CN104626170A - Method for achieving mechanical arm integrating high-precision recognition function - Google Patents
Method for achieving mechanical arm integrating high-precision recognition function Download PDFInfo
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- CN104626170A CN104626170A CN201410832283.6A CN201410832283A CN104626170A CN 104626170 A CN104626170 A CN 104626170A CN 201410832283 A CN201410832283 A CN 201410832283A CN 104626170 A CN104626170 A CN 104626170A
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Abstract
The invention provides a method for achieving a mechanical arm integrating a high-precision recognition function. The method is used for achieving the purpose that when a part box containing piled castings is put into a system, a starting button is triggered, the mechanical arm begins to ascend to a height, and a camera shoots an image. The method includes the steps that the X-Y positions of all the piled parts are determined, then a DALSA sensor is used for determining the height of each pile of parts, and afterwards, the clamping sequence is determined; If it is found that the height of one part is abnormal, the mechanical arm can conduct detection continuously till the level of the part with the abnormal height is consistent to the level of the other piled parts. Due to the fact that a video guiding system is adopted, even if the part piling box is inclined by 20 degrees, the mechanical arm can still grab the parts. According to the method, an effector with the special design is connected with a following mechanism, it is ensured that part of the parts are suitable for being clamped due to the directions and the angles, the clamped parts are put on a conveyor by the mechanical arm and conveyed to a machining system, and machining on subsequent stations is conducted. The method for achieving the mechanical arm integrating the high-precision recognition function is achieved.
Description
art
The integration of robot and image procossing, realizes the device of multi-item 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 the manipulator utilizing machine vision to lead, determines the position of part in a tote-box or in container, then from a lot of part carelessly stacked, captures certain part.It is believed that of this technology of early development, because random " part selection " system has the flexibility of height, therefore can save very large expense to manufactory, workman does not again need to load and unload the tote-box from supplier.On machining production line, expensive tooling fixture, instrument and the system that can be randomized " choosing part in case " by the feeder of target with 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.The practical application of factory cannot be converted in " selection " system of development in laboratory.It is found that sometimes you can encounter part overlap, the change of illumination also can have influence on the job schedule of " selection ".Computer at that time also encounters obstacle in process mass data, complicates the issue.Finally, first have to study not too complicated two-dimentional machinery hand-guided scheme, namely 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, having now increasing sign to show take machine vision as the more and more close reality of manipulator " selection " led.My department researches and develops a kind of method of manipulator of integrated high accuracy recognition function between above factor spy.
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 determining all stacking parts, then determine the height of every a pile part with DALSA sensor, determine gripping order afterwards.If the height finding that there is part is abnormal, it can continue detection, until its level is consistent with the level of other heap stacked members.Owing to have employed video guidance system, even if case stacked by part tilted 20 degree, manipulator still can capture part.Effector through particular design is connected with follower, guarantee section part be suitable for the gripping of part towards with angle.Be put on conveyer by the part of gripping by manipulator, be then sent in system of processing, carry out the processing of subsequent work stations.
If complex-shaped part, as arm or gearbox part just need to adopt " half is random " scheme, in tote-box, need special device, make the directionality that part keeps certain.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.
Detailed description of the invention
In the following detailed description, describe specific details to provide comprehensively to understand the present invention.But professional and technical personnel will appreciate that, the present invention also can implement by other similar details.
Part sample to be picked up from multiple directions and angle and database for the part seen, by matching algorithm, compares, then finds the part needing gripping by software.A DALSA vision sensor is on a robotic arm installed, 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 and identifies first part by " roughly locating ", then checks; If it is seen, manipulator with regard to this part of gripping, if not, manipulator moves on second part again.
Although illustrate and describe certain this feature of the present invention and a kind of implementation method, for professional and technical personnel, many amendments, replacement, change and equivalent substitution will be there will be herein.Therefore, protection scope of the present invention is as the criterion by the scope of appended claim.
Claims (3)
1. the method for the manipulator of integrated high accuracy recognition function: visual component and an industrial robot part, is characterized in that: 1) comprise robot body part, mainly arm segment (containing three axles, four axles, five axles, six axles); 2) robot controller part is comprised, mainly hardware and software aspect; 3) visual component, comprises light source, CCD, vision controller part.
2. the method for the manipulator of a kind of integrated high accuracy recognition function according to claims 1, it is characterized in that: described vision controller partial 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. the method for the manipulator of a kind of integrated high accuracy recognition function according to 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 the different needs of client, realize different functions, client's degree of recognition is high.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410832283.6A CN104626170A (en) | 2014-12-29 | 2014-12-29 | Method for achieving mechanical arm integrating high-precision recognition function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410832283.6A CN104626170A (en) | 2014-12-29 | 2014-12-29 | Method for achieving mechanical arm integrating high-precision recognition function |
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| CN104626170A true CN104626170A (en) | 2015-05-20 |
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| CN201410832283.6A Pending CN104626170A (en) | 2014-12-29 | 2014-12-29 | Method for achieving mechanical arm integrating high-precision recognition function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106652018A (en) * | 2016-09-29 | 2017-05-10 | 北京京东尚科信息技术有限公司 | Object three-dimensional reconstruction method, device and system |
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| CN103802137A (en) * | 2013-12-30 | 2014-05-21 | 苏州亚安智能科技有限公司 | Visualized industrial mechanical arm |
| CN104626150A (en) * | 2014-12-29 | 2015-05-20 | 苏州亚安智能科技有限公司 | High-accuracy-identification-function-integrated mechanical arm |
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2014
- 2014-12-29 CN CN201410832283.6A patent/CN104626170A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2520397B2 (en) * | 1985-06-04 | 1996-07-31 | アデプト テクノロジ−インコ−ポレ−テツド | Visual system for distinguishing contact parts |
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Apparatus and method for flexible pick of orange picking robot |
| CN101797748A (en) * | 2010-01-08 | 2010-08-11 | 武汉若比特机器人有限公司 | Multiple-degree-of-freedom anti-explosion mechanical arm |
| CN102179804A (en) * | 2011-04-21 | 2011-09-14 | 苏州悦控自动化科技有限公司 | 3H-type charge coupled device (CCD) visual industrial robot |
| CN103802107A (en) * | 2013-12-30 | 2014-05-21 | 苏州亚安智能科技有限公司 | Method for achieving industrial mechanical arm with vision |
| CN103802137A (en) * | 2013-12-30 | 2014-05-21 | 苏州亚安智能科技有限公司 | Visualized industrial mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106652018A (en) * | 2016-09-29 | 2017-05-10 | 北京京东尚科信息技术有限公司 | Object three-dimensional reconstruction method, device and system |
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Application publication date: 20150520 |