CN104965489A - CCD automatic positioning assembly system and method based on robot - Google Patents

CCD automatic positioning assembly system and method based on robot Download PDF

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Publication number
CN104965489A
CN104965489A CN201510385861.0A CN201510385861A CN104965489A CN 104965489 A CN104965489 A CN 104965489A CN 201510385861 A CN201510385861 A CN 201510385861A CN 104965489 A CN104965489 A CN 104965489A
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CN
China
Prior art keywords
robot
camera
industrial control
built
control machine
Prior art date
Application number
CN201510385861.0A
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Chinese (zh)
Inventor
张威
孙少毅
陈发添
吴方华
张曙光
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昆山市佰奥自动化设备科技有限公司
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Application filed by 昆山市佰奥自动化设备科技有限公司 filed Critical 昆山市佰奥自动化设备科技有限公司
Priority to CN201510385861.0A priority Critical patent/CN104965489A/en
Publication of CN104965489A publication Critical patent/CN104965489A/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position

Abstract

The invention discloses a CCD automatic positioning assembly system and method based on a robot. A robot is adopted and controlled by a robot controller. The robot controller, a first camera and a second camera are controlled by an embedded industrial control computer. The first camera and the second camera shoot image information of a first product and image information of a second product respectively, and the information is transmitted to the embedded industrial control computer. The embedded industrial control computer obtains coordinate values of target points in the image information of both the first and second products, and thereby instructs the robot controller to control the robot to assemble the second product in the first product in an aligned manner. Two cameras are adopted to respectively shoot the image information of the two products, and the coordinates of the target points are obtained by the embedded industrial control computer. If the second product shifts in position, a worker can correspondingly rotate and adjust the second product at first, and then controls the robot according to the coordinate values of the target points in the two products so that the robot accurately positions and assembles the second product in the first product. In this way, the assembly precision is greatly improved.

Description

Based on CCD automatic aligning package system and the method for robot

Technical field

The present invention relates to a kind of CCD automatic aligning package system based on robot and method.

Background technology

Along with the high speed development of science and technology, adopt robot also to get more and more to the equipment that product is assembled, but robot is when assembling by two products, if the product space be transferred or angle exist deviation, will installation quality be affected, even cause and cannot assemble.

Summary of the invention

In order to overcome above-mentioned defect, the invention provides a kind of CCD automatic aligning package system based on robot and method, the positional information of two products can be judged, thus realize accurate contraposition assembling.

The present invention in order to the technical scheme solving its technical matters and adopt is: a kind of CCD automatic aligning package system based on robot, comprise first camera, second camera, built-in industrial control machine, robot and robot controller, described robot is controlled by described robot controller, this robot controller, first camera, second camera is delivered a letter respectively and is controlled by described built-in industrial control machine: this first camera and second camera are taken the image information of the first product and the second product respectively and be messaging in described built-in industrial control machine, this built-in industrial control machine obtains the coordinate figure of impact point in the image information of this first product and the second product, and instruction robot controller carrys out control and is assembled in the first product by the second product aligning accordingly.

As a further improvement on the present invention, also comprise display device, this display device is controlled by described built-in industrial control machine.

As a further improvement on the present invention, described first camera and second camera are CCD, the artificial four axle robots of described machine.

The present invention also provides a kind of CCD automatic aligning assemble method based on robot, for being loaded accurately in the first product by the second product, comprises the following steps:

1. first camera takes the first product image, and is transferred to built-in industrial control machine, and this built-in industrial control machine obtains the coordinate figure of at least one impact point in the first product image;

2. robot controller control captures the second product and moves to below second camera, second camera takes the image information of this second product, and being transferred to built-in industrial control machine, this built-in industrial control machine obtains the coordinate figure of at least one impact point in the second product;

3. built-in industrial control machine is according to the coordinate figure of each impact point obtained in the first product and the second product, and robot controller of delivering a letter captures the movement locus of the second product with control, and the second product aligning is assembled in the first product.

As a further improvement on the present invention, described step 3. in, if according to the coordinate of ground point of the second product obtained, built-in industrial control machine judges that the angle of the second product has skew, instruction robot controller control is rotated this second product, then instruction second camera takes the image information of this second product again, correct to determine this second product space.

As a further improvement on the present invention, described first camera and second camera are CCD, the artificial four axle robots of described machine.

The invention has the beneficial effects as follows: two cameras should be adopted to take the image information of two products respectively based on the CCD automatic aligning package system of robot and method, and undertaken by built-in industrial control machine calculating the coordinate obtaining impact point, if there is deviation in the second product space, first its position can be rotated adjustment accordingly, then making it be located accurately by the second product according to the coordinate control robot of impact point in two products is assembled in the first product, substantially increase assembly precision, ensure that product quality.

Accompanying drawing explanation

Fig. 1 is illustrated CCD automatic aligning package system structural representation.

By reference to the accompanying drawings, make the following instructions:

1---first camera 2---second camera

3---built-in industrial control machine 4---robot

5---robot controller 6---display device

Embodiment

Below in conjunction with accompanying drawing, a preferred embodiment of the present invention is elaborated.But protection scope of the present invention is not limited to following embodiment, the simple equivalence namely in every case done with the present patent application the scope of the claims and description changes and modifies, and all still belongs within patent covering scope of the present invention.

As shown in Figure 1, a kind of CCD automatic aligning package system based on robot, comprise first camera 1, second camera 2, built-in industrial control machine 3, robot 4, robot controller 5 and display device 6, robot is controlled by robot controller, this robot controller, first camera, second camera, display device is delivered a letter respectively and is controlled by described built-in industrial control machine: this first camera and second camera are taken the image information of the first product and the second product respectively and be messaging in built-in industrial control machine, this built-in industrial control machine obtains the coordinate figure of impact point in the image information of this first product and the second product, and instruction robot controller carrys out control and is assembled in the first product by the second product aligning accordingly, said process shows accordingly by display device.Wherein, described first camera and second camera are CCD, the artificial four axle robots of described machine.

The following detailed description of under, utilize the above-mentioned CCD automatic aligning package system based on robot to carry out automatic aligning assemble method, specifically comprise the following steps:

1. first camera takes the first product image, and is transferred to built-in industrial control machine, and this built-in industrial control machine, by the image processing method of track and localization, accurately finds the coordinate figure of the impact point needed in the first product image, and this impact point can be multiple;

2. robot controller control captures the second product and moves to below second camera, second camera takes the image information of this second product, and be transferred to built-in industrial control machine, this built-in industrial control machine calculates the coordinate figure of the impact point needed in acquisition second product by ROI area algorithm, this impact point also can be multiple;

3. built-in industrial control machine is according to the coordinate figure of each impact point obtained in the first product and the second product, first judge whether the position of the second product has skew, if there is skew, instruction robot controller control rotates this second product to tram, then instruction second camera takes the image information of this second product again, correct to determine this second product space; If the second product space is correct or it is correct to obtain the second product space by adjustment, then instruction robot controller captures the movement locus of the second product with control, and the second product aligning is assembled in the first product.

Wherein, described first camera and second camera are CCD, the artificial four axle robots of described machine.

As can be seen here, two cameras should be adopted to take the image information of two products respectively based on the CCD automatic aligning package system of robot and method, and undertaken by built-in industrial control machine calculating the coordinate obtaining impact point, if there is deviation in the second product space, first its position can be rotated adjustment accordingly, then making it be located accurately by the second product according to the coordinate control robot of impact point in two products is assembled in the first product, substantially increase assembly precision, ensure that product quality.

Claims (6)

1. the CCD automatic aligning package system based on robot, it is characterized in that: comprise first camera (1), second camera (2), built-in industrial control machine (3), robot (4) and robot controller (5), described robot is controlled by described robot controller, this robot controller, first camera, second camera is delivered a letter respectively and is controlled by described built-in industrial control machine: this first camera and second camera are taken the image information of the first product and the second product respectively and be messaging in described built-in industrial control machine, this built-in industrial control machine obtains the coordinate figure of impact point in the image information of this first product and the second product, and instruction robot controller carrys out control and is assembled in the first product by the second product aligning accordingly.
2. the CCD automatic aligning package system based on robot according to claim 1, is characterized in that: also comprise display device (6), this display device is controlled by described built-in industrial control machine.
3. the CCD automatic aligning package system based on robot according to claim 1, is characterized in that: described first camera and second camera are CCD, the artificial four axle robots of described machine.
4., based on a CCD automatic aligning assemble method for robot, for the second product is loaded in the first product accurately, it is characterized in that, comprise the following steps:
1. first camera takes the first product image, and is transferred to built-in industrial control machine, and this built-in industrial control machine obtains the coordinate figure of at least one impact point in the first product image;
2. robot controller control captures the second product and moves to below second camera, second camera takes the image information of this second product, and being transferred to built-in industrial control machine, this built-in industrial control machine obtains the coordinate figure of at least one impact point in the second product;
3. built-in industrial control machine is according to the coordinate figure of each impact point obtained in the first product and the second product, and robot controller of delivering a letter captures the movement locus of the second product with control, and the second product aligning is assembled in the first product.
5. the CCD automatic aligning package system based on robot according to claim 4, it is characterized in that: described step 3. in, if according to the coordinate of ground point of the second product obtained, built-in industrial control machine judges that the angle of the second product has skew, instruction robot controller control is rotated this second product, then instruction second camera takes the image information of this second product again, correct to determine this second product space.
6. the CCD automatic aligning package system based on robot according to claim 4, is characterized in that: described first camera and second camera are CCD, the artificial four axle robots of described machine.
CN201510385861.0A 2015-07-03 2015-07-03 CCD automatic positioning assembly system and method based on robot CN104965489A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510385861.0A CN104965489A (en) 2015-07-03 2015-07-03 CCD automatic positioning assembly system and method based on robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510385861.0A CN104965489A (en) 2015-07-03 2015-07-03 CCD automatic positioning assembly system and method based on robot

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106212303A (en) * 2016-08-25 2016-12-14 南通天宇休闲用品有限公司 Pet cage processing method based on intelligent self-align high-frequency welding system
CN106271004A (en) * 2016-08-25 2017-01-04 南通天宇休闲用品有限公司 A kind of pet cage processing method based on intelligent self-align high-frequency welding system
CN106695784A (en) * 2016-12-02 2017-05-24 中国东方电气集团有限公司 Visual control system for robot
CN107424148A (en) * 2017-06-27 2017-12-01 深圳市博视科技有限公司 Product Visual automatic aligning method
CN108393676A (en) * 2018-01-25 2018-08-14 嘉兴微芒科技有限公司 Automate the model specification method of color make-up assembly
CN110562553A (en) * 2019-08-22 2019-12-13 深海弈智京山智能科技有限公司 Paper discharge visual guide system and guide method
CN110621150A (en) * 2019-09-20 2019-12-27 上海节卡机器人科技有限公司 Printed circuit board assembling method and related device

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JP2005334998A (en) * 2004-05-25 2005-12-08 Fuji Photo Film Co Ltd Self-propelled robot hand, and its camera adjusting method, hand moving amount correcting method and hand adjusting method
CN101231521A (en) * 2007-01-24 2008-07-30 富士通株式会社 System, operation cell, method, product manufacturing method, and marker for locating operation position
CN103381545A (en) * 2013-07-05 2013-11-06 吴江市博众精工科技有限公司 CCD para-position assembling device
WO2013183984A2 (en) * 2012-06-05 2013-12-12 Pentamaster Engineering SDN BHD An apparatus and method for transferring gloves
CN103698916A (en) * 2013-12-23 2014-04-02 苏州博众精工科技有限公司 Pipeline type LCD (Liquid Crystal Display) mounting equipment
CN104552292A (en) * 2013-10-10 2015-04-29 精工爱普生株式会社 Control system of robot, robot, program and control method of robot
CN204790503U (en) * 2015-07-03 2015-11-18 昆山市佰奥自动化设备科技有限公司 CCD automatic alignment assembles system based on robot

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Publication number Priority date Publication date Assignee Title
CN1659694A (en) * 2002-04-04 2005-08-24 东丽工程株式会社 Alignment method and mounting method using the alignment method
JP2005334998A (en) * 2004-05-25 2005-12-08 Fuji Photo Film Co Ltd Self-propelled robot hand, and its camera adjusting method, hand moving amount correcting method and hand adjusting method
CN101231521A (en) * 2007-01-24 2008-07-30 富士通株式会社 System, operation cell, method, product manufacturing method, and marker for locating operation position
WO2013183984A2 (en) * 2012-06-05 2013-12-12 Pentamaster Engineering SDN BHD An apparatus and method for transferring gloves
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CN103698916A (en) * 2013-12-23 2014-04-02 苏州博众精工科技有限公司 Pipeline type LCD (Liquid Crystal Display) mounting equipment
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106212303A (en) * 2016-08-25 2016-12-14 南通天宇休闲用品有限公司 Pet cage processing method based on intelligent self-align high-frequency welding system
CN106271004A (en) * 2016-08-25 2017-01-04 南通天宇休闲用品有限公司 A kind of pet cage processing method based on intelligent self-align high-frequency welding system
CN106695784A (en) * 2016-12-02 2017-05-24 中国东方电气集团有限公司 Visual control system for robot
CN107424148A (en) * 2017-06-27 2017-12-01 深圳市博视科技有限公司 Product Visual automatic aligning method
CN108393676A (en) * 2018-01-25 2018-08-14 嘉兴微芒科技有限公司 Automate the model specification method of color make-up assembly
CN108393676B (en) * 2018-01-25 2020-04-07 嘉兴微芒科技有限公司 Model setting method for automatic makeup assembly
CN110562553A (en) * 2019-08-22 2019-12-13 深海弈智京山智能科技有限公司 Paper discharge visual guide system and guide method
CN110621150A (en) * 2019-09-20 2019-12-27 上海节卡机器人科技有限公司 Printed circuit board assembling method and related device

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Address after: Suzhou City, Jiangsu Province, Yushan Town, Kunshan City, 215300 Yuan Feng Road No. 232, room 8

Applicant after: KUNSHAN KSTOPA INTELLIGENT EQUIPMENT CO., LTD.

Address before: The Palestinian town of Dongrong road Kunshan city 215300 Suzhou city of Jiangsu Province

Applicant before: Kunshan Baiao Automation Equipment Technology Co., Ltd.

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Application publication date: 20151007