Teaching track point collection method and device, mechanical arm, system and medium

A collection method and track point technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of high cost and achieve the effects of fast speed, promotion speed and cost saving

Active Publication Date: 2021-11-26
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a teaching track point acquisition method, device, mechanical arm, system and medium to solve the problem of high cost in the prior art when using a space attitude acquisition system during teaching

Method used

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  • Teaching track point collection method and device, mechanical arm, system and medium
  • Teaching track point collection method and device, mechanical arm, system and medium
  • Teaching track point collection method and device, mechanical arm, system and medium

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Embodiment Construction

[0045] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. 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.

[0046] an embodiment

[0047] figure 1 It is a schematic structural diagram of a teaching device provided by an embodiment of the present invention.

[0048] exist figure 1 Among them, 100 is a mechanical arm, 200 is an operating table, and the operating table 200 may be a platform on which parts or equipment to be processed are placed. T...

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Abstract

The invention relates to a teaching track point collection method and device, a mechanical arm, a system and a medium. The method comprises the following steps: collecting a shot image containing a calibration plate; acquiring a first coordinate of each positioning point in the shot image under a camera coordinate system of the camera; acquiring a second coordinate of each positioning point in a teaching tool coordinate system pre-constructed for a teaching tool, and solving a first conversion matrix between the teaching tool coordinate system and the camera coordinate system according to the first coordinate of each positioning point and the second coordinate of each positioning point; acquiring a third coordinate of a teaching tip in the teaching tool coordinate system, and converting the third coordinate of the teaching tip into a fourth coordinate in the world coordinate system according to the first conversion matrix and a pre-calibrated second conversion matrix of the camera coordinate system and the world coordinate system; and taking the fourth coordinate as a coordinate of a teaching track point of the teaching tip. According to the invention, the cost can be saved, so that the teaching speed of a robot can be quickly promoted.

Description

technical field [0001] The present invention relates to the field of teaching, in particular to a method, device, mechanical arm, system and medium for collecting teaching track points. Background technique [0002] Robots are more and more widely used in various industries. Compared with manual operations, robot operations have greatly improved the accuracy and efficiency of operations. For some scenarios that require consumables, such as painting, dispensing, welding, etc., robots The operation can also greatly improve the utilization rate of consumables and reduce the waste of consumables. In addition, the machine has many advantages in terms of large working space and improved working environment for workers. [0003] The prerequisite for the robot to complete precise movements is that the operator has strong programming ability, completes the motion control program programming, and inputs it into the robot, which has very high requirements for the operator, and it is ge...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/00B25J13/00
CPCB25J9/163B25J9/1664B25J9/161B25J9/0081B25J13/00
Inventor 李文智解俊杰郎需林蔡同彪刘主福姜宇刘培超
Owner SHENZHEN YUEJIANG TECH CO LTD
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