaching between the two robots will take a lot of time, and the use of two robots Finishing the product adds to the cost of production. Contents of the invention [0003] In order to solve the above problems, the present invention proposes a method for planning a dual T...
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Login to View More IPC IPC(8): B25J9/16B05C9/06B05C5/02
CPCB25J9/1664B25J9/1697B05C9/06B05C5/02Y02P90/02
Inventor 代勇陈方
Owner 深圳群宾精密工业有限公司