A teaching track point acquisition method, 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, cost saving and promotion speed

Active Publication Date: 2022-03-18
SHENZHEN YUEJIANG TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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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

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  • A teaching track point acquisition method, device, mechanical arm, system and medium
  • A teaching track point acquisition method, device, mechanical arm, system and medium
  • A teaching track point acquisition method, 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 present invention relates to a teaching track point collection method, device, mechanical arm, system and medium. The method includes: collecting a photographed image including a calibration plate; obtaining the first coordinates of each positioning point in the photographed image under the camera coordinate system of the camera ;Get the second coordinates of each positioning point in the teaching tool coordinate system pre-built for the teaching tool, and solve the teaching tool coordinate system and camera according to the first coordinates of each positioning point and the second coordinates of each positioning point The first transformation matrix between the coordinate systems; obtain the third coordinate of the teaching tip in the teaching tool coordinate system, according to the first transformation matrix and the pre-calibrated second transformation matrix between the camera coordinate system and the world coordinate system, the display The third coordinate of the teaching tip is transformed into the fourth coordinate in the world coordinate system, and the fourth coordinate is used as the coordinate of a teaching track point of the teaching tip. The invention can save cost, so that the speed of robot teaching 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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Patent Type & Authority Patents(China)
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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