CN102179804A

CN102179804A - 3H-type charge coupled device (CCD) visual industrial robot

Info

Publication number: CN102179804A
Application number: CN2011100997454A
Authority: CN
Inventors: 袁湘君
Original assignee: SUZHOU USECON AUTO TECHNOLOGY CO LTD
Current assignee: SUZHOU USECON AUTO TECHNOLOGY CO LTD
Priority date: 2011-04-21
Filing date: 2011-04-21
Publication date: 2011-09-14

Abstract

The invention provides a 3H-type charge coupled device (CCD) visual industrial robot. The robot is used for triggering a start button when a part box for stacking castings is put into a system, a manipulator starts rising to a height, a camera shoots an image, X-Y positions of all stacked parts are determined, the heights of the parts of each stack are determined by using a DALSA sensor, and then the clamping sequence is determined. If the height of a certain part is abnormal, the sensor can continuously detect the height till the level of the part is consistent with the level of other stacked parts. Because a video guide system is adopted, even if the part stacking box is inclined for 20 degrees, the manipulator still can grab the parts. A specially designed effector is connected with a follow-up mechanism, so that the orientation and the angle of the partial parts are suitable for clamping of the parts. The clamped parts are placed on a conveyer by the manipulator, conveyed to a processing system and processed at the subsequent stations.

Description

3H type CCD vision industrial robot

Affiliated technical field

It is integrated that robot and image are handled, and realizes the device of many variety production by simple structure.

Background technology

Over more than 20 year, the initiators of machine vision are predicting the manipulator that when can occur choosing arbitrarily part from tote-box always.That is to say the manipulator that utilizes machine vision guiding, determine that part in a tote-box or the position in the container, grasps certain part then from a lot of parts of stacking carelessly.

It is believed that of this technology of early development, because " part selection " system has the flexibility of height at random, so can save very big expense to manufactory, the workman does not again need to load and unload the tote-box from the supplier.On machining production line, expensive frock jig, instrument and the system that the feeder by target can be randomized " choosing part in the case " with the part are replaced.

Unfortunately, at the beginning of the eighties in last century, this is considered to feasible technology and has in the face of cruel reality.Can't be converted into the practical application of factory in " selection " system of development in laboratory.It is overlapping to it is found that sometimes you can run into part, and the variation of illumination also can have influence on the job schedule of " selection ".Computer at that time complicates the issue also having run into obstacle aspect the processing mass data.

At last, have to study not too complicated two-dimentional machinery hand-guided scheme earlier, promptly the conveyer belt from motion picks single part, and this is more common comparatively speaking.And general " selection " at random application scheme does not realize all the time, and this remains a challenge of industrial quarters up to today.But, having increasing sign to show with the machine vision now is the more and more approaching reality of manipulator " selection " of guiding.

My department researches and develops 3H type CCD vision industrial robot between above factor spy.(containing three, four, five, six vision industrial robots)

Summary of the invention

When the tote-box that piles up foundry goods being housed putting into system, touch starting button, manipulator begins to be raised to a height, the camera pickup image, comprise the X-Y position of determining all stacking parts, determine the height of each heap part then with the DALSA sensor, determine the gripping order afterwards.If finding has the height of part undesired, it can continue to survey, and the level of piling up part until its level and other is consistent.

Since adopted the video guidance system, 20 degree even part stacking case has tilted, and manipulator still can grasp part.Be connected with follower through the effector of particular design, the assurance part towards being suitable for the gripping of part with angle.Be put on the conveyer by manipulator by the part of gripping, be sent to then on the system of processing, carry out the processing of follow-up station.

If complex-shaped part just needs to adopt " partly at random " scheme as arm or gearbox part, in tote-box, need special device, make part keep certain directionality.But the simple relatively part of a circular or cylindrical class shape as brake rotors, adopts partly at random or full stochastic model all can pick.

Description of drawings

Below in conjunction with drawings and Examples the present invention is further detailed.

Fig. 1 is the body and the controller of motion parts of the present invention.

Fig. 2 is camera of the present invention and vision controller.

The specific embodiment

In the following detailed description, having described specific details comprehensively understands the present invention so that provide.Yet the professional and technical personnel will appreciate that the present invention also can implement with other similar details.

Software is by matching algorithm, and the part that will see part sample to be picked from a plurality of directions and angle and database compares, and finds the part that needs gripping then.Be installed in a DALSA vision sensor on the manipulator, be used for " precision positioning " of each part.Camera is at first sought the title of X and Y coordinates position and part, becomes the laser instrument of certain setting angle to provide Z coordinate, deflection and pitch according to triangulation technique with camera simultaneously.Manipulator runs to by " roughly location " and identifies first part, checks then; If it sees, manipulator is with regard to this part of gripping, if not, manipulator moves on second part again.

Though herein declarative description certain this feature of the present invention and a kind of implementation method, for the professional and technical personnel, many modifications, replacement, variation and equivalent substitution will appear.Therefore, protection scope of the present invention is as the criterion by the scope of appended claim.

Claims

1.3H type CCD vision industrial robot comprises: vision part and industrial robot part, it is characterized in that: 1) comprising the robot body part, mainly is arm segment (containing three, four, five, six); 2) comprising the robot controller part, mainly is the hardware and software aspect; 3) the vision part comprises light source, CCD, vision controller part.

2. according to claims 1 described 3H type CCD vision industrial robot, it is characterized in that: described vision controller part software uses the present state-of-the-art Labware language development of industry to form by us voluntarily, can reduce cost, the client is convenient to popularize a large amount of the use.

3. according to claims 1 described 3H type CCD vision industrial robot, it is characterized in that: the software of described industrial robot controller part adopts the Delphi language to develop voluntarily by us, can realize different functions according to client's different needs, client's degree of recognition height.