Industrial robot teaching system and method based on 3D camera
A technology of industrial robots and teaching methods, which is applied in the directions of manipulators, manufacturing tools, program control manipulators, etc., can solve the problems of low working precision and long time consumption of industrial robots, and achieve high work efficiency, save time and improve work precision Effect
Active Publication Date: 2021-10-22
北京深度奇点科技有限公司
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[0005] The purpose of the present invention is to overcome the defects in the prior art that manual teaching requires manual operation, takes a long time, and the working precision of industrial robots is not high, and provides a 3D camera-based industrial robot with high working precision and no need for manual teaching Teaching system and method
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[0032] The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.
[0033] Such as figure 1 A specific embodiment of the teaching system for an industrial robot 1 based on a 3D camera 3 of the present invention includes an industrial robot 1, a calibration pin 2 fixedly installed at the end of the mechanical arm of the industrial robot 1, and a 3D camera installed on the mechanical arm of the robot. Camera 3, hand-eye calibration platform 4 and workpiece 5.
[0034] Four paper sheets 6 with pointed ends are set on the hand-eye calibration platform 4, and the hand-eye calibration is performed by touching the tip of the paper sheet 6 with the calibration pin 2;
[0035] The workpiece 5 has calibration points on it.
[0036] T...
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The invention belongs to the technical field of industrial automation equipment, and particularly relates to an industrial robot teaching system and method based on a 3D camera. The method comprises the steps that TCP calibration is carried out; hand and eye calibration is carried out; the optimal photographing distance is calculated; an error compensation relation is solved; the target is photographed and positioned for the first time; the 3D camera is moved to the optimal photographing distance; the pose of a workpiece in an image is recognized; the pose of the calibration point of the workpiece is compensated through the error compensation relation and the moving distance of the 3D camera; and whether the precision (T'Q2-T'Q) is within a set precision threshold or not is calculated. Under the condition that the precision of a robot and the precision of the camera are limited, the working precision of the industrial robot is greatly improved through error compensation; and workpiece images are collected through the 3D camera, the coordinates of the position of the workpiece needing to be grabbed are directly calculated according to the error compensation relation, the tail end of the robot can move to the corresponding position by inputting the coordinates into an operation program of the robot, manual teaching is not needed, and time is greatly saved.
Description
technical field [0001] The invention belongs to the technical field of industrial automation identification, and in particular relates to an industrial robot teaching system and method based on a 3D camera. Background technique [0002] The traditional robot teaching adopts the method of manual operation, gradually adjusts the TCP to the position of the corresponding teaching point, and then records. This method requires a lot of manual operations, and the mechanical arm moves at any time, which is prone to collisions and takes a long time to teach. [0003] Traditional industrial robots grasp and process workpieces after manual teaching. Once the working environment or target objects change, the robot cannot adapt to the changes in time and requires manual re-teaching, which greatly limits the flexibility of industrial robots. sex and work efficiency. [0004] On the other hand, due to the influence of the industrial robot's own precision and camera precision, the working...
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Login to View More IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0081B25J9/1653B25J9/1697
Inventor 杨云龙戚骁亚尹坤阳刘祖川李嘉亮
Owner 北京深度奇点科技有限公司