A method for automatically adjusting the positioning deviation of a robot vision recognition system

Abstract

The present invention relates to a method for automatically adjusting the positioning deviation of a robot vision recognition system, and the method comprises the following steps: Step 1: Design a special tool for automatically correcting the deviation of the robot vision recognition system; Step 2: Read the position deviation information and write a data correction program. By means of the special tool for automatically correcting the deviation of the robot vision recognition system, the calibration result is optimized. First, the calibration deviation of the robot can be made less than 2 mm. Second, the operation is convenient and time-saving, about half an hour or so.

Description

Technical Field

[0001] The present invention relates to a method, specifically to a method for automatically adjusting the positioning deviation of a robot vision recognition system, belonging to the technical field of industrial enterprise production control. Background Art

[0002] During the continuous casting process in a steelmaking plant, in order to avoid the safety risks of on-site installation of the tundish nozzle by operators, a robot is installed on the continuous casting tundish platform to replace manual labor to complete the installation operation of the tundish nozzle. Due to the inevitable individual differences of the tundishes and the deviation of the tundish seating positions, the position of the nozzle installed each time is not fixed but fluctuates within a certain space. The robot uses a vision system to identify the position of the target board installed near the position of the tundish nozzle, calculates the position of the nozzle installation (the spatial relationship between the target board and the nozzle installation position is fixed), and thus plans a suitable path to complete the nozzle installation operation. Therefore, the position accuracy of the vision recognition system is an important prerequisite for ensuring the successful installation of the nozzle. When designing the robot, a position deviation of 5 mm is allowed to ensure that the nozzle gripper can ensure the successful installation of the nozzle even when it is slightly deformed. In actual production, it is difficult to avoid the deformation of the nozzle gripper. If the calibration deviation of the robot vision system is 0, that is, the nozzle gripper (just out of the factory, precisely measured) has no deformation, it can ensure that the gripper can be successfully installed within 5 mm in any direction. In practice, due to reasons such as operation errors and tool errors in the calibration process, it is very difficult to control the calibration deviation at 0, and sometimes there are even obvious deviations, which greatly reduce the success rate of robot installation. Therefore, there is an urgent need for a new solution to solve the above technical problems. Summary of the Invention

[0003] The present invention precisely aims at the problems existing in the prior art and provides a method for automatically adjusting the positioning deviation of a robot vision recognition system. This technical solution optimizes the calibration result through a special tool for automatically correcting the deviation of the robot vision recognition system. First, it can make the calibration deviation of the robot less than 2 mm. Second, it is convenient to operate and saves time. It takes about half an hour, while the normal calibration process of the robot takes 3 hours.

[0004] To achieve the above object, the technical solution of the present invention is as follows. A method for automatically adjusting the positioning deviation of a robot vision recognition system, characterized in that the method includes the following steps:

[0005] Step 1: Design a special tool for automatically correcting the deviation of the robot vision recognition system.

[0006] Step 2: Read the position deviation information and write a data correction program.

[0007] Among them, Step 1: The special tool designed includes a movable taper disc 1, a fixed disc 2, an X-direction laser ranging probe 3, a Y-direction laser ranging probe 4, and a control component. The X-direction laser ranging probe 3 and the Y-direction laser ranging probe 4 are fixed on the inner side of 2, and signal lines are led out from the lower part of the fixed disc 2 to connect the control component. The movable taper disc 1 is arranged on the fixed disc 2 through a locking device.

[0008] As an improvement of the present invention, the control component includes a laser ranging probe 11, a laser ranging host 12, and a robot PLC 13. One end of the laser ranging host 12 is connected to the laser ranging probe 11, and the other end is connected to the robot PLC 13.

[0009] As an improvement of the present invention, the locking device includes a locking nut 7 and a movable taper disc screw 8. The movable taper disc 1 and the fixed disc 2 are locked on the movable taper disc screw 8 through the locking nut 7 to ensure the free movement of the movable taper disc 1 and the fixed disc 2.

[0010] As an improvement of the present invention, there is a 4-core data cable between the laser ranging host 12 and the laser ranging probe 11.

[0011] As an improvement of the present invention, a front opening 5 and a back opening 6 are respectively arranged on both sides of the fixed disc 2. Among them, the size of the central square hole of the front opening 5 is 15mm * 15mm, the size of the two strip holes is 10mm * 3mm, and the depth is 8mm; the size of the central square hole of the back opening 6 is 10mm * 10mm, and the depth is 2mm.

[0012] As an improvement of the present invention, Step 2: is specifically as follows: 2.1) The deviation corrected in the X direction is: the data measured by the laser rangefinder - the X-direction set value (the data measured by the laser rangefinder when the centers of the special tools 1 and 2 are aligned); 2.2) The deviation corrected in the Y direction is: the data measured by the laser rangefinder - the Y-direction set value (the data measured by the laser rangefinder when the centers of the special tools 1 and 2 are aligned); 2.3) The robot HMI screen displays the measurement deviation data in real time; 2.4) The robot HMI screen is provided with a "correction button" and a password is set to prevent misoperation and adjust the data result.

[0013] Compared with the prior art, the present invention has the following advantages. This technical solution designs a special tool for automatically correcting the deviation of the robot vision recognition system, installs this tool on the nozzle gripper, executes the nozzle installation program, this tool outputs the deviation signal between the center of the bottom hole of the tundish and the center position of the robot nozzle gripper, the robot PLC reads this signal, and corrects the position data of the robot nozzle tool to achieve the purpose that the center of the robot nozzle tool is consistent with the center of the bottom hole of the tundish. Description of the Drawings

[0014] Figure 1 is a schematic diagram of the overall structure;

[0015] Figure 2 is a schematic diagram of the overall upside-down;

[0016] Figure 3 is a schematic diagram of the lower part;

[0017] Figure 4 is a schematic diagram of the upside-down upper part

[0018] Figure 5 is a schematic diagram of a 90° horizontal rotation;

[0019] Figure 6 is a schematic diagram of the circuit connection of the control component.

[0020] In the figure: 1 - movable taper disk, 2 - fixed disk, 3 - X-direction laser distance measurement probe, 4 - Y-direction laser distance measurement probe, 5 - front opening shape of the fixed disk, 6 - front opening shape of the fixed disk, 7 - lock nut, 8 - movable taper disk screw, 9 - first stop block, 10 - second stop block, 11 - laser distance measurement probe, 12 - laser distance measurement host, 13 - robot PLC. Specific implementation method

[0021] To deepen the understanding of the present invention, the following detailed description is made in conjunction with the accompanying drawings for this embodiment.

[0022] Embodiment 1: Refer to Figure 1 , a method for automatically adjusting the positioning deviation of a robot vision recognition system, the method comprising the following steps:

[0023] Step 1: Design a special tool for automatically correcting the deviation of the robot vision recognition system.

[0024] Step 2: Read the position deviation information and write a data correction program.

[0025] Among them, Step 1: The special tool designed includes a movable taper disc 1, a fixed disc 2, an X-direction laser distance measuring probe 3, a Y-direction laser distance measuring probe 4, and a control component. The X-direction laser distance measuring probe 3 and the Y-direction laser distance measuring probe 4 are fixed on the inner side of 2, and signal lines are led out from the lower part of the fixed disc 2 to connect to the control component. The movable taper disc 1 is arranged on the fixed disc 2 through a locking device. The control component includes a laser distance measuring instrument probe 11, a laser distance measuring instrument host 12, and a robot PLC 13. One end of the laser distance measuring instrument host 12 is connected to the laser distance measuring instrument probe 11, and the other end is connected to the robot PLC 13. The locking device includes a locking nut 7 and a movable taper disc screw 8, and is locked on the movable taper disc screw 8 through the locking nut 7 to ensure the free movement of the movable taper disc 1 and the fixed disc 2. There is a 4-core data cable between the laser distance measuring instrument host 12 and the laser distance measuring instrument probe 11. There are a front opening 5 and a back opening 6 respectively arranged on both sides of the fixed disc 2. The size of the central square hole of the front opening 5 is 15mm * 15mm, the size of the two strip holes is 10mm * 3mm, and the depth is 8mm; the size of the central square hole of the back opening 6 is 10mm * 10mm, and the depth is 2mm. Step 2: Specifically as follows: 2.1) The deviation corrected in the X direction is: the data measured by the laser distance measuring instrument - the X-direction set value (the data measured by the laser distance measuring instrument when the centers of the special tools 1 and 2 are aligned); 2.2) The deviation corrected in the Y direction is: the data measured by the laser distance measuring instrument - the Y-direction set value (the data measured by the laser distance measuring instrument when the centers of the special tools 1 and 2 are aligned); 2.3) The robot HMI screen displays the measurement deviation data in real time; 2.4) The robot HMI screen sets a "correction button" and sets a password to prevent misoperation and adjust the data result.

[0026] Installation and working process: Refer to Figure 1 — Figure 6, the lower diameter of the movable tapered disk 1 is 0.5 mm smaller than the diameter of the opening at the bottom of the tundish, the upper diameter is 10 mm smaller than the lower diameter, the height of the movable tapered disk 1 is 30 mm, and the material is rubber. The diameter of the fixed disk 2 is the same as the inner diameter of the nozzle gripper. It is placed in the nozzle gripper without any movable space and has a height of 10 mm. The X-direction laser distance measurement probe 3 measures the displacement of the movable tapered disk 1 deviating from the center of the fixed disk 2 in the X direction, and the Y-direction laser distance measurement probe 4 measures the displacement of the movable tapered disk 1 deviating from the center of the fixed disk 2 in the Y direction. The X-direction laser distance measurement probe 3 and the Y-direction laser distance measurement probe 4 are fixed on the fixed disk 2, and signal lines are led out from the lower part of the fixed disk 2. Moreover, the X-direction laser distance measurement probe 3 and the Y-direction laser distance measurement probe 4 are installed inside the side surface of the fixed disk 2 without exceeding the outer circle, and the X-direction laser distance measurement probe 3 and the Y-direction laser distance measurement probe 4 are 90 degrees apart. There are openings 5 on the front of the fixed disk. The size of the central square hole is 15 mm * 15 mm, the size of the two strip holes is 10 mm * 3 mm, and the depth is 8 mm. The size of the central square hole of the opening 6 on the reverse side of the fixed disk is 10 mm * 10 mm, and the depth is 2 mm. The first stop block 9 and the second stop block 10 are stop blocks that reflect position signals for the laser distance measurement probes and are used in conjunction with the laser distance measurement probes. To prevent interference, the X-direction laser distance measurement probe 3 and the Y-direction laser distance measurement probe 4 are different in height. The height of the stop block is 3 mm and the width is 5 mm. The laser distance measurement probe 11 and the laser distance measurement host 12 can connect two laser distance measurement probes and output signals to the robot PLC. The data cable between the laser distance measurement probe 11 and the laser distance measurement host 12 has a total of 4 cores, with 2 cores for each laser distance measurement probe. This cable is laid out along the original cable routing path of the robot, and the signals on the calibration tool are connected to the nozzle tool through the contact method.

[0027] The specific usage method is as follows:

[0028] 1) Place the special tool for automatic correction of the deviation of the robot vision recognition system in the nozzle gripper, align the scale line on the chassis with the scale line on the nozzle tool to ensure that the X and Y directions of the tool are consistent with the X and Y directions of the robot coordinate system. As a calibration special tool, place it on the nozzle rack at position 8.

[0029] 2) Ensure that the tundish turntable is in the casting position, with an unmounted nozzle tundish placed on it, and the intermediate car is in the casting position.

[0030] 3) Start the robot automatic nozzle installation program (select nozzle No. 8).

[0031] 4) The nozzle installation program ends. Wait for 10 seconds, and the deviation data between the center of the bottom hole of the tundish and the center of the robot nozzle tool will be displayed on the robot HMI screen. Click the "Correction Button" on the screen, enter the correct password, and a data adjustment will be implemented.

[0032] 5) Start the robot's automatic gate-cutting program.

[0033] 6) Repeat steps 3 to 5 until the measured deviation value is less than 1 mm.

[0034] 7) End.

[0035] It should be noted that the above embodiments are not intended to limit the protection scope of the present invention. Equivalent transformations or substitutions made on the basis of the above technical solutions all fall within the protection scope of the claims of the present invention.

Claims

1. A method for automatically adjusting the positioning deviation of a robot vision recognition system, characterized in that The method includes the following steps: Step 1: Design a special tool for automatic correction of the deviation of the robot vision recognition system, Step 2: Read the position deviation information and write a data correction program; Among them, the special tool designed in Step 1 includes a movable taper disk, a fixed disk, an X-direction laser distance measuring probe, a Y-direction laser distance measuring probe, and a control component. The X-direction laser distance measuring probe and the Y-direction laser distance measuring probe are fixed on the inner side, and signal lines are led out from the lower part of the fixed disk 2 to connect to the control component. The movable taper disk 1 is arranged on the fixed disk through a locking device; the diameter of the fixed disk is the same as the inner diameter of the nozzle gripper; The control component includes a laser distance measuring probe, a laser distance measuring host, and a robot PLC. One end of the laser distance measuring host is connected to the laser distance measuring probe, and the other end is connected to the robot PLC; The locking device includes a locking nut and a movable taper disk screw, and is locked on the movable taper disk screw through the locking nut to ensure the free movement of the movable taper disk and the fixed disk; There is a core data cable between the laser distance measuring host and the laser distance measuring probe; The fixed disk is provided with a front opening and a back opening on both sides respectively, The lower diameter of the movable taper disk is 0.5 mm smaller than the opening diameter at the bottom of the tundish, the upper diameter is 10 mm smaller than the lower diameter, and the height of the movable taper disk is 30 mm. The material is rubber; Step 2 is specifically as follows: 2.1) The deviation corrected in the X direction is: the data measured by the laser distance measuring instrument - the set value in the X direction; 2.2) The deviation corrected in the Y direction is: the data measured by the laser distance measuring instrument - the set value in the Y direction; 2.3) The robot HMI screen always displays the measured deviation data; 2.4) The "correction button" is set on the robot HMI screen, and a password is set to prevent misoperation and adjust the data result; The method further includes: 1) Place the special tool for automatic correction of the deviation of the robot vision recognition system in the nozzle gripper, align the chassis scale line with the scale line on the nozzle tool to ensure that the X and Y directions of the tool are consistent with the X and Y directions of the robot coordinate system; As a calibration special tool, place it on the nozzle rack; 2) Ensure that the tundish turntable is in the pouring position, with an unmounted tundish placed on it, and the intermediate car is in the pouring position; 3) Start the robot automatic nozzle installation program; 4) After the nozzle installation program ends, wait for 10 seconds. The robot HMI screen displays the deviation data between the center of the hole at the bottom of the tundish and the center of the robot nozzle tool. Click the "correction button" on the screen, enter the correct password, and a data adjustment will be implemented once; 5) Start the robot automatic nozzle removal program; 6) Repeat steps 3) to 5) until the measured deviation value is less than 1 mm; 7) End.

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