CN116810779A - Automatic steel sample identifying and transporting method based on ABB robot - Google Patents
Automatic steel sample identifying and transporting method based on ABB robot Download PDFInfo
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- CN116810779A CN116810779A CN202310680999.8A CN202310680999A CN116810779A CN 116810779 A CN116810779 A CN 116810779A CN 202310680999 A CN202310680999 A CN 202310680999A CN 116810779 A CN116810779 A CN 116810779A
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- coordinate system
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- abb robot
- steel sample
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 66
- 239000010959 steel Substances 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000006243 chemical reaction Methods 0.000 claims abstract description 5
- 230000036544 posture Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 235000011475 lollipops Nutrition 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application discloses a method for automatically identifying and carrying steel samples based on an ABB robot, which relates to the technical field of robots and comprises the following steps: establishing a tool coordinate system of the ABB robot, and calibrating the tool coordinate system; establishing a workpiece coordinate system of the steel sample, and calibrating the workpiece coordinate system; the method comprises the steps of identifying a steel sample through an industrial camera, and obtaining the type and the gesture of the steel sample; adjusting the pose of the ABB robot tool based on the type and pose of the steel sample; and acquiring the offset of the tool on the X axis, the Y axis and the Z axis based on the conversion of the tool coordinate system and the workpiece coordinate system, and controlling the ABB robot to drive the tool to move based on the offset so as to grasp and carry the steel sample to be carried. According to the application, the type and the gesture of the steel sample to be carried are identified through the industrial camera, and then the gesture and the parameter of the end tool of the ABB robot are adjusted according to the type and the gesture of the steel sample, so that any type of steel sample can be flexibly dealt with.
Description
Technical Field
The application relates to the technical field of robots, in particular to a method for automatically identifying and carrying steel samples based on an ABB robot.
Background
In the market distribution of robots in China, the flexibility of the robots is not realized, the capability and expected gap of industrial robots are large, so cooperation between the robots needs to be enhanced, the traditional inherent automatic flow is updated to be interactive, complex objects can be flexibly identified, and the robot is applied to the production line in a controllable manner to further enhance flexible conveying.
Since in the use of industrial robots, the robots are usually operated according to a predetermined working program, initial and final postures of the object are inherent before, and the operation accuracy depends on the positioning accuracy of the production. In high quality fixed production lines and flexible production, the cost is reduced and the contradiction between the two is remarkable, so that a relatively balanced solution is required.
Disclosure of Invention
The technical problem to be solved by the application is to overcome the defects of the prior art and provide a method for automatically identifying and carrying steel samples based on an ABB robot.
In order to solve the technical problems, the technical scheme of the application is as follows:
a method for automatically identifying and carrying steel samples based on an ABB robot, comprising:
establishing a tool coordinate system of the ABB robot, and calibrating the tool coordinate system;
establishing a workpiece coordinate system of a steel sample to be carried, and calibrating the workpiece coordinate system;
identifying the steel sample to be carried through an industrial camera, and acquiring the type and the gesture of the steel sample;
adjusting the posture of the ABB robot tool based on the type and posture of the steel sample to be handled;
and acquiring the offset of the tool on the X axis, the Y axis and the Z axis based on the conversion of the tool coordinate system and the workpiece coordinate system, and controlling the ABB robot to drive the tool to move based on the offset so as to grasp and carry the steel sample to be carried.
As a preferable mode of the method for automatically recognizing and carrying steel samples based on ABB robot of the present application, wherein: the establishing and calibrating the tool coordinate system of the ABB robot comprises the following steps:
using a tool center point as an origin of a tool coordinate system, and establishing the tool coordinate system;
determining a test datum point on a geodetic coordinate system, and giving four test points;
controlling the ABB robot to enable the tool to move to the first test point, enabling a tool center shop to be aligned with the test reference point, and recording coordinates of the ABB robot;
controlling the ABB robot to enable the tool to move to the second test point, enabling the tool center shop to be aligned with the test reference point, and recording coordinates of the ABB robot;
controlling the ABB robot to enable the tool to move to a third test point, enabling a tool center shop to be aligned with the test reference point, and recording coordinates of the ABB robot;
controlling the ABB robot to enable the tool to move to a fourth test point, enabling a tool center shop to be aligned with the test reference point, and recording coordinates of the ABB robot;
parameters of a tool coordinate system are automatically generated based on coordinates of the four test points.
As a preferable mode of the method for automatically recognizing and carrying steel samples based on ABB robot of the present application, wherein: the establishing a workpiece coordinate system of the steel sample to be carried and calibrating the workpiece coordinate system comprises the following steps:
setting an X axis, a Y axis and a Z axis of any angle, and enabling a coordinate origin to be positioned on a steel sample to be conveyed to form a workpiece coordinate system;
determining the origin of a coordinate system of the workpiece as an X1 point;
determining an X2 point in the positive direction of the X axis of the workpiece coordinate system;
and determining a Y1 point in the positive direction of the Y axis of the workpiece coordinate system.
As a preferable mode of the method for automatically recognizing and carrying steel samples based on ABB robot of the present application, wherein: the calibrated workpiece coordinate system meets the right-hand rule.
As a preferable mode of the method for automatically recognizing and carrying steel samples based on ABB robot of the present application, wherein: after adjusting the posture of the ABB robot tool based on the type and posture of the steel sample to be handled, further comprising:
and calling an ABB robot database to obtain the clamping force corresponding to the type of the steel sample.
The beneficial effects of the application are as follows:
(1) According to the application, the type and the gesture of the steel sample to be carried are identified through the industrial camera, and then the gesture and the parameter of the end tool of the ABB robot are adjusted according to the type and the gesture of the steel sample, so that any type of steel sample can be flexibly dealt with.
(2) According to the application, the tool coordinate system and the workpiece coordinate system are established and calibrated, so that the end tool of the robot can accurately move to the target position, the steel sample is clamped, and the operation precision of the robot is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for automatically identifying and carrying steel samples based on an ABB robot;
FIG. 2 is a schematic view of a racket steel sample;
FIG. 3 is a schematic view of a thick and thin steel iron sample;
FIG. 4 is a schematic illustration of a bucket type steel sample;
fig. 5 is a schematic view of a bar-like steel sample.
Description of the embodiments
In order that the application may be more readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Fig. 1 is a schematic flow chart of a method for automatically identifying and carrying steel samples based on an ABB robot according to an embodiment of the present application. The method comprises the following steps of S101-S105, wherein the specific steps are as follows:
step S101: and establishing a tool coordinate system of the ABB robot and calibrating the tool coordinate system.
Specifically, a tool coordinate system of the ABB robot needs to be established first. And taking the tool center point as an origin of a tool coordinate system, and establishing the tool coordinate system. Since ABB robots are in use, the accuracy of the tool coordinate system is very important. Thus, the present embodiment is calibrated by the ABB robot tool coordinate system four-point method. The method comprises the following steps:
step S101a: determining a test datum point on a geodetic coordinate system, and giving four test points;
step S101b: controlling the ABB robot to enable the tool to move to the first test point, enabling a tool center shop to be aligned with the test reference point, and recording coordinates of the ABB robot;
step S101c: controlling the ABB robot to enable the tool to move to the second test point, enabling the tool center shop to be aligned with the test reference point, and recording coordinates of the ABB robot;
step S101d: controlling the ABB robot to enable the tool to move to a third test point, enabling a tool center shop to be aligned with the test reference point, and recording coordinates of the ABB robot;
step S101e: controlling the ABB robot to enable the tool to move to a fourth test point, enabling a tool center shop to be aligned with the test reference point, and recording coordinates of the ABB robot;
step S101f: parameters of a tool coordinate system are automatically generated based on coordinates of the four test points.
After the calibration by the steps, the precision and stability of the robot can be effectively improved.
Step S102: and establishing a workpiece coordinate system of the steel sample to be carried, and calibrating the workpiece coordinate system.
Specifically, the workpiece coordinate system is a virtual cartesian coordinate system describing TCP motion with reference to the workpiece. And (3) establishing a workpiece coordinate system, so that when the ABB robot performs the same task operation on different types of steel samples, only the conversion of the workpiece coordinate system is needed.
Referring to fig. 2 to 5, the steel samples mainly include the following: the racket is also called lollipop type (see figure 2), thick and thin type (see figure 3), bucket type (see figure 4) and stick type (see figure 5).
First, an X axis, a Y axis, and a Z axis of any angle are set, and the origin of coordinates is located on a steel sample to be transported, thereby forming a workpiece coordinate system.
Then, the coordinate system of the workpiece can be calibrated by setting three points. The method comprises the following steps: the origin of the coordinate system of the workpiece is firstly determined to be the X1 point. Then, the X2 point located in the positive X-axis direction of the workpiece coordinate system is determined. And finally determining a Y1 point in the positive direction of the Y axis of the workpiece coordinate system.
It should be noted that the calibrated workpiece coordinate system satisfies the right hand rule.
Step S103: the method comprises the steps of identifying steel samples to be carried through an industrial camera, obtaining the type and the gesture of the steel samples, and calling an ABB robot database to obtain the clamping force corresponding to the type of the steel samples.
Specifically, since the shapes of the steel samples of different types are different, the force and the posture of the workpiece are different when the steel samples are clamped. Therefore, the type of the workpiece and the gesture of the workpiece are identified by photographing the steel sample through the industrial camera, so that the subsequent adjustment of the tool is facilitated.
Step S104: based on the type and posture of the steel sample to be handled, the posture of the ABB robot tool is adjusted.
Step S105: and acquiring the offset of the tool on the X axis, the Y axis and the Z axis based on the conversion of the tool coordinate system and the workpiece coordinate system, and controlling the ABB robot to drive the tool to move based on the offset so as to grasp and carry the steel sample to be carried.
Therefore, the technical scheme of the application identifies the type and the gesture of the steel sample to be carried through the industrial camera, and then adjusts the gesture and the parameter of the ABB robot end tool according to the type and the gesture of the steel sample, so that any type of steel sample can be flexibly dealt with.
In addition to the above embodiments, the present application may have other embodiments; all technical schemes formed by equivalent substitution or equivalent transformation fall within the protection scope of the application.
Claims (5)
1. A method for automatically identifying and carrying steel samples based on an ABB robot is characterized by comprising the following steps: comprising the following steps:
establishing a tool coordinate system of the ABB robot, and calibrating the tool coordinate system;
establishing a workpiece coordinate system of a steel sample to be carried, and calibrating the workpiece coordinate system;
identifying the steel sample to be carried through an industrial camera, and acquiring the type and the gesture of the steel sample;
adjusting the posture of the ABB robot tool based on the type and posture of the steel sample to be handled;
and acquiring the offset of the tool on the X axis, the Y axis and the Z axis based on the conversion of the tool coordinate system and the workpiece coordinate system, and controlling the ABB robot to drive the tool to move based on the offset so as to grasp and carry the steel sample to be carried.
2. The ABB robot-based method for automatically recognizing and carrying steel samples according to claim 1, wherein: the establishing and calibrating the tool coordinate system of the ABB robot comprises the following steps:
using a tool center point as an origin of a tool coordinate system, and establishing the tool coordinate system;
determining a test datum point on a geodetic coordinate system, and giving four test points;
controlling the ABB robot to enable the tool to move to the first test point, enabling a tool center shop to be aligned with the test reference point, and recording coordinates of the ABB robot;
controlling the ABB robot to enable the tool to move to the second test point, enabling the tool center shop to be aligned with the test reference point, and recording coordinates of the ABB robot;
controlling the ABB robot to enable the tool to move to a third test point, enabling a tool center shop to be aligned with the test reference point, and recording coordinates of the ABB robot;
controlling the ABB robot to enable the tool to move to a fourth test point, enabling a tool center shop to be aligned with the test reference point, and recording coordinates of the ABB robot;
parameters of a tool coordinate system are automatically generated based on coordinates of the four test points.
3. The ABB robot-based method for automatically recognizing and carrying steel samples according to claim 1, wherein: the establishing a workpiece coordinate system of the steel sample to be carried and calibrating the workpiece coordinate system comprises the following steps:
setting an X axis, a Y axis and a Z axis of any angle, and enabling a coordinate origin to be positioned on a steel sample to be conveyed to form a workpiece coordinate system;
determining the origin of a coordinate system of the workpiece as an X1 point;
determining an X2 point in the positive direction of the X axis of the workpiece coordinate system;
and determining a Y1 point in the positive direction of the Y axis of the workpiece coordinate system.
4. The ABB robot-based method for automatically recognizing and carrying steel samples according to claim 3, wherein: the calibrated workpiece coordinate system meets the right-hand rule.
5. The ABB robot-based method for automatically recognizing and carrying steel samples according to claim 1, wherein: after adjusting the posture of the ABB robot tool based on the type and posture of the steel sample to be handled, further comprising:
and calling an ABB robot database to obtain the clamping force corresponding to the type of the steel sample.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310680999.8A CN116810779A (en) | 2023-06-09 | 2023-06-09 | Automatic steel sample identifying and transporting method based on ABB robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310680999.8A CN116810779A (en) | 2023-06-09 | 2023-06-09 | Automatic steel sample identifying and transporting method based on ABB robot |
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| Publication Number | Publication Date |
|---|---|
| CN116810779A true CN116810779A (en) | 2023-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310680999.8A Pending CN116810779A (en) | 2023-06-09 | 2023-06-09 | Automatic steel sample identifying and transporting method based on ABB robot |
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| CN (1) | CN116810779A (en) |
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2023
- 2023-06-09 CN CN202310680999.8A patent/CN116810779A/en active Pending
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