CN103802137A

CN103802137A - Visualized industrial mechanical arm

Info

Publication number: CN103802137A
Application number: CN201310738871.9A
Authority: CN
Inventors: 苏同生
Original assignee: SUZHOU YAAN INTELLIGENT TECHNOLOGY Co Ltd
Current assignee: SUZHOU YAAN INTELLIGENT TECHNOLOGY Co Ltd
Priority date: 2013-12-30
Filing date: 2013-12-30
Publication date: 2014-05-21

Abstract

The invention provides a visualized industrial mechanical arm which is used for triggering a starting button when a part box provided with stacked castings is put into a system. The mechanical arm ascends to a height at first, a camera shoots an image and the X-Y positions of all the stacked parts are determined; a DALSA sensor is used for determining the height of each stacked part and then the grabbing sequence is determined. If the height of a certain part is found abnormal, the mechanical arm continues detecting till the level of the certain part is identical with the level of other stacked parts. Due to the fact that a video guiding system is adopted, even if the part stacking box is inclined by 20 degrees, the mechanical arm can still grab the parts. An effector which is specially designed is connected with a servo mechanism, and therefore it is ensured that the orientations and the angles of part of the parts are suitable for grabbing of the parts. According to a method, the grabbed parts are put on a transmitter through the mechanical arm and conveyed onto a machining system, and follow-up station machining is carried out. Thus, the visualized industrial mechanical arm is obtained.

Description

A kind of industrial machinery arm that can vision

Affiliated technical field

Robot and image processing integrated, 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 the position of part in a tote-box or in container, then from a lot of parts of carelessly stacking, capture certain part.It is believed that of this technology of early development, because random " part selection " system has flexibility highly, therefore can save very large expense to manufactory, and workman does not again need the tote-box of handling from supplier.On machining production line, the system that expensive tooling fixture, instrument and the feeder that is target with part can be randomized " choosing part in case " is 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.Cannot be converted into the practical application of factory in " selection " system of development in laboratory.It is found that sometimes you can encounter part overlapping, the variation of illumination also can have influence on the job schedule of " selection ".Computer at that time, also having run into obstacle aspect processing mass data, complicates the issue.Finally, have to first study not too complicated two-dimentional machinery hand-guided scheme, pick single part from the conveyer belt of motion, this is more common comparatively speaking.And general random " selection " application scheme does not realize all the time, until today, this remained a challenge of industrial quarters.But, there is now increasing sign to show the more and more reality of manipulator " selection " take machine vision as guiding.My department is between a kind of industrial machinery arm that can vision of the special research and development of above factor.

Summary of the invention

When the tote-box that stacking foundry goods is housed is put into system, touch starting button, manipulator starts to be raised to a height, camera pickup image, comprise the X-Y position of determining all stacking parts, then determine the height of every a pile part with DALSA sensor, determine afterwards gripping order.If it is undesired to find that there is the height of part, it can continue to survey, until its level is consistent with the level of other heap stacked members.Owing to having adopted video guidance system, 20 degree even if part stacking case has tilted, manipulator still can capture part.Be connected with follower through the effector of particular design, assurance part towards being suitable for the gripping of part with angle.Be put on conveyer by manipulator by the part of gripping, be then sent in system of processing, carry out the processing of follow-up station.

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

Accompanying drawing explanation

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

Fig. 1 is a kind of industrial machinery arm that can vision.

The specific embodiment

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

Software, by matching algorithm, compares the part of seeing part sample to be picked from multiple directions and angle and database, then finds the part that needs gripping.Be arranged on a DALSA vision sensor on manipulator, for " precision positioning " of each part.First camera finds 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, then checks; If it sees, manipulator is with regard to this part of gripping, if not, manipulator moves on second part again.

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

Claims

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

2. according to a kind of industrial machinery arm that can vision described in claims 1, it is characterized in that: described vision controller part software uses the current state-of-the-art Labware language development of industry to form by us voluntarily, can reduce costs, client is convenient to universal a large amount of use.

3. according to a kind of industrial machinery arm that can vision described in claims 1, it is characterized in that: the software of described industrial robot controller part adopts Delphi language self-developing by us, can, according to client's different needs, realize different functions, client's degree of recognition is high.