CN107803855A - A robot automatic positioning mechanism - Google Patents

Abstract

The present invention discloses a robot automatic positioning mechanism, including a visual positioning system installed at the end of the robot, wherein the visual positioning system includes a positioning camera 1, a positioning camera 2, and a supplementary light source installed at the end of the robot. The present invention is characterized in that the robot operation efficiency is greatly improved by combining the visual positioning system with the robot end effector, avoiding the error caused by the need for the traditional positioning single-axis camera to repeatedly shoot the reference hole, reducing the time impact caused by multiple positioning, and greatly improving the automation of the robot control.

Description

A robot automatic positioning mechanism

technical field

The invention relates to the field of robot control, in particular to a robot automatic positioning mechanism that realizes robot attitude control through a binocular vision positioning camera on the end of a robot combined with a software algorithm.

Background technique

In the traditional robot control field, the control of the robot position only relies on the software to propose point data, which is transmitted to the robot controller after simulation. The camera at the end of the robot shoots the reference hole, determines the difference between the current position and the theoretical position, and adjusts the robot. This method The work efficiency is slow, and the position accuracy is low. .

Contents of the invention

The object of the present invention is to overcome the above disadvantages and provide an automatic positioning mechanism for a robot.

The technical solution adopted by the present invention to achieve the above object is: a robot automatic positioning mechanism, including a visual positioning system installed at the end of the robot, and the visual positioning system includes a positioning camera 1, a positioning camera 2, and a supplementary positioning camera installed at the end of the robot. light source.

The supplementary light source is located in the middle of the first positioning camera and the second positioning camera.

The characteristics of the present invention are: through the combination of the visual positioning system and the robot end effector, the operating efficiency of the robot is greatly improved, avoiding the error caused by the traditional positioning single-axis camera needing to repeatedly shoot the reference hole, and reducing multiple positioning The time impact brought about greatly improves the degree of automation of robot control.

Description of drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic diagram of the application of the present invention.

Among them: 1. Visual positioning system 11. Positioning camera 1 12. Positioning camera 2 13. Supplementary light source 2. Robot 3. End effector.

Detailed ways

As shown in Figure 1, the present invention is a robot automatic positioning mechanism, including a visual positioning system 1 installed at the end of the robot 2, and the visual positioning system 1 includes a positioning camera one 11 and a positioning camera two 12 installed at the end of the robot 2 , Supplementary light source 13, said supplementary light source 13 is located in the middle position of positioning camera one 11, positioning camera two 12, by arranging two positioning cameras at the end of the robot, the two positioning cameras can shoot and measure the benchmark in a small space The three-dimensional image of the hole, the reference hole coordinate value is obtained by one shot, and then automatically compared with the theoretical value through the algorithm, and then transmitted to the robot for compensation.

As shown in Figure 2, when in use, the visual positioning system 1 is installed in front of the end of the robot and above the tool, and when the tooling reference hole is photographed before the robot 2 makes the hole, the positioning camera 11 and the positioning camera 2 12 form a double positioning The camera takes photos of the reference hole at the same time, calculates the XYZ coordinates of the reference hole through the algorithm, and automatically compares the theoretical coordinates of the reference hole with the software to obtain the difference, and the robot 2 will automatically compensate the position of the tip of the end effector 3 according to the difference When making holes, the visual positioning system 1 will take photos of the reference hole of the workpiece as needed to compensate, and will turn on the supplementary light source 13 when the illumination inside the workpiece or the environment of the tooling is not good to ensure the accuracy of shooting calculations. By positioning the camera and the machine, The combination of the two ends makes the control of the robot 2 more intelligent and automatic, and the positioning accuracy of the robot 2 is more precise.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solutions of the present invention and Any equivalent replacement or change of the inventive concepts shall fall within the protection scope of the present invention.

Claims (2)

1. A kind of 1. robot automatic positioning mechanism, it is characterised in that：Including installed in robot（2）The vision positioning system of end 1）, the vision positioning system 1）Including installed in robot 2）The positioning camera one of end（11）, positioning camera two（12）, mend Fill light source（13）.
2. A kind of 2. robot automatic positioning mechanism as claimed in claim 1, it is characterised in that：The supplement light source（13）It is located at Positioning camera one（11）, positioning camera two（12）Centre position.