An automatic hand-eye calibration device and method for an industrial vision robot

Abstract

The present invention relates to the technical field of automated hand-eye calibration, and discloses an automated hand-eye calibration device for an industrial vision robot, including a bottom plate. A carriage is fixedly assembled on the top of the bottom plate. A pulley is rotatably connected to the inner top wall of the carriage. An electromagnet is fixedly assembled on the inner bottom wall of the carriage. A slider is slidably sleeved on the inner wall of the carriage. A panel is fixedly assembled on the top of the slider. A bracket is fixedly assembled on one side of the top of the panel. A fixed frame is fixedly assembled on the other side of the top of the panel. By sliding the slider on the inner wall of the carriage and using the magnetic force of the electromagnet to resist the magnetic force of the slider, the panel can control the magnitude and direction of the magnetic force of the electromagnet through a control component to achieve movement. By connecting the panel to the carriage through the slider, when the device grabs and scans a workpiece, it can move through the electromagnet, so that the device can achieve large-range movement and the handling of the workpiece.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic hand-eye calibration, and particularly to an automatic hand-eye calibration device and method for an industrial vision robot. Background Art

[0002] Endowing an industrial robot with a pair of "intelligent eyes" and establishing the coordinate relationship between the robot and the camera is an important step towards making the robot intelligent. After installing a vision sensor on the robot, it can perform more complex and intelligent tasks with the help of visual information. The accurate calibration of the robot and the camera is the bridge to establish the mutual relationship between the robot and the vision system.

[0003] In a robot system, the installation methods of the camera can be divided into two categories: eye-in-hand and eye-to-hand. When the camera or the calibration board on the industrial robot arm changes its posture, the camera captures and recognizes the calibration board in the field of view. Through a series of calculations, the transformation relationship matrix of the camera relative to the end of the robotic arm or the camera relative to the base of the robotic arm is obtained. Based on this relationship, the robot is guided to perform tasks such as grasping.

[0004] However, in the existing manipulators, when grasping objects with different hardnesses, it is necessary to replace the manipulator to avoid damage caused by using the same manipulator to grasp objects with different hardnesses. Summary of the Invention

[0005] The present invention provides an automatic hand-eye calibration device and method for an industrial vision robot, which have the advantages of soft grasping and hard grasping, and solve the problems raised in the above background art.

[0006] The present invention provides the following technical solution: an automatic hand-eye calibration device for an industrial vision robot, including a bottom plate, a fifth motor, a gripper assembly, and a fixture assembly. A carriage is fixedly assembled on the top of the bottom plate. A pulley is rotatably connected to the inner top wall of the carriage. The power output shaft of the fifth motor is fixedly assembled with a mounting surface frame. One ends of a support shaft and a telescopic shaft are rotatably connected to both sides of the inner wall of the mounting surface frame. The other ends of the support shaft and the telescopic shaft are rotatably connected to one end of a support rod. The other end of the support rod is fixedly assembled with a connecting piece. One end of a support rotating shaft is fixedly assembled on the outer edge of the bottom of the connecting piece. The other end of the support rotating shaft is rotatably connected to a support block. The bottom of the support block is fixedly assembled with a connecting pipe. The bottom of the connecting pipe is fixedly assembled with a contact gripper block. An expansion rod is rotatably connected to the outer edge of the bottom of the connecting piece. An air valve housing is fixedly assembled on the outer wall of the support rod. A third spring and a steel column are respectively arranged in the inner cavity of the air valve housing. An auxiliary air pipe is fixedly assembled in the inner cavity of the air valve housing. A fourth round hole is opened on the outer edge of the air valve housing. An observation pipe is fixedly assembled on the outer edge of the fourth round hole. A pressing block is slidably sleeved on the inner wall of the fourth round hole. A first spring is sleeved on the outer edge of the pressing block. One end of the observation pipe away from the pressing block is fixedly assembled with a first probe. A second spring is sleeved on the outer edge of the first probe. A second probe is fixedly assembled on the outer edge of the second spring. A hand-eye calibration block is arranged on the outer edge of the bottom plate. A calibration object is arranged on the top of the hand-eye calibration block. A first round hole, a second round hole, and a third round hole are respectively opened on the top of the hand-eye calibration block. A scanning camera is fixedly assembled on the outer wall of the gripper assembly.

[0007] Preferably, an electromagnet is fixedly assembled on the inner bottom wall of the carriage. A slider is slidably sleeved on the inner wall of the carriage. A panel is fixedly assembled on the top of the slider. A bracket is fixedly assembled on one side of the top of the panel. A fixing frame is fixedly assembled on the other side of the top of the panel. A control assembly is fixedly assembled on the top of the bracket. A first motor is fixedly assembled on the inner top wall of the fixing frame.

[0008] Preferably, a first mounting plate is fixedly assembled on the power output shaft of the first motor. A second motor is fixedly assembled on the inner wall of the first mounting plate. A second mounting plate is fixedly assembled on the power output shaft of the second motor. A third motor is fixedly assembled on the inner wall of the second mounting plate. One ends of third mounting plates are fixedly assembled on the power output shafts on both sides of the third motor. The other ends of the third mounting plates are fixedly assembled with a sixth motor.

[0009] Preferably, a fourth mounting plate is fixedly assembled on the outer wall of the sixth motor. A fifth mounting plate is arranged on the inner wall of the fourth mounting plate. A fourth motor is fixedly assembled on the inner wall of the fifth mounting plate. A sixth mounting plate is fixedly assembled on the outer wall of the fourth motor. The inner wall of the sixth mounting plate is fixedly assembled with the fifth motor.

[0010] Preferably, an observation window is provided on the outer wall of the air valve housing. The diameter of the steel column is greater than the diameter of the circular grooves at both ends of the air valve housing, and a sealing rubber is provided on the contact surface between the steel column and the circular grooves of the air valve housing. The observation tube is made of a transparent material, and a control board is provided in the inner cavity of the air valve housing, and the control board is electrically connected to the first probe and the second probe respectively.

[0011] Preferably, the support block forms a through space with the contact clip block through a connecting pipe. The support block is connected to the pneumatic controller through the air valve housing. The inner cavity of the contact clip block is hollow, and the contact clip block is made of rubber material.

[0012] Preferably, the control assembly includes a controller housing. First ventilation grooves and a power supply port are respectively provided on the outer wall of the controller housing. A circuit board and a fan are respectively fixedly assembled on the inner wall of the controller housing. A controller cover is provided on the outer edge of the controller housing. Second ventilation grooves are provided on the outer wall of the controller cover. The controller cover and the controller housing are fixedly assembled by bolts.

[0013] Preferably, the size of the hand-eye calibration block is: 120 mm * 120 mm * 10 mm, and the size of the calibration object is: diameter 40 mm; the center of the calibration object is at the center position of the hand-eye calibration block. The connection relationship between the calibration object and the hand-eye calibration block is placing and sticking; the inner wall diameters of the first circular hole, the second circular hole and the third circular hole are 1 mm, and the depth is 1 mm. The distances from the center points of the first circular hole, the second circular hole and the third circular hole to the adjacent sides of the hand-eye calibration block are 10 mm respectively. The distance between the first circular hole, the second circular hole and the third circular hole is 100 mm.

[0014] An automatic hand-eye calibration method for an industrial vision robot includes the following steps:

[0015] S1: First, place the hand-eye calibration block in the workpiece coordinate system of the robot, and calibrate the workpiece coordinates of the robot by using the second circular hole at the origin of the workpiece coordinates, the first circular hole calibrated by the X-axis of the workpiece coordinates, and the third circular hole calibrated by the Y-axis of the workpiece coordinates.

[0016] S2: Then, taking the calibrated workpiece coordinates of the robot as a reference, change the posture of the robot, and the camera takes a vertical downward shot.

[0017] The starting position is 30 mm to the left of the center of the ball;

[0018] The key position is 30 mm to the right of the center of the ball;

[0019] It is more optimal if it can be configured on the 30 mm side of the robot;

[0020] Scanning posture 1

[0021] Rotate 20 degrees about the +Z axis at position 1;

[0022] Scanning posture 2

[0023] Rotate 20 degrees about the -Z axis at position 1;

[0024] Scanning posture 3

[0025] Rotate 20 degrees about the +Y axis at position 1;

[0026] Scanning posture 4

[0027] Rotate 20 degrees about the -Y axis at position 1;

[0028] It is better if it is configurable on the robot side by 20 degrees;

[0029] Take points on the hand-eye calibration block;

[0030] S3: Take 4 feature points at different positions within the field of view of the scanning camera laser profiler, and record the robot coordinate posture at the same time;

[0031] S4: Use the feature points and the robot coordinates for calculation to obtain the conversion relationship from the robot coordinate system to the scanning camera coordinate system, that is, complete the hand-eye calibration of the robot and the scanning camera.

[0032] The present invention has the following beneficial effects:

[0033] 1. For the automatic hand-eye calibration device and method of this industrial vision robot, after the device captures the position of the hand-eye calibration block, it can first adjust the angle of the contact clip block through the telescopic rod to make the contact clip block contact the surface of the object to be picked up, thereby realizing the grasping of the workpiece. When the object to be picked up is relatively soft, the pneumatic controller is used to fill gas into the inner cavity of the contact clip block through the support block and the connecting pipe, so that the contact clip block expands, and the object contacts the expanded contact clip block, so as to realize the function of locally covering the object through the contact clip block. Then, through the pressure exerted by the device on the object after "the telescopic rod drives the contact clip block to rotate and the contact clip block expands", the grasping function is realized, thus avoiding the problem of indentation caused by the object directly contacting the device. On the other hand, by respectively arranging a spring and a steel column in the inner cavity of the air valve housing, when the device cuts off the air supply, the steel column can seal the air valve housing through the elastic force of the spring, thereby avoiding the air loss in the inner cavity of the contact clip block, causing the contact clip block to shrink, resulting in a gap between the object and the contact clip block, and thus causing the object to fall.

[0034] 2. The automatic hand-eye calibration device and method for the industrial vision robot enable the panel to move by sliding a slider on the inner wall of a carriage and using the magnetic force between an electromagnet and the slider to resist each other. The control component can control the magnitude and direction of the magnetic force of the electromagnet, so that the panel can be moved. By connecting the panel to the carriage through the slider, when the device grabs and scans a workpiece, it can move through the electromagnet, enabling the device to achieve large-range movement and workpiece handling.

[0035] 3. The automatic hand-eye calibration device and method for the industrial vision robot can establish a workpiece coordinate system through the first round hole, the second round hole, and the third round hole. On the other hand, it can calculate the robot base coordinates of the ball center to assist in analyzing the calibration error.

[0036] 4. The automatic hand-eye calibration device and method for the industrial vision robot make the position of the pressure block in the inner cavity of the fourth round hole change when the inner cavity of the air valve housing is in a state with or without air pressure by the contact between a steel column and the pressure block. Therefore, by observing the position of the pressure block in the inner cavity of the observation tube, the pressure in the inner cavity of the air valve housing can be judged. On the other hand, by connecting the control board to the first probe and the second probe wires respectively, when the air pipe near one end leaks, the pressure block is squeezed by the steel column, causing the pressure block to push the second probe into contact with the first probe. At this time, the control board circuit is connected, and the control board controls the device to supply air to the air valve housing through the auxiliary air pipe, enabling the fixture assembly to maintain the air supply state. Description of the Drawings

[0037] Figure 1 Schematic three-dimensional structure diagram of the present invention;

[0038] Figure 2 Schematic partial structure diagram of the carriage of the present invention;

[0039] Figure 3 Schematic structure diagram of the bracket of the present invention;

[0040] Figure 4 Schematic structure diagram of the scanning camera of the present invention;

[0041] Figure 5 Schematic structure diagram of the second motor of the present invention;

[0042] Figure 6 Schematic partial structure diagram of the gripper assembly of the present invention;

[0043] Figure 7 Schematic structure diagram of the fixture assembly of the present invention;

[0044] Figure 8 Schematic structure diagram of the control component of the present invention;

[0045] Figure 9Schematic diagram of the hand-eye calibration block structure of the present invention;

[0046] Figure 10 Schematic diagram of the clamping state structure of the present invention;

[0047] Figure 11 Schematic diagram of the expansion state of the touch clamping block of the present invention;

[0048] Figure 12 Schematic diagram of the air flow operation direction of the air valve housing of the present invention;

[0049] Figure 13 Schematic diagram of the structure of the fourth circular hole of the present invention;

[0050] Figure 14 Schematic diagram of the partial structure of the observation tube of the present invention;

[0051] Figure 15 Schematic diagram of the structure of the pressing block of the present invention.

[0052] In the figure: 1, bottom plate; 2, carriage; 3, pulley; 4, electromagnet; 5, slider; 6, panel; 7, bracket; 8, control assembly; 801, controller housing; 802, first ventilation slot; 803, power port; 804, circuit board; 805, fan; 806, controller cover; 807, second ventilation slot; 9, fixing frame; 10, first motor; 11, first mounting plate; 12, second motor; 13, second mounting plate; 14, third motor; 15, third mounting plate; 16, sixth motor; 17, fourth mounting plate; 18, fifth mounting plate; 19, fourth motor; 20, sixth mounting plate; 21, fifth motor; 22, gripper assembly; 2201, mounting surface frame; 2202, support shaft; 2203, telescopic shaft; 2204, support rod; 2205, air valve housing; 2206, third spring; 2207, steel column; 2208, auxiliary air pipe; 2209, fourth circular hole; 2210, pressing block; 2211, first spring; 2212, observation tube; 2213, first probe; 2214, second spring; 2215, second probe; 23, fixture assembly; 2301, connecting piece; 2302, telescopic rod; 2303, support rotating shaft; 2304, support block; 2305, connecting pipe; 2306, touch clamping block; 24, scanning camera; 25, hand-eye calibration block; 26, first circular hole; 27, second circular hole; 28, third circular hole; 29, calibration object. Detailed implementation method

[0053] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0054] Please refer to Figures 1-15, an automatic hand-eye calibration device for an industrial vision robot, including a bottom plate 1, a fifth motor 21, a gripper assembly 22, and a fixture assembly 23. A carriage 2 is fixedly assembled on the top of the bottom plate 1. A pulley 3 is rotatably connected to the top inner wall of the carriage 2. The power output shaft of the fifth motor 21 is fixedly assembled with a mounting surface frame 2201. Both sides of the inner wall of the mounting surface frame 2201 are rotatably connected to one end of a support shaft 2202 and a telescopic shaft 2203. The other ends of the support shaft 2202 and the telescopic shaft 2203 are rotatably connected to one end of a support rod 2204. The other end of the support rod 2204 is fixedly assembled with a connecting member 2301. One end of a support rotating shaft 2303 is fixedly assembled on the bottom outer edge of the connecting member 2301. The other end of the support rotating shaft 2303 is rotatably connected to a support block 2304. A connecting pipe 2305 is fixedly assembled at the bottom of the support block 2304. A contact gripper block 2306 is fixedly assembled at the bottom of the connecting pipe 2305. A telescopic rod 2302 is rotatably connected to the bottom outer edge of the connecting member 2301. An air valve housing 2205 is fixedly assembled on the outer wall of the support rod 2204. A third spring 2206 and a steel column 2207 are respectively arranged in the inner cavity of the air valve housing 2205. An auxiliary air pipe 2208 is fixedly assembled in the inner cavity of the air valve housing 2205. A fourth round hole 2209 is opened on the outer edge of the air valve housing 2205. An observation pipe 2212 is fixedly assembled on the outer edge of the fourth round hole 2209. A pressing block 2210 is slidably sleeved on the inner wall of the fourth round hole 2209. A first spring 2211 is sleeved on the outer edge of the pressing block 2210. One end of the observation pipe 2212 away from the pressing block 2210 is fixedly assembled with a first probe 2213. A second spring 2214 is sleeved on the outer edge of the first probe 2213. A second probe 2215 is fixedly assembled on the outer edge of the second spring 2214. A hand-eye calibration block 25 is arranged on the outer edge of the bottom plate 1. A calibration object 29 is arranged on the top of the hand-eye calibration block 25. A first round hole 26, a second round hole 27, and a third round hole 28 are respectively opened on the top of the hand-eye calibration block 25. A scanning camera 24 is fixedly assembled on the outer wall of the gripper assembly 22. In the above structure, the telescopic shaft 2203 drives the support rod 2204 to expand and contract, so that the support rod 2204 can rotate around the support shaft 2202. Furthermore, the two support rods 2204 can be driven to operate by the telescopic shaft 2203, thereby realizing the expansion of the gripper assembly 22. Furthermore, the gripper assembly 22 can clamp objects of different sizes. The two ends of the telescopic rod 2302 are respectively rotatably connected to the connecting member 2301 and the support block 2304, so that the contact gripper block 2306 can be opened and closed by the operation of the telescopic rod 2302. The data of the hand-eye calibration block 25 is captured by the scanning camera 24. By opening the first round hole 26, the second round hole 27, and the third round hole 28, when the device scans the data of the hand-eye calibration block 25, the device can perform auxiliary calculations through the settings of the first round hole 26, the second round hole 27, and the third round hole 28 and the position on the top of the hand-eye calibration block 25, thereby realizing the capture of the object.

[0055] Among them, an electromagnet 4 is fixedly assembled at the bottom of the inner wall of the carriage 2. A slider 5 is slidably sleeved on the inner wall of the carriage 2. A panel 6 is fixedly assembled at the top of the slider 5. A bracket 7 is fixedly assembled on one side of the top of the panel 6. A fixed frame 9 is fixedly assembled on the other side of the top of the panel 6. A control component 8 is fixedly assembled at the top of the bracket 7. A first motor 10 is fixedly assembled on the inner wall of the top of the fixed frame 9. In the above structure, by sliding the slider 5 on the inner wall of the carriage 2 and using the magnetic force of the electromagnet 4 to resist the magnetic force of the slider 5, the panel 6 can control the magnitude and direction of the magnetic force of the electromagnet 4 through the control component 8 to achieve movement. By connecting the panel 6 to the carriage 2 through the slider 5, when the device grabs and scans the workpiece, it can move through the electromagnet 4, so that the device can achieve large-range movement and the handling of the workpiece. Through the control component 8, the device can be controlled by the control component 8, and then the device can read and execute the motion data through the control component 8, so that the device can operate according to the preset program.

[0056] Among them, a first mounting plate 11 is fixedly assembled on the power output shaft of the first motor 10. A second motor 12 is fixedly assembled on the inner wall of the first mounting plate 11. A second mounting plate 13 is fixedly assembled on the power output shaft of the second motor 12. A third motor 14 is fixedly assembled on the inner wall of the second mounting plate 13. One ends of third mounting plates 15 are fixedly assembled on the power output shafts on both sides of the third motor 14. A sixth motor 16 is fixedly assembled at the other end of the third mounting plate 15. Through the above structure, the device can perform two-axis rotation through the second motor 12 and the third motor 14.

[0057] Among them, a fourth mounting plate 17 is fixedly assembled on the outer wall of the sixth motor 16. A fifth mounting plate 18 is arranged on the inner wall of the fourth mounting plate 17. A fourth motor 19 is fixedly assembled on the inner wall of the fifth mounting plate 18. A sixth mounting plate 20 is fixedly assembled on the outer wall of the fourth motor 19. A fifth motor 21 is fixedly assembled on the inner wall of the sixth mounting plate 20. In the above structure, by arranging the fifth mounting plate 18 on the inner wall of the fourth mounting plate 17 and fixedly assembling the fourth motor 19 on the inner wall of the fifth mounting plate 18, the fourth mounting plate 17 and the fifth mounting plate 18 can rotate through the output shaft of the fourth motor 19.

[0058] Among them, an observation window is provided on the outer wall of the air valve housing 2205. The diameter of the steel column 2207 is larger than the diameter of the round grooves at both ends of the air valve housing 2205, and a sealing rubber is provided on the contact surface between the steel column 2207 and the round grooves of the air valve housing 2205. The observation tube 2212 is made of a transparent material. A control board is provided in the inner cavity of the air valve housing 2205, and the control board is electrically connected to the first probe 2213 and the second probe 2215 respectively by wires. In the above structure, by providing an observation window on the outer wall of the air valve housing 2205, personnel can observe the position state of the steel column 2207 through the observation window. When there is no air pressure in the inner cavity of the air valve housing 2205, the steel column 2207, through the elastic force of the third spring 2206, jacks up the pressing block 2210. When there is air pressure in the inner cavity of the air valve housing 2205, the position of the pressing block 2210 in the inner cavity of the fourth round hole 2209 will change. Therefore, by observing the position of the pressing block 2210 in the inner cavity of the observation tube 2212 through the observation tube 2212, the pressure in the inner cavity of the air valve housing 2205 can be judged. Since the control board is electrically connected to the first probe 2213 and the second probe 2215 respectively by wires, the pressing block 2210 is squeezed by the steel column 2207, causing the pressing block 2210 to push the second probe 2215 into contact with the first probe 2213. At this time, the control board circuit is connected, and the control board controls the device to supply air to the air valve housing 2205 through the auxiliary air pipe 2208.

[0059] Among them, the support block 2304 and the contact clip block 2306 form a through space through the connecting pipe 2305. The support block 2304 is connected to the pneumatic controller through the air valve housing 2205. The inner cavity of the contact clip block 2306 is hollow, and the contact clip block 2306 is made of rubber material. With the above structure, after the device captures the position of the hand-eye calibration block 25, the angle of the contact clip block 2306 can be adjusted first through the telescopic rod 2302, so that the contact clip block 2306 contacts the surface of the object to be clamped. When the object to be clamped is relatively soft, the pneumatic controller can be used to fill the inner cavity of the contact clip block 2306 with gas through the support block 2304 and the connecting pipe 2305, causing the contact clip block 2306 to expand. Then, the expanded contact clip block 2306 can achieve a wrapping effect on the object, thereby avoiding direct force contact between the object and the rigid device and causing damage to the object.

[0060] Among them, the control component 8 includes a controller housing 801. First ventilation grooves 802 and a power supply port 803 are respectively opened on the outer wall of the controller housing 801. A circuit board 804 and a fan 805 are respectively fixedly assembled on the inner wall of the controller housing 801. A controller cover 806 is provided on the outer edge of the controller housing 801. Second ventilation grooves 807 are opened on the outer wall of the controller cover 806. The controller cover 806 and the controller housing 801 are fixedly assembled by bolts. In the above structure, heat dissipation of the control component 8 can be achieved through the fan 805.

[0061] Among them, the size of the hand-eye calibration block 25 is: 120 mm * 120 mm * 10 mm, and the size of the calibration object 29 is: diameter 40 mm; the center of the calibration object 29 is at the center position of the hand-eye calibration block 25, and the connection relationship between the calibration object 29 and the hand-eye calibration block 25 is placement and pasting; the inner wall diameters of the first circular hole 26, the second circular hole 27, and the third circular hole 28 are 1 mm, and the depth is 1 mm. The distances from the center points of the first circular hole 26, the second circular hole 27, and the third circular hole 28 to the adjacent sides of the hand-eye calibration block 25 are 10 mm, and the distances between the first circular hole 26, the second circular hole 27, and the third circular hole 28 are 100 mm. In the above structure, by calibrating the first circular hole 26, the second circular hole 27, and the third circular hole 28, the device can establish a workpiece coordinate system through the first circular hole 26, the second circular hole 27, and the third circular hole 28. On the other hand, the robot base coordinates of the center of the ball can be calculated to assist in analyzing the calibration error.

[0062] An automatic hand-eye calibration method for an industrial vision robot includes the following steps:

[0063] S1: First, place the hand-eye calibration block 25 in the robot workpiece coordinate system, and calibrate the robot workpiece coordinates by using the workpiece coordinate origin, the second circular hole 27, the workpiece coordinate X-axis to calibrate the first circular hole 26, and the workpiece coordinate Y-axis to calibrate the third circular hole 28.

[0064] S2: After that, taking the calibrated robot workpiece coordinates as the reference, change the posture of the robot, and the camera takes a vertical downward shot.

[0065] The starting position is 30 mm to the left of the center of the ball;

[0066] The key position is 30 mm to the right of the center of the ball;

[0067] It is better if 30 mm can be configured on the robot side;

[0068] Scanning posture 1

[0069] At position 1, rotate 20 degrees around the +Z axis;

[0070] Scanning posture 2

[0071] At position 1, rotate 20 degrees around the -Z axis;

[0072] Scanning posture 3

[0073] At position 1, rotate 20 degrees around the +Y axis;

[0074] Scanning posture 4

[0075] At position 1, rotate 20 degrees around the -Y axis;

[0076] It is better if 20 degrees can be configured on the robot side;

[0077] Take points on the hand-eye calibration block 25 of the opponent.

[0078] S3: Take 4 feature points at different positions within the field of view of the laser profiler of the scanning camera 24, and record the coordinate posture of the robot at the same time.

[0079] S4: Use the feature points and the robot coordinates for calculation to obtain the conversion relationship from the robot coordinate system to the coordinate system of the scanning camera 24, that is, complete the hand-eye calibration of the robot and the scanning camera 24.

[0080] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0081] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic hand-eye calibration device for an industrial vision robot, comprising a bottom plate (1), a fifth motor (21), a gripper assembly (22), and a fixture assembly (23), characterized in that: The top of the base plate (1) is fixedly assembled with a carriage (2). The top of the inner wall of the carriage (2) is rotatably connected with a pulley (3). The power output shaft of the fifth motor (21) is fixedly assembled with a mounting surface frame (2201). One ends of a support shaft (2202) and a telescopic shaft (2203) are rotatably connected to both sides of the inner wall of the mounting surface frame (2201). The other ends of the support shaft (2202) and the telescopic shaft (2203) are rotatably connected to one end of a support rod (2204). The other end of the support rod (2204) is fixedly assembled with a connecting piece (2301). One end of a support rotating shaft (2303) is fixedly assembled on the bottom outer edge of the connecting piece (2301). The other end of the support rotating shaft (2303) is rotatably connected to a support block (2304). The bottom of the support block (2304) is fixedly assembled with a connecting pipe (2305). The bottom of the connecting pipe (2305) is fixedly assembled with a contact clamping block (2306). The bottom outer edge of the connecting piece (2301) is rotatably connected with a telescopic rod (2302). An air valve housing (2205) is fixedly assembled on the outer wall of the support rod (2204). A third spring (2206) and a steel column (2207) are respectively arranged in the inner cavity of the air valve housing (2205). An auxiliary air pipe (2208) is fixedly assembled in the inner cavity of the air valve housing (2205). A fourth round hole (2209) is formed on the outer edge of the air valve housing (2205). An observation pipe (2212) is fixedly assembled on the outer edge of the fourth round hole (2209). A pressing block (2210) is slidably sleeved on the inner wall of the fourth round hole (2209). A first spring (2211) is sleeved on the outer edge of the pressing block (2210). One end of the observation pipe (2212) far away from the pressing block (2210) is fixedly assembled with a first probe (2213). A second spring (2214) is sleeved on the outer edge of the first probe (2213). A second probe (2215) is fixedly assembled on the outer edge of the second spring (2214). A hand-eye calibration block (25) is arranged on the outer edge of the base plate (1). A calibration object (29) is arranged on the top of the hand-eye calibration block (25). A first round hole (26), a second round hole (27) and a third round hole (28) are respectively formed on the top of the hand-eye calibration block (25). A scanning camera (24) is fixedly assembled on the outer wall of the clamping hand assembly (22).

2. The automatic hand-eye calibration device for an industrial vision robot according to claim 1, wherein: An electromagnet (4) is fixedly assembled on the bottom of the inner wall of the carriage (2). A slider (5) is slidably sleeved on the inner wall of the carriage (2). A panel (6) is fixedly assembled on the top of the slider (5). A support (7) is fixedly assembled on one side of the top of the panel (6). A fixing frame (9) is fixedly assembled on the other side of the top of the panel (6). A control assembly (8) is fixedly assembled on the top of the support (7). A first motor (10) is fixedly assembled on the inner wall of the top of the fixing frame (9).

3. The automatic hand-eye calibration device for an industrial vision robot according to claim 2, characterized in that: A first mounting plate (11) is fixedly assembled on the power output shaft of the first motor (10). A second motor (12) is fixedly assembled on the inner wall of the first mounting plate (11). A second mounting plate (13) is fixedly assembled on the power output shaft of the second motor (12). A third motor (14) is fixedly assembled on the inner wall of the second mounting plate (13). One end of a third mounting plate (15) is fixedly assembled on the power output shafts on both sides of the third motor (14). A sixth motor (16) is fixedly assembled on the other end of the third mounting plate (15).

4. An automatic hand-eye calibration device for an industrial vision robot according to claim 3, characterized in that: A fourth mounting plate (17) is fixedly assembled on the outer wall of the sixth motor (16). A fifth mounting plate (18) is arranged on the inner wall of the fourth mounting plate (17). A fourth motor (19) is fixedly assembled on the inner wall of the fifth mounting plate (18). A sixth mounting plate (20) is fixedly assembled on the outer wall of the fourth motor (19). A fifth motor (21) is fixedly assembled on the inner wall of the sixth mounting plate (20).

5. An automatic hand-eye calibration device for an industrial vision robot according to claim 1, characterized in that: An observation window is arranged on the outer wall of the air valve housing (2205). The diameter of the steel column (2207) is larger than the diameter of the circular grooves at both ends of the air valve housing (2205). A sealing rubber is arranged on the contact surface between the steel column (2207) and the circular grooves of the air valve housing (2205). The observation tube (2212) is made of a transparent material. A control board is arranged in the inner cavity of the air valve housing (2205), and the control board is respectively connected to a first probe (2213) and a second probe (2215) by wires.

6. The automatic hand-eye calibration device for an industrial vision robot according to claim 1, wherein: A through space is formed between the support block (2304) and the contact clip block (2306) through a connecting pipe (2305). The support block (2304) is connected to a pneumatic controller through the air valve housing (2205). The inner cavity of the contact clip block (2306) is hollow, and the contact clip block (2306) is made of a rubber material.

7. The automatic hand-eye calibration device for an industrial vision robot according to claim 2, characterized in that: The control assembly (8) includes a controller housing (801). A first ventilation groove (802) and a power supply port (803) are respectively arranged on the outer wall of the controller housing (801). A circuit board (804) and a fan (805) are respectively fixedly assembled on the inner wall of the controller housing (801). A controller cover (806) is arranged on the outer edge of the controller housing (801). A second ventilation groove (807) is arranged on the outer wall of the controller cover (806). The controller cover (806) and the controller housing (801) are fixedly assembled by bolts.

8. The automatic hand-eye calibration device for an industrial vision robot according to claim 1, characterized in that: The dimensions of the hand-eye calibration block (25) are: 120 mm * 120 mm * 10 mm, and the dimensions of the calibration object (29) are: diameter 40 mm; the center of the calibration object (29) is at the center position of the hand-eye calibration block (25), and the connection relationship between the calibration object (29) and the hand-eye calibration block (25) is placement and pasting; the inner wall diameters of the first round hole (26), the second round hole (27), and the third round hole (28) are 1 mm, and the depth is 1 mm. The distances from the center points of the first round hole (26), the second round hole (27), and the third round hole (28) to the adjacent sides of the hand-eye calibration block (25) are 10 mm, and the distances between the first round hole (26), the second round hole (27), and the third round hole (28) are 100 mm.

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