CN111230853A - Method for improving automatic picking and placing precision of workpiece - Google Patents
Method for improving automatic picking and placing precision of workpiece Download PDFInfo
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- CN111230853A CN111230853A CN202010131969.8A CN202010131969A CN111230853A CN 111230853 A CN111230853 A CN 111230853A CN 202010131969 A CN202010131969 A CN 202010131969A CN 111230853 A CN111230853 A CN 111230853A
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- workpiece
- elevator
- control platform
- distance measuring
- tray
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention provides a method for improving the automatic picking and placing precision of a workpiece, which comprises the following steps: s1, controlling a lift to drive a workpiece clamp to move to a material taking area according to a preset coordinate; s2, the control platform performs image recognition according to the workpiece image collected by the image collector to obtain a workpiece positioning point and finely adjusts the horizontal position of the elevator; s3, measuring the distance between the workpiece and the workpiece clamp by using first distance measuring equipment, controlling the elevator to descend according to the distance, and then controlling the workpiece clamp to take materials; s4, controlling the elevator to horizontally move to the side of the production equipment; s5, accurately positioning the elevator in the horizontal direction by using second distance measuring equipment and third distance measuring equipment which are arranged outside a production working area and an auxiliary distance measuring device arranged on the elevator, and moving the elevator to a preset discharging position; s6, controlling the elevator to descend, and loosening the workpiece clamp to finish discharging; the invention can solve the technical problem that the precision of a manipulator is not enough when the manipulator automatically takes and discharges materials when the working area range is large.
Description
Technical Field
The invention relates to the technical field of workpiece carrying in industrial production, in particular to a method for improving automatic workpiece taking and placing accuracy.
Background
At present, in the field of industrial automation, a workpiece to be processed can be grabbed by a manipulator to finish the material taking and placing of the workpiece. In the prior art, a workpiece handling system and a workpiece handling method are provided, wherein a specific placing position of a material is determined through a CCD (charge coupled device) camera, the distance between a manipulator and the material is fed back in real time through a distance measuring sensor, and the manipulator is controlled to grab the material after the distance reaches a preset position; then the materials are lifted for a certain distance and moved to a placing area for placing. In the prior art, the material taking precision of a manipulator is controlled, but the material placing position is not particularly controlled during material placing, so that the method is not suitable for industrial application scenes with precision requirements on material taking and material placing at the same time.
Meanwhile, in a production and processing field, one manipulator may be required to simultaneously and correspondingly take and place workpieces from and in multiple production work areas. Under this condition, because the work area scope grow of manipulator, because system's accumulative total error in mechanical motion's in-process can make the manipulator when far away from the motion origin that sets up, get the precision of material, blowing poor more.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for improving the automatic picking and placing precision of a workpiece, and aims to solve the technical problem that the precision of a manipulator is insufficient when the manipulator automatically picks and places materials under the condition that the working area range is large in the prior art.
The invention adopts the technical scheme that the method for improving the automatic picking and placing accuracy of the workpiece comprises the following steps:
s1, production equipment in a production working area sends a production completion signal to a control platform, the control platform controls a lift to drive a workpiece clamp to horizontally move to a material taking area according to preset coordinates, and workpieces are stacked in the material taking area;
s2, carrying out image acquisition on the workpiece by using an image acquisition device, and transmitting the acquired image to a control platform; the control platform carries out image recognition according to the received image to obtain positioning points of the workpiece; the control platform finely adjusts the horizontal position of the lifter according to the positioning point;
s3, measuring the distance between the workpiece and the workpiece clamp by using first distance measuring equipment, controlling the elevator to drive the workpiece clamp to descend to a clamping position at the height of the workpiece by using the control platform according to a measurement result, and then controlling the workpiece clamp to take materials;
s4, the control platform controls the elevator to ascend to the initial height before descending, and then controls the elevator to horizontally move to the side of production equipment in a production working area;
s5, accurately positioning the elevator in the horizontal direction by using second distance measuring equipment and third distance measuring equipment which are arranged outside a production working area and an auxiliary distance measuring device arranged on the elevator, and moving the elevator to a preset emptying coordinate position;
s6, the control platform controls the elevator to descend to a preset discharging height, and the workpiece clamp is loosened to complete discharging.
Further, in step S2, the control platform performs fine adjustment of the horizontal position of the elevator according to the positioning point, specifically implemented according to the following steps:
s21, selecting a clamping central point and a workpiece positioning point of a workpiece clamp installed on the elevator by the control platform, and projecting the clamping central point and the workpiece positioning point onto the same two-dimensional plane;
s22, the control platform adjusts the horizontal position of the lifter according to the relative direction and the relative distance of the clamping central point and the workpiece positioning point on the two-dimensional plane, so that the clamping central point is coincident with the workpiece positioning point.
Further, the first distance measuring device is a first laser distance measuring instrument, the second distance measuring device is a second laser distance measuring instrument, and the third distance measuring device is a third laser distance measuring instrument; the auxiliary distance measuring device is a reflector.
Further, in step S1, after the control platform receives a production completion signal sent by the production equipment, the control platform controls the elevator to horizontally move back to a preset origin coordinate, and then controls the elevator to move to the material taking area;
in step S4, after the control platform controls the elevator to ascend to the initial height before descending, the control platform controls the elevator to horizontally move back to the preset origin coordinate, and then controls the elevator to move to the side of the production equipment;
the origin coordinate is arranged at the center of the production working area.
Further, the workpiece is a material tray for coiling the saw belt; the locating point of the workpiece is the center of the round hole of the material tray.
Furthermore, the number of the image collectors is 2; the control platform carries out three-dimensional reconstruction of space coordinates by using images shot by 2 image collectors through binocular vision identification;
and the control platform takes the coordinates of the workpiece positioning point in the space three-dimensional model in the step S2 as a reference point to finely adjust the horizontal position of the elevator.
Further, the horizontal position fine adjustment is carried out on the lifter, and the method is specifically realized according to the following steps:
selecting a clamping center coordinate of a clamping jaw of the manipulator and a coordinate of the center of a round hole of a material tray from the space three-dimensional model;
in a space coordinate system of the space three-dimensional model, respectively making a first axis which is vertical to the ground through a clamping center coordinate point and a second axis which is vertical to the ground through a round hole center coordinate point;
the control platform controls the horizontal transverse position and/or horizontal longitudinal movement of the elevator, so that the first axis and the second axis are coincident.
Further, the image collector is a charge coupled device industrial camera.
Furthermore, the number of the material trays is one or more, the material tray or the material trays are stacked on the tray according to the upper position and the lower position, and the material tray stacked on the uppermost layer in the material tray or the material trays is the first material tray;
the control platform judges the number of the material trays according to the height of the first material tray measured by the first laser range finder, counts the number of the material trays and stores the material trays; when the material taking and placing are completed, the control platform compares the statistical number of the material discs with the set number, and the control platform alarms and stops when the number is inconsistent.
Further, the control platform is installed on an industrial personal computer or a mobile terminal.
According to the technical scheme, the beneficial technical effects of the invention are as follows:
1. when the material is taken, the CCD industrial camera is used for shooting the material disc, the positioning point of the material disc is found, the clamping center point is enabled to coincide with the positioning point of the material disc, the alignment error between the clamping center of the clamping jaw of the mechanical arm and the center of the circular hole of the material disc is eliminated, and the positioning precision during material taking is improved. The 2 laser range finders installed outside the production working area and the reflector installed on the elevator are used for accurately positioning the elevator in the horizontal direction, so that the positioning error during discharging is eliminated, and the positioning accuracy during discharging is improved.
2. In the material taking and discharging process, when the control platform controls the elevator to horizontally move, the elevator is firstly controlled to horizontally move to return to the preset original point coordinate, and then the elevator is controlled to move to the material taking area and the material discharging area. The origin coordinates set the center of the production working area, so that the elevator can horizontally move from the center of the production working area, and the accumulated error of the system can be reduced to the greatest extent.
3. In the binocular vision identification in the machine vision, 2 CCD industrial cameras are used, and the space coordinate three-dimensional reconstruction of a material tray is carried out on the shot image through the binocular vision identification; coordinate information of the center of the circular hole of the material tray in the three-dimensional space model is used as a positioning reference point, the horizontal position of the lifter is finely adjusted, the position of the lifter can be accurately determined, and the material taking precision of the clamping jaw of the manipulator is further improved.
4. Judging whether a material tray exists at a material taking position or not by utilizing a laser range finder arranged on a clamping jaw of the manipulator according to the measured height information of the material tray, counting the number of the material taking trays at each time, and judging whether the number of the clamped material trays is consistent with the number set by an operator in the system or not; the precision of getting material, blowing is promoted in the aspect of quantity.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a flow chart of the method of the present invention.
FIG. 2 is a block diagram of the system architecture of the present invention.
FIG. 3 is a schematic view of a production work area, a material taking area and a material placing area of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
Example 1
As shown in fig. 1 and fig. 2, the present invention provides a method for improving the accuracy of automatic picking and placing of a workpiece, comprising the following steps:
s1, production equipment in a production working area sends a production completion signal to a control platform, the control platform controls a lift to drive a workpiece clamp to horizontally move to a material taking area according to preset coordinates, and workpieces are stacked in the material taking area;
s2, carrying out image acquisition on the workpiece by using an image acquisition device, and transmitting the acquired image to a control platform; the control platform carries out image recognition according to the received image to obtain positioning points of the workpiece; the control platform finely adjusts the horizontal position of the lifter according to the positioning point;
s3, measuring the distance between the workpiece and the workpiece clamp by using first distance measuring equipment, controlling the elevator to drive the workpiece clamp to descend to a clamping position at the height of the workpiece by using the control platform according to a measurement result, and then controlling the workpiece clamp to take materials;
s4, the control platform controls the elevator to ascend to the initial height before descending, and then controls the elevator to horizontally move to the side of production equipment in a production working area;
s5, accurately positioning the elevator in the horizontal direction by using second distance measuring equipment and third distance measuring equipment which are arranged outside a production working area and an auxiliary distance measuring device arranged on the elevator, and moving the elevator to a preset emptying coordinate position;
s6, the control platform controls the elevator to descend to a preset discharging height, and the workpiece clamp is loosened to complete discharging.
The industrial production field involves a wide variety of workpieces, which in this embodiment are illustrated as trays for coiling saw bands for ease of understanding. The production working area is a production equipment working area which is used for saw belt processing and has the length of 60 meters and the width of 10 meters. In this embodiment, be equipped with 6 stations altogether in the production work area, have 6 production facility to process simultaneously, use 1 to get to put the material equipment and supply these 6 production facility. The material taking and placing device is an elevator and a clamp which is arranged on the elevator and used for clamping the workpiece, and the clamp for clamping the workpiece is 1 mechanical arm clamping jaw in the embodiment. The elevator is installed on the driving track. The control platform is arranged on an industrial personal computer on a production site; the remote control system can also be installed on a mobile terminal, such as a mobile phone APP of an operator, so that remote control is realized. The control platform controls the elevator to move horizontally in the transverse direction and horizontally in the longitudinal direction through the travelling crane rails.
The working principle of example 1 is explained in detail below:
1. production equipment in a production working area sends a production completion signal to a control platform, the control platform controls a lift to drive a workpiece clamp to horizontally move to a material taking area according to preset coordinates, and workpieces are stacked in the material taking area
6 production equipment in the production work area, after any one of them production has been accomplished, can send a signal to control platform, explain that this production equipment corresponds station lack of material, need the material loading. After receiving the signal, the control platform controls the elevator to move; the position of the elevator at this time may be a position within 60 m × 10m of the production work area. Preferably, the control platform controls the elevator to return to a preset origin coordinate, and the origin coordinate is set at a central point of 60 m × 10m, so that the elevator horizontally moves from the center of the production work area, and the accumulated error of the system can be reduced to the greatest extent.
In this embodiment, there are a plurality of charging trays in the material taking area according to the actual situation of the production site. The trays are stacked on 1 tray in the up-down position, and the number of the trays can be multiple. The coordinate value of a material taking area of a traveling crane track is preset by an operator in the control platform, the coordinate value corresponds to the position of a certain tray in the material taking area, and the control platform can control the elevator to move to the position.
In this step, control platform control lift carries out the quick travel, only need with the lift remove get material district directly over can, do not need the accurate positioning, can improve and reduce the travel time, improve to get material efficiency from generally.
2. Using an image collector to collect images of the workpiece, and transmitting the collected images to a control platform; the control platform carries out image recognition according to the received image to obtain positioning points of the workpiece; the control platform finely adjusts the horizontal position of the lifter according to the positioning point of the workpiece
Because of the accumulated error of the system, in actual operation, the actual position of the tray generally has a certain deviation from the position preset in the system by the operator, the deviation value is about 10mm to 30mm, and the position deviation is corrected by adopting a visual alignment mode in the step.
When the elevator moves to the position right above the material taking area, the control platform controls the elevator to keep at the position, and an image collector installed on the elevator is used for collecting images of the material tray below the elevator. In this embodiment, the image collector selects 1 high-precision charge coupled device industrial camera, that is, the high-precision CCD industrial camera to take pictures of the tray, and transmits the taken pictures to the control platform. And the control platform performs image recognition on the picture to find out a positioning point of the material tray, and the positioning point is selected as the center of the circular hole of the material tray.
Then the control platform selects a clamping central point and a material tray positioning point of the clamping jaw of the manipulator, and the clamping central point and the material tray positioning point are projected onto the same two-dimensional plane; and then according to the relative direction and the relative distance of the clamping central point and the workpiece positioning point on the two-dimensional plane, controlling the platform to adjust the horizontal position of the lifter, for example, to adjust the position by 10mm leftwards, so that the clamping central point and the material tray positioning point coincide. Therefore, the clamping jaw of the mechanical arm faces the material tray, the alignment error between the clamping center of the clamping jaw of the mechanical arm and the center of the circular hole of the material tray is eliminated, and the positioning precision during material taking is improved.
3. The first distance measuring equipment is used for measuring the distance between the workpiece and the workpiece clamp, the control platform controls the elevator to drive the workpiece clamp to descend to the clamping position of the height of the workpiece according to the measuring result, and then the workpiece clamp is controlled to take materials
Before the control platform controls the manipulator clamping jaw to take materials, the height of the elevator needing to be lowered needs to be determined. First range unit is installed on the manipulator clamping jaw, and first range unit is first laser range finder in this embodiment. The control platform controls the first laser range finder to measure the distance between the material tray and the mechanical arm clamping jaw, controls the elevator to descend by a corresponding height according to the distance, enables the mechanical arm clamping jaw to descend to a height position where the material tray can be clamped, controls the mechanical arm clamping jaw to clamp the material tray, and finishes material taking.
4. The control platform controls the elevator to ascend to the initial height before descending and then controls the elevator to horizontally move to the side of the production equipment in the production working area
After the material tray is taken, the control platform can place the taken material tray to a station of the production working area where the material tray is needed. The station is the station which sends signals to the control platform in the step 1 and reports the feeding requirement. The control platform controls the lifter to ascend to the initial height before descending to lift the material tray, so that other objects are prevented from being touched in the moving process. And then the control platform controls the elevator to horizontally move to the side position of the production equipment in the production working area. Preferably, after the control platform controls the elevator to ascend to the initial height before descending, the control platform controls the elevator to horizontally move back to the preset origin coordinate, and then controls the elevator to move to the side of the production equipment. The origin coordinate is set at the central point of 60 m × 10m, so that the elevator can move horizontally from the center of the production working area, and the accumulated error of the system can be reduced to the maximum extent. The side position of the production equipment is a fixed discharging position coordinate value preset in the system by an operator, namely the coordinate value of the position to be discharged.
5. The second distance measuring equipment and the third distance measuring equipment which are arranged outside the production working area and the auxiliary distance measuring device which is arranged on the lifter are used for accurately positioning the lifter in the horizontal direction, and the lifter is moved to a preset discharging coordinate position
The elevator is moved to a fixed emptying position coordinate value preset by an operator in the system through the travelling crane rail, and the coordinate position where the elevator is actually located and the preset fixed emptying position coordinate value have certain deviation generally due to accumulated errors. In this step, the second distance measuring device, the third distance measuring device and the auxiliary distance measuring device are used for accurately positioning the elevator.
In this embodiment, the second distance measuring device is a second laser distance measuring device, and is installed on a guide rail corresponding to the long side of 60 meters outside the production work area. The third distance measuring equipment is a third laser distance measuring instrument and is arranged on another guide rail corresponding to the 10-meter wide edge outside the production working area. The auxiliary distance measuring device is a reflector and is installed on the elevator, and the reflector has 2 blocks which respectively emit laser emitted by the second laser distance measuring instrument and the third laser distance measuring instrument. The control platform controls the second laser range finder to move in the horizontal longitudinal direction along with the elevator, so that the laser emitting end and the reflector are kept at relative positions where reflection can be completed; and controlling the third laser range finder to move horizontally along with the elevator, so as to ensure that the laser emitting end and the reflector are kept at relative positions capable of completing reflection. And the control platform controls the second laser range finder and the third laser range finder to work, and controls the lifter to finely adjust the horizontal longitudinal position and the horizontal position according to the data measured by the second laser range finder and the third laser range finder so that the lifter is positioned at the preset discharging coordinate position. Therefore, the positioning error during discharging is eliminated, and the positioning precision during discharging is improved.
In the step, the reflector is arranged on the lifter, and the second laser range finder and the third laser range finder are arranged on the guide rail outside the production working area; rather than mounting the laser rangefinder on the lift. If the laser range finder is arranged on the lifter, the lifter repeatedly rises and falls to bring vibration to the laser range finder, and the laser range finder is arranged on the guide rail, so that the vibration brought by the movement of the guide rail in the horizontal direction is only required to be borne, and the vibration brought by the arrangement of the laser range finder on the lifting table in the vertical direction is not required to be borne; the vibration in the vertical direction is reduced, and the service life of the laser range finder can be prolonged.
6. The control platform controls the elevator to descend to a preset discharging height, and the workpiece clamp is loosened to complete discharging
In the embodiment, in the production working area, the height of the platform for placing materials at the station where the production equipment is located is designed to be fixed, so that the height of the material tray placed on the platform is also fixed generally and cannot be adjusted. And the control platform controls the elevator to descend to the discharging height according to the preset discharging height, releases the clamping jaw of the manipulator, and places the material tray at the position required by the production equipment to finish discharging.
In this embodiment, the range of the production working area is large, the length is 60 meters, the width is 10 meters, and by the method in the steps 1 to 6, when the manipulator clamping jaw takes and puts the material on the material tray, the positioning accuracy can reach 1 mm.
Example 2
When using the manipulator clamping jaw to snatch the work piece in embodiment 1, use 1 CCD industry camera only to realize the collection to charging tray two-dimensional image, the charging tray round hole center that the system carried out image recognition through two-dimensional picture under this condition can certain deviation appear. Therefore, the control platform controls the positioning point selected when the lifting platform finely adjusts the horizontal position, and the positioning point which is actually required is not positioned at the same spatial coordinate point, so that fine adjustment accuracy is influenced.
In order to solve the technical problem, the method is further optimized on the basis of the embodiment 1, 1 high-precision CCD industrial camera is additionally arranged on the elevator, so that 2 CCD industrial cameras are arranged on the elevator, and images shot by the 2 CCD industrial cameras are used for carrying out three-dimensional reconstruction of space coordinates through binocular vision recognition in machine vision. Specifically, the first CCD industrial camera and the second CCD industrial camera are located right above the material tray, and the shot material tray image is transmitted to the control platform. The control platform has an image recognition processing function, and a world coordinate system can be deduced from a pixel coordinate system according to an image through calibration so as to complete three-dimensional reconstruction of space coordinates. And then in the space three-dimensional model, the control platform can directly read out the space coordinates of the three-dimensional model at the center of the round hole of the material tray, the space coordinates of the three-dimensional model are used as the actual coordinate information of the positioning point, and the control platform controls the horizontal position fine adjustment of the lifter by using the actual coordinate information as a reference point.
When the position is finely adjusted, the control platform selects 2 points which are respectively a clamping central point of the clamping jaw of the manipulator and a central point of the circular hole of the material tray. In the established space coordinate system, a first axis which is vertical to the ground through the clamping center point and a second axis which is vertical to the ground through the circular hole center point are respectively made. The fine position adjustment has the effect of adjusting the horizontal position of the elevator, including the horizontal longitudinal position and the horizontal transverse position, so that the first axis coincides with the second axis. Therefore, the clamping central point of the manipulator clamping jaw and the central point of the round hole of the material tray are positioned on the same straight line in the direction vertical to the ground. The method has the advantages that the calculation amount required by the system is small, the position of the lifter can be determined more accurately, and the material taking precision of the clamping jaw of the manipulator is further improved.
In the present embodiment, the image recognition processing function is programmed and developed by OpenCV and HALCON.
Example 3
In the actual material taking and placing process, the situation that the manipulator clamping jaws are empty may occur, and at the moment, the actual material taking and placing quantity deviates from the ideal quantity; because the quantity of the materials to be taken and discharged is not accurate, the production equipment in a production working area is stopped and the materials are to be taken.
In order to solve the technical problems, the following technical scheme is adopted for further optimization on the basis of the embodiment 1: before material taking, the control platform can also judge whether material discs exist at the material taking position according to the height information of the material discs measured by the first laser range finder, can count the number of the material discs taken each time, and judges whether the number of the material discs clamped by the control platform is consistent with the number set by an operator in the system; and if the quantity is inconsistent, the control platform alarms and stops.
Specifically, 1 to 10 trays are used as 1 group, and are stacked on 1 tray according to the upper and lower positions. The actual number of the trays on the tray can be any value from 1 to 10, and generally the number of the trays is at least 1 and at most 10; in a special case, if the tray on the whole tray is taken out, the number of the trays is 0. The material tray stacked on the uppermost layer is taken away by the clamping jaw of the manipulator as a first material tray at the first time. Because the height of the workbench for placing the tray in the material taking area is designed in advance, and the height of the tray and the height of the material tray are fixed, the control platform can judge how many material trays are stacked on the material taking tray before taking the material according to the height of the first material tray measured by the first laser range finder, and count and store the number of the material trays. When the control platform operates, an operator can set the material taking and placing quantity of one material tray in the system, and the quantity is set for the material taking and placing of the material tray. When the material taking and placing are completed and the counting number of the material discs is inconsistent with the set number, the control platform alarms and stops.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. A method for improving the automatic picking and placing precision of a workpiece is characterized in that: the method comprises the following steps:
s1, production equipment in a production working area sends a production completion signal to a control platform, the control platform controls a lift to drive a workpiece clamp to horizontally move to a material taking area according to preset coordinates, and workpieces are stacked in the material taking area;
s2, carrying out image acquisition on the workpiece by using an image acquisition device, and transmitting the acquired image to a control platform; the control platform carries out image recognition according to the received image to obtain a positioning point of the workpiece; the control platform finely adjusts the horizontal position of the lifter according to the positioning point;
s3, measuring the distance between the workpiece and the workpiece clamp by using first distance measuring equipment, controlling the elevator to drive the workpiece clamp to descend to a clamping position at the height of the workpiece by using the control platform according to a measurement result, and then controlling the workpiece clamp to take materials;
s4, controlling the elevator to ascend to the initial height before descending by the control platform, and then controlling the elevator to horizontally move to the side of the production equipment in the production working area;
s5, accurately positioning the elevator in the horizontal direction by using second distance measuring equipment and third distance measuring equipment which are arranged outside the production working area and an auxiliary distance measuring device arranged on the elevator, and moving the elevator to a preset emptying coordinate position;
s6, the control platform controls the elevator to descend to a preset discharging height, and the workpiece clamp is loosened to complete discharging.
2. The method of claim 1, wherein in step S2, the control platform performs fine adjustment of the horizontal position of the elevator according to the positioning point by the following steps:
s21, selecting a clamping central point and a workpiece positioning point of a workpiece clamp installed on the elevator by the control platform, and projecting the clamping central point and the workpiece positioning point onto the same two-dimensional plane;
s22, the control platform adjusts the horizontal position of the lifter according to the relative direction and the relative distance of the clamping central point and the workpiece positioning point on the two-dimensional plane, so that the clamping central point and the workpiece positioning point are overlapped.
3. The method for improving the accuracy of automatic pick-and-place of the workpiece as claimed in claim 1, wherein: the first distance measuring equipment is a first laser distance measuring instrument, the second distance measuring equipment is a second laser distance measuring instrument, and the third distance measuring equipment is a third laser distance measuring instrument; the auxiliary distance measuring device is a reflector.
4. The method for improving the accuracy of automatic pick-and-place of the workpiece as claimed in claim 1, wherein:
in step S1, after receiving a production completion signal sent by the production equipment, the control platform controls the elevator to horizontally move back to a preset origin coordinate, and then controls the elevator to move to a material taking area;
in step S4, after the control platform controls the elevator to ascend to the initial height before descending, the control platform controls the elevator to horizontally move back to the preset origin coordinate, and then controls the elevator to move to the side of the production equipment;
the origin coordinate is arranged at the center of the production working area.
5. The method for improving the accuracy of automatic pick-and-place of the workpiece as claimed in claim 1, wherein: the workpiece is a material tray for coiling the saw belt; the positioning point of the workpiece is the center of the circular hole of the material tray.
6. The method for improving the accuracy of automatic pick-and-place of the workpiece as claimed in claim 1, wherein: the number of the image collectors is 2; the control platform carries out three-dimensional reconstruction of space coordinates by using images shot by 2 image collectors through binocular vision identification;
and the control platform takes the coordinates of the workpiece positioning point in the space three-dimensional model in the step S2 as a reference point to finely adjust the horizontal position of the elevator.
7. The method for improving the accuracy of automatic picking and placing of the workpiece according to claim 6, wherein the fine adjustment of the horizontal position of the lifter is realized by the following steps:
selecting a clamping center coordinate of a clamping jaw of the manipulator and a coordinate of the center of a round hole of a material tray from the space three-dimensional model;
in a space coordinate system of the space three-dimensional model, respectively making a first axis which is vertical to the ground through a clamping center coordinate point and a second axis which is vertical to the ground through a round hole center coordinate point;
the control platform controls the horizontal transverse position and/or horizontal longitudinal movement of the elevator, so that the first axis and the second axis are coincident.
8. The method for improving the accuracy of automatic pick-and-place of the workpiece as claimed in claim 6, wherein: the image collector is a charge coupled device industrial camera.
9. The method for improving the accuracy of automatic pick-and-place of the workpiece as claimed in claim 1, wherein: the tray is provided with one or more trays, the one or more trays are stacked on the tray according to the upper and lower positions, and the tray stacked on the uppermost layer in the one or more trays is a first tray;
the control platform judges the number of the charging trays according to the height of the first charging tray measured by the first laser range finder, counts the number of the charging trays and stores the number of the charging trays; when the material taking and placing are completed, the control platform compares the statistical number of the material discs with the set number, and the control platform alarms and stops when the number is inconsistent.
10. The method for improving the accuracy of automatic pick-and-place of the workpiece as claimed in claim 1, wherein: the control platform is installed on an industrial personal computer or a mobile terminal.
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