CN111906770A - Workpiece mounting method and system, computer readable storage medium - Google Patents
Workpiece mounting method and system, computer readable storage medium Download PDFInfo
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- CN111906770A CN111906770A CN202010963199.3A CN202010963199A CN111906770A CN 111906770 A CN111906770 A CN 111906770A CN 202010963199 A CN202010963199 A CN 202010963199A CN 111906770 A CN111906770 A CN 111906770A
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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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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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
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Abstract
The invention discloses a workpiece mounting method and system and a computer readable storage medium. Wherein, the method comprises the following steps: controlling the robot to move to a plurality of point locations on a product plane where a target product is located respectively, and determining a displacement perception numerical value of each point location; calculating a first rotation angle of the target product between a product plane indicated by the first product direction and the second product direction and a plane where the workpiece to be installed is located based on the displacement perception numerical value of each point position; compensating the workpiece mounting coordinates of the workpiece to be mounted based on the first rotation angle; and adjusting the installation posture of the robot based on the compensated workpiece installation coordinates, and controlling the robot to install the workpiece to be installed on the target product. The invention solves the technical problems that various types of external auxiliary positioning mechanisms need to be configured for different produced products and the product positioning mechanisms are complicated to replace in the related technology.
Description
Technical Field
The invention relates to the technical field of equipment production, in particular to a workpiece mounting method and system and a computer readable storage medium.
Background
In the related art, when a robot is used for screwing a box body, the box body needs to be subjected to multiple times of auxiliary positioning on a production line, so that the box body reaches the same position every time, and the robot can accurately perform corresponding screw locking actions. Although the box body positioning can be completed by the screw locking equipment, a plurality of external auxiliary positioning mechanisms are needed, and meanwhile under the conditions of various product specifications, different sizes and the like, the method needs different kinds of external auxiliary positioning mechanisms, is difficult to realize compatibility, and is complicated in process when different products are switched.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a workpiece mounting method and system and a computer readable storage medium, which at least solve the technical problems that various types of external auxiliary positioning mechanisms need to be configured for different produced products and the product positioning mechanisms are complicated to replace in the related art.
According to an aspect of an embodiment of the present invention, there is provided a workpiece mounting method including: controlling the robot to move to a plurality of point locations on a product plane where a target product is located respectively, and determining a displacement perception numerical value of each point location; calculating a first rotation angle of the target product between a product plane indicated by the first product direction and the second product direction and a plane where the workpiece to be installed is located based on the displacement perception numerical value of each point position; compensating the workpiece mounting coordinates of the workpiece to be mounted based on the first rotation angle; and adjusting the installation posture of the robot based on the compensated workpiece installation coordinates, and controlling the robot to install the workpiece to be installed on the target product.
Optionally, before controlling the robot to move to a plurality of points on the product plane where the target product is located, the workpiece mounting method further includes: when the target product is detected to move to the working area of the robot, controlling a displacement sensing module to detect product boundary information of the target product on an assembly line; calculating product coordinate parameters of the robot along the product boundary of the target product based on the product boundary information; and compensating the product coordinate parameters into the workpiece mounting coordinates of the workpiece to be mounted.
Optionally, the displacement sensing module is disposed on a mechanical arm of the robot, and the type of the displacement sensing module at least includes: and a displacement sensor.
Optionally, the top end of the mechanical arm of the robot clamps the workpiece to be mounted.
Optionally, after compensating for the workpiece mounting coordinates of the workpiece to be mounted based on the rotation angle, the workpiece mounting method further includes: controlling a visual shooting module to shoot the target product to obtain a product image; analyzing the product image and determining product positioning information of the target product; determining deviation parameters of the target product in a first product direction and a second rotation angle in a third product direction based on the product positioning information; and compensating the workpiece mounting coordinates of the workpiece to be mounted based on the second rotation angle.
Optionally, the first product direction is an X direction of a product coordinate system, the second product direction is a Y direction of the product coordinate system, and the third product direction is a Z-axis direction of the product coordinate system.
Optionally, after compensating for the workpiece mounting coordinates of the workpiece to be mounted based on the second rotation angle, the workpiece mounting method further includes: controlling a vision shooting system to read product processing drawing parameters of the target product, wherein the product processing drawing parameters correspond to the current workpiece position of the workpiece to be installed, and the workpiece to be installed is compensated; and processing the product to be installed onto the target product based on the product processing drawing parameters.
Optionally, the target product comprises at least: LED box.
According to another aspect of the embodiments of the present invention, there is also provided a workpiece mounting system including: the target product moves to a position to be installed along with the tooling plate on the production line; robot, comprising at least: the displacement sensor is used for mounting a workpiece to be mounted on the target product, and is used for detecting a displacement perception value of the robot on the plane where the target product is located; a control unit for performing the workpiece mounting method of any one of the above.
Optionally, the workpiece mounting system further comprises: and the vision camera is used for shooting a robot attitude image and a product image after compensating the workpiece mounting coordinates of the workpiece to be mounted, wherein the attitude image and the product image are used for determining deviation parameters of the target product in a first product direction and a second rotation angle in a third product direction.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, the apparatus on which the computer-readable storage medium is located is controlled to execute the workpiece installation method according to any one of the above items.
In the embodiment of the invention, the robot is controlled to move to a plurality of point locations on the product plane where the target product is located respectively, and the displacement perception value of each point location is determined; calculating a first rotation angle of the target product between a product plane indicated by the first product direction and the second product direction and a plane where the workpiece to be installed is located based on the displacement perception numerical value of each point position; compensating the workpiece mounting coordinates of the workpiece to be mounted based on the first rotation angle; and adjusting the installation posture of the robot based on the compensated workpiece installation coordinates, and controlling the robot to install the workpiece to be installed on the target product. In the embodiment, a displacement sensing module and a vision system which are installed by a robot are combined to respectively determine a point location sensing numerical value and a product image of the movement of the robot, and the position of a target product in a three-dimensional space is obtained through calculation, so that the offset parameters of the product in each product direction are determined, and further the offset parameters are compensated into a workpiece installation coordinate, so that the installation posture of the robot corresponds to the position to be installed of the product, the workpiece in the product processing process can be quickly positioned without an external auxiliary positioning mechanism, and the technical problems that various types of external auxiliary positioning mechanisms need to be configured for different produced products and the product positioning mechanisms are complicated to replace in the related technology are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of an alternative workpiece mounting method according to an embodiment of the invention;
FIG. 2 is a schematic view of an alternative workpiece mounting system according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided an embodiment of a method for installing a workpiece, it being noted that the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
FIG. 1 is a flow chart of an alternative workpiece mounting method according to an embodiment of the invention, as shown in FIG. 1, comprising the steps of:
s102, controlling the robot to move to a plurality of point locations on a product plane where a target product is located respectively, and determining a displacement perception numerical value of each point location;
step S104, calculating a first rotation angle of the target product between a product plane indicated by the first product direction and the second product direction and a plane where the workpiece to be installed is located based on the displacement perception value of each point location;
step S106, compensating the workpiece mounting coordinates of the workpiece to be mounted based on the first rotation angle;
and S108, adjusting the installation posture of the robot based on the compensated workpiece installation coordinates, and controlling the robot to install the workpiece to be installed on the target product.
Through the steps, the robot can be controlled to move to a plurality of point positions on the product plane where the target product is located respectively, and the displacement perception numerical value of each point position is determined; calculating a first rotation angle of the target product between a product plane indicated by the first product direction and the second product direction and a plane where the workpiece to be installed is located based on the displacement perception numerical value of each point position; compensating the workpiece mounting coordinates of the workpiece to be mounted based on the first rotation angle; and adjusting the installation posture of the robot based on the compensated workpiece installation coordinates, and controlling the robot to install the workpiece to be installed on the target product. In the embodiment, a displacement sensing module and a vision system on a robot are combined, a point location sensing numerical value and a product image of the movement of the robot are respectively determined, and the position of a target product in a three-dimensional space is obtained through calculation, so that the offset parameters of the product in each product direction are determined, and further the offset parameters are compensated into a workpiece mounting coordinate, so that the mounting posture of the robot corresponds to the position to be mounted of the product, an external auxiliary positioning mechanism is not needed, the workpiece in the product processing process can be rapidly positioned, and the technical problems that various types of external auxiliary positioning mechanisms need to be configured for different produced products and the product positioning mechanisms are complicated to replace in the related technology are solved.
The embodiment of the invention can be applied to various product production lines and equipment assembly lines, and the products of the workpieces to be installed include but are not limited to: LED box. The embodiment of the invention takes the installation of the LED box body as an example, and the screws are locked on each point to be installed of the LED box body through the robot.
The embodiment of the invention can be compatible with target products of various types and specifications, and when the products are switched, the target products are directly placed on the tooling plate on the production line without complicated steps such as replacing a positioning mechanism and the like, thereby realizing the effects and personnel reduction.
The present invention will be described in detail with reference to the above steps.
In an embodiment of the present invention, before controlling the robot to move to a plurality of point locations on a product plane where a target product is located, the workpiece mounting method further includes: when the target product is detected to move to a working area of the robot, controlling a displacement sensing module to detect product boundary information of the target product on the assembly line; calculating product coordinate parameters of the robot along the product boundary of the target product based on the product boundary information; and compensating the product coordinate parameters to the workpiece mounting coordinates of the workpiece to be mounted.
Optionally, the target product at least comprises: LED box.
When the product flows in the working area of the robot, the robot starts to perform corresponding detection actions. And a vision camera and a displacement sensor are arranged at the positions of a mechanical arm and an elbow of the robot. The product boundary is found through the displacement sensor, and the position of the boundary in the X, Y direction of the target product is mainly inquired.
The robot may construct a world coordinate system with the base or elbow position as a central point in advance, and then search for the boundary of the product in the direction X, Y. After finding the product boundary, the product coordinate parameters found along the direction of the product boundary X, Y may be compensated into the workpiece mounting coordinates, thereby completing the first workpiece coordinate compensation.
In the embodiment of the invention, the displacement sensing module is arranged on a mechanical arm of the robot, and the type of the displacement sensing module at least comprises the following components: and a displacement sensor.
Optionally, the top end of the mechanical arm of the robot clamps the workpiece to be mounted.
And S102, controlling the robot to move to a plurality of point locations on a product plane where the target product is located respectively, and determining a displacement perception numerical value of each point location.
Through the internal calculation of the robot, the point positions of the target product on the product plane positioned in the X direction and the Y direction can be obtained, then the robot moves to a plurality of point positions (the number of the point positions is not limited, for example, 3 point positions are selected) of the product plane (which can also be understood as a product working surface) respectively, and the numerical values of the displacement sensors of the plurality of point positions are utilized.
And step S104, calculating a first rotation angle of the target product between a product plane indicated by the first product direction and the second product direction and a plane where the workpiece to be installed is located based on the displacement perception numerical value of each point position.
According to the embodiment of the invention, a first product direction is coordinated in an X direction, and a second product direction is coordinated in a Y direction; and calculating the angle required to rotate between the plane of the workpiece to be installed where the robot workpiece installation coordinate XY is located and the product plane where the current product is located to obtain a first rotation angle, and then compensating the first rotation angle to the workpiece installation coordinate of the workpiece to be installed, which is clamped by the robot, so as to complete the second workpiece coordinate compensation operation.
And after the compensation is finished, the robot adjusts the posture, and the posture of the robot is vertical to the working surface of the product.
And S106, compensating the workpiece installation coordinates of the workpiece to be installed based on the first rotation angle.
Optionally, after compensating the workpiece mounting coordinates of the workpiece to be mounted based on the rotation angle, the workpiece mounting method further includes: controlling a visual shooting module to shoot a target product to obtain a product image; analyzing the product image and determining product positioning information of the target product; determining deviation parameters of the target product in the first product direction and the second product direction and a second rotation angle in the third product direction based on the product positioning information; and compensating the workpiece mounting coordinates of the workpiece to be mounted based on the second rotation angle.
Optionally, the first product direction is an X direction of a product coordinate system, the second product direction is a Y direction of the product coordinate system, and the third product direction is a Z-axis direction of the product coordinate system.
After finding the product plane where the product is located, the visual system/visual shooting module can be used for shooting and positioning, and the product image is analyzed to obtain the XY displacement deviation parameter of the product plane, which is indicated by the product in the X direction and the Y direction; and meanwhile, the rotating angle in the Z-axis direction is obtained, and the rotating angle and the deviation parameters are compensated into the workpiece mounting coordinate, so that the third time of workpiece coordinate compensation operation is completed.
The coordinate compensation work indicated by the embodiment of the invention can be coordinate correction work immediately, and the product and the workpiece to be installed at the top end of the mechanical arm of the robot are in a vertical state, so that the robot can accurately and stably install the workpiece to be installed.
And S108, adjusting the installation posture of the robot based on the compensated workpiece installation coordinates, and controlling the robot to install the workpiece to be installed on the target product.
In an embodiment of the present invention, after compensating the workpiece mounting coordinates of the workpiece to be mounted based on the second rotation angle, the workpiece mounting method further includes: controlling a vision shooting system to read product processing drawing parameters of a target product, wherein the product processing drawing parameters correspond to the current workpiece position of the workpiece to be installed, and the workpiece to be installed is compensated; and processing the product to be installed to the target product based on the product processing drawing parameters.
And reading a product processing drawing (for example, a distribution diagram of screw hole positions on the LED box body) by using a vision shooting system, wherein the positions of the screw holes in the drawing can be understood as the positions of the working points after compensating the workpiece coordinate system.
In the embodiment of the invention, the robot, the displacement sensor, the vision shooting system and the product processing drawing are taken as references to perform the compensation transformation of the coordinates of the workpiece, so that the function of installing the workpiece on different target products is accurately and quickly realized, an external auxiliary positioning mechanism is not needed, and the production of products compatible with various specifications is realized.
According to the screw hole position that vision shooting system transmitted the robot, control robot is quick, accurate locks the screw operation, after the screw of target product is all locked, can send the installation and finish the signal to wait for next product to come, realize the circulation installation work.
Through the embodiment, a target product (such as an LED box) is placed on the assembly line tooling plate, after the tooling plate flows to the working area of the robot, the displacement sensor on the robot is controlled to search for the product boundary, numerical values of the target product in the first product direction X and the second product direction Y can be obtained through calculation and compensation inside the robot, then the robot moves to a plurality of point positions of the working face of the product respectively, the first rotation angles of the current product in the X direction and the Y direction are calculated by utilizing the displacement sensing numerical values of the plurality of point positions, and the robot compensates the data to the workpiece installation coordinates. After compensation is completed, the robot adjusts the posture, the posture of the robot is perpendicular to the working surface of a product at the moment, a vision shooting system is used for shooting to obtain accurate XY deviation and a rotation angle in the Z direction, the robot receives corresponding data and compensates the workpiece mounting coordinate, at the moment, the coordinate of the robot workpiece is compensated, and a product processing drawing (for example, a screw hole position layout drawing) is used for enabling the robot to accurately and quickly realize the mounting function of the product workpiece.
According to the embodiment of the invention, when different types of installation products are switched, only the product processing drawing needs to be guided into the visual shooting system, then according to the above process, the corresponding steps of positioning, shooting and the like are automatically carried out after the products are in place, and the position of the current product is accurately found, so that the robot can accurately and quickly realize the corresponding function without an external auxiliary positioning mechanism, the positioning mode is more accurate, and the frequent replacement of different types of auxiliary positioning mechanisms is reduced.
In an embodiment of the present invention, an optional workpiece mounting system is further provided, where the workpiece mounting system may include:
the target product moves to a position to be installed along with the tooling plate on the production line;
robot, comprising at least: the displacement sensor is used for mounting a workpiece to be mounted on a target product, and is used for detecting a displacement perception value of the robot on the plane where the target product is located;
a control unit for performing any one of the above-described workpiece mounting methods.
The workpiece mounting system can mount a workpiece to be mounted on the target product by using the robot, the displacement sensor is used for detecting a displacement perception value of the robot on the plane of the target product, the control unit is used for controlling the robot to move to a plurality of point positions on the plane of the target product respectively, and the displacement perception value of each point position is determined; calculating a first rotation angle of the target product between a product plane indicated by the first product direction and the second product direction and a plane where the workpiece to be installed is located based on the displacement perception numerical value of each point position; compensating the workpiece mounting coordinates of the workpiece to be mounted based on the first rotation angle; and adjusting the installation posture of the robot based on the compensated workpiece installation coordinates, and controlling the robot to install the workpiece to be installed on the target product. In the embodiment, a displacement sensing module and a vision system on a robot are combined, a point location sensing numerical value and a product image of the movement of the robot are respectively determined, and the position of a target product in a three-dimensional space is obtained through calculation, so that the offset parameters of the product in each product direction are determined, and further the offset parameters are compensated into a workpiece mounting coordinate, so that the mounting posture of the robot corresponds to the position to be mounted of the product, an external auxiliary positioning mechanism is not needed, the workpiece in the product processing process can be rapidly positioned, and the technical problems that various types of external auxiliary positioning mechanisms need to be configured for different produced products and the product positioning mechanisms are complicated to replace in the related technology are solved.
Optionally, the workpiece mounting system further comprises: and the vision camera is used for shooting a robot attitude image and a product image after compensating the workpiece mounting coordinates of the workpiece to be mounted, wherein the attitude image and the product image are used for determining deviation parameters of the target product in the first product direction and the second product direction and a second rotating angle in the third product direction.
FIG. 2 is a schematic view of an alternative workpiece mounting system according to an embodiment of the invention, as shown in FIG. 2, comprising: the assembly line LED box, the robot, the vision camera, the displacement sensor and the lock screw equipment of waiting to install.
In FIG. 2, the LED box is randomly placed on the assembly line tooling plate, when the tooling plate flows to the robot station, the robot firstly uses the displacement sensor to search the product boundary, the approximate X and Y direction values of the product can be obtained through the calculation and compensation inside the robot, then the robot respectively moves to 3 points of the working surface of the product, the rotation angles of the current product in the X and Y directions are calculated by using the displacement sensor values of the 3 points, the robot compensates the data to the workpiece coordinates, after the compensation is finished, the robot adjusts the posture, the posture of the robot is vertical to the working surface of the product, then the vision system is used for photographing to obtain the accurate XY deviation and the rotation angle in the Z direction, the robot receives the corresponding data and compensates the workpiece coordinates, at the moment, the robot workpiece coordinates are compensated, then the product processing drawing (screw hole site layout drawing) is used, the robot can accurately and quickly realize the function of locking the screws of the LED box body.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored computer program, wherein when the computer program runs, the apparatus on which the computer-readable storage medium is located is controlled to execute the workpiece installation method of any one of the above items.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (11)
1. A workpiece mounting method, comprising:
controlling the robot to move to a plurality of point locations on a product plane where a target product is located respectively, and determining a displacement perception numerical value of each point location;
calculating a first rotation angle of the target product between a product plane indicated by the first product direction and the second product direction and a plane where the workpiece to be installed is located based on the displacement perception numerical value of each point position;
compensating the workpiece mounting coordinates of the workpiece to be mounted based on the first rotation angle;
and adjusting the installation posture of the robot based on the compensated workpiece installation coordinates, and controlling the robot to install the workpiece to be installed on the target product.
2. The workpiece mounting method according to claim 1, wherein before controlling the robot to move to a plurality of points on a product plane where the target product is located, the workpiece mounting method further comprises:
when the target product is detected to move to the working area of the robot, controlling a displacement sensing module to detect product boundary information of the target product on an assembly line;
calculating product coordinate parameters of the robot along the product boundary of the target product based on the product boundary information;
and compensating the product coordinate parameters into the workpiece mounting coordinates of the workpiece to be mounted.
3. A workpiece mounting method according to claim 2, characterised in that the displacement sensing module is provided on a robot arm of the robot, the type of displacement sensing module comprising at least: and a displacement sensor.
4. The workpiece mounting method according to claim 2, wherein a robot arm top end of the robot grips the workpiece to be mounted.
5. The workpiece mounting method according to claim 1, wherein after compensating the workpiece mounting coordinates of the workpiece to be mounted based on the rotation angle, the workpiece mounting method further comprises:
controlling a visual shooting module to shoot the target product to obtain a product image;
analyzing the product image and determining product positioning information of the target product;
determining deviation parameters of the target product in a first product direction and a second rotation angle in a third product direction based on the product positioning information;
and compensating the workpiece mounting coordinates of the workpiece to be mounted based on the second rotation angle.
6. The workpiece mounting method of claim 5, wherein the first product direction is an X direction of a product coordinate system, the second product direction is a Y direction of the product coordinate system, and the third product direction is a Z-axis direction of the product coordinate system.
7. The workpiece mounting method according to claim 5, wherein after compensating the workpiece mounting coordinates of the workpiece to be mounted based on the second rotation angle, the workpiece mounting method further comprises:
controlling a vision shooting system to read product processing drawing parameters of the target product, wherein the product processing drawing parameters correspond to the current workpiece position of the workpiece to be installed, and the workpiece to be installed is compensated;
and processing the product to be installed onto the target product based on the product processing drawing parameters.
8. The workpiece mounting method according to any one of claims 1 to 7, wherein the target product includes at least: LED box.
9. A workpiece mounting system, comprising:
the target product moves to a position to be installed along with the tooling plate on the production line;
robot, comprising at least: the displacement sensor is used for mounting a workpiece to be mounted on the target product, and is used for detecting a displacement perception value of the robot on the plane where the target product is located;
a control unit for performing the workpiece mounting method of any one of claims 1 to 8.
10. The workpiece mounting system of claim 9, further comprising:
and the vision camera is used for shooting a robot attitude image and a product image after compensating the workpiece mounting coordinates of the workpiece to be mounted, wherein the attitude image and the product image are used for determining deviation parameters of the target product in a first product direction and a second rotation angle in a third product direction.
11. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the workpiece mounting method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010963199.3A CN111906770A (en) | 2020-09-14 | 2020-09-14 | Workpiece mounting method and system, computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010963199.3A CN111906770A (en) | 2020-09-14 | 2020-09-14 | Workpiece mounting method and system, computer readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111906770A true CN111906770A (en) | 2020-11-10 |
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Application publication date: 20201110 |