CN107803855A - A kind of robot automatic positioning mechanism - Google Patents
A kind of robot automatic positioning mechanism Download PDFInfo
- Publication number
- CN107803855A CN107803855A CN201711329779.1A CN201711329779A CN107803855A CN 107803855 A CN107803855 A CN 107803855A CN 201711329779 A CN201711329779 A CN 201711329779A CN 107803855 A CN107803855 A CN 107803855A
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- CN
- China
- Prior art keywords
- robot
- positioning
- camera
- vision
- positioning system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The invention discloses a kind of robot automatic positioning mechanism, including the vision positioning system installed in robot end, the vision positioning system includes the positioning camera one installed in robot end, positioning camera two, supplement light source.It is characteristic of the invention that：Robot operational efficiency is substantially improved by the combination of vision positioning system and end effector of robot, avoiding the single shaft camera of tradition positioning needs error caused by repeated multiple times shooting datum hole, reduce time effects caused by multiple bearing, greatly improve the automaticity of robot control.
Description
Technical field
The present invention relates to robot control field, and in particular to a kind of binocular visual positioning phase by robot end
Machine combination software algorithm realizes a kind of robot automatic positioning mechanism of robot pose control.
Background technology
It is only to propose point position data by software in the control of traditional robot control field robot location, by mould
Robot controller is transferred to after plan, robot end's camera shooting datum hole, determines that current location is entered with theoretical position difference
Row robot adjusts, and this mode operating efficiency is slow, show that positional precision is low..
The content of the invention
It is an object of the invention to overcome above-mentioned insufficient problem, there is provided a kind of robot automatic positioning mechanism.
The used to achieve the above object technical scheme of the present invention is：A kind of robot automatic positioning mechanism, including peace
Mounted in the vision positioning system of robot end, the vision positioning system includes the positioning camera installed in robot end
First, positioning camera two, supplement light source.
The supplement light source is located at positioning camera one, the centre position of positioning camera two.
It is characteristic of the invention that：Robot is run by the combination of vision positioning system and end effector of robot and imitated
Rate is substantially improved, avoid tradition positioning single shaft camera need it is repeated multiple times shooting datum hole caused by error, reduce
Time effects caused by multiple bearing, greatly improve the automaticity of robot control.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is application schematic diagram of the present invention.
Wherein：1st, vision positioning system 11, positioning camera 1, positioning camera 2 13, supplement light source 2, machine
Device people 3, end effector.
Embodiment
As shown in figure 1, the present invention is a kind of robot automatic positioning mechanism, including the vision installed in the end of robot 2
Alignment system 1, the vision positioning system 1 include installed in the positioning camera 1 of the end of robot 2, positioning camera 2 12,
Light source 13 is supplemented, the supplement light source 13 is located at positioning camera 1, the centre position of positioning camera 2 12, by robot
Two positioning cameras are arranged in end, two positioning cameras is shot in less space and calculate the three-dimensional of datum hole and stand
Body image, once shooting draws datum hole coordinate value, then is compared automatically with theoretical value by algorithm, transmits to robot
Row compensating movement.
As shown in Fig. 2 when in use, by vision positioning system 1 be arranged on the front of robot end, cutter top,
When frock datum hole is shot before the drilling of robot 2, positioning camera 1, positioning camera 2 12 form double positioning cameras, simultaneously
Datum hole photo is shot, datum hole XYZ coordinate value is calculated by algorithm, entered automatically with datum hole theoretical coordinate value by software
Row comparison draws difference, and robot 2 will compensate the position of tool tip of end effector 3, the vision positioning in drilling automatically according to difference
System 1 will shoot workpiece datum hole photo as needed, compensate, will in inside workpiece or bad frock ambient light illumination
Supplement light source 13, which can be opened, ensures that shooting calculates accuracy, by positioning camera and machine, the combination of 2 ends, makes robot 2
Control more intelligent automaticization, the positioning precision of robot 2 are more accurate.
It is described above, preferable embodiment only of the invention, but protection scope of the present invention is not limited thereto, and is appointed
What those familiar with the art is in the technical scope of present disclosure, technique according to the invention scheme and its hair
Bright design is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (2)
- A kind of 1. robot automatic positioning mechanism, it is characterised in that：Including installed in robot（2）The vision positioning system of end 1）, the vision positioning system 1）Including installed in robot 2）The positioning camera one of end（11）, positioning camera two（12）, mend Fill light source（13）.
- A kind of 2. robot automatic positioning mechanism as claimed in claim 1, it is characterised in that：The supplement light source（13）It is located at Positioning camera one（11）, positioning camera two（12）Centre position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711329779.1A CN107803855A (en) | 2017-12-13 | 2017-12-13 | A kind of robot automatic positioning mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711329779.1A CN107803855A (en) | 2017-12-13 | 2017-12-13 | A kind of robot automatic positioning mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107803855A true CN107803855A (en) | 2018-03-16 |
Family
ID=61580130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711329779.1A Pending CN107803855A (en) | 2017-12-13 | 2017-12-13 | A kind of robot automatic positioning mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107803855A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0515565A1 (en) * | 1990-02-16 | 1992-12-02 | Scanera S.C. | Device for increasing the dynamic range of a camera |
| CN101957176A (en) * | 2010-09-19 | 2011-01-26 | 天津大学 | Robot and camera combined calibration based method for detecting high-precision car door |
| CN203956929U (en) * | 2014-06-27 | 2014-11-26 | 上海朗煜电子科技有限公司 | The two camera system grabs devices of three-dimensional imaging |
| CN104354167A (en) * | 2014-08-29 | 2015-02-18 | 广东正业科技股份有限公司 | Robot hand-eye calibration method and device |
| CN106541419A (en) * | 2016-10-13 | 2017-03-29 | 同济大学 | A kind of measuring method of robot trajectory's error |
-
2017
- 2017-12-13 CN CN201711329779.1A patent/CN107803855A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0515565A1 (en) * | 1990-02-16 | 1992-12-02 | Scanera S.C. | Device for increasing the dynamic range of a camera |
| CN101957176A (en) * | 2010-09-19 | 2011-01-26 | 天津大学 | Robot and camera combined calibration based method for detecting high-precision car door |
| CN203956929U (en) * | 2014-06-27 | 2014-11-26 | 上海朗煜电子科技有限公司 | The two camera system grabs devices of three-dimensional imaging |
| CN104354167A (en) * | 2014-08-29 | 2015-02-18 | 广东正业科技股份有限公司 | Robot hand-eye calibration method and device |
| CN106541419A (en) * | 2016-10-13 | 2017-03-29 | 同济大学 | A kind of measuring method of robot trajectory's error |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180316 |
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| WD01 | Invention patent application deemed withdrawn after publication |