CN109013222A - A kind of painting bakelite plate transfer robot and method with vision automatic deviation rectifying function - Google Patents
A kind of painting bakelite plate transfer robot and method with vision automatic deviation rectifying function Download PDFInfo
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- CN109013222A CN109013222A CN201811085891.XA CN201811085891A CN109013222A CN 109013222 A CN109013222 A CN 109013222A CN 201811085891 A CN201811085891 A CN 201811085891A CN 109013222 A CN109013222 A CN 109013222A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 229920001342 Bakelite® Polymers 0.000 title claims abstract description 19
- 239000004637 bakelite Substances 0.000 title claims abstract description 19
- 238000012546 transfer Methods 0.000 title claims abstract description 17
- 238000010422 painting Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 238000012937 correction Methods 0.000 claims abstract description 31
- 230000007723 transport mechanism Effects 0.000 claims abstract description 4
- 230000001360 synchronised effect Effects 0.000 claims description 32
- 230000001681 protective effect Effects 0.000 claims description 9
- 230000007423 decrease Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000002023 wood Substances 0.000 claims description 4
- 230000007547 defect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 230000000877 morphologic effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 10
- 238000005286 illumination Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000011094 fiberboard Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000007731 hot pressing Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
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Abstract
A kind of painting bakelite plate transfer robot and method with vision automatic deviation rectifying function, it is characterised by comprising: transport mechanism (2), plank carrying and deviation correction mechanism (3), plank corner edge identifying system (4), robot frame (5), black background platform (6) after plank front delivery mechanism (1), plank；It realizes the method for automatic deviation correction are as follows: the corner edge information of plank corner edge identifying system (4) acquisition plank, obtain the departure and misalignment angle with the plank accurate location of setting, to control, plank is carried and deviation correction mechanism (3) fast and accurately adjusts plank position, to realize plank Dock With Precision Position, it is automatically performed plank assembly, quality is stablized, high-efficient.
Description
Technical field
The present invention relates to the apparatus for production line during board making, specifically, be related in a kind of production of plate from
Dynamic feeding device.
Background technique
With the continuous increase of the raising and plate automated in the manufacturing demand in people's lives, often
The artificial board seen has glued board, core-board, particieboard, medium density fiberboard etc., board making technique: roller gluing, assembly, precompressed
And hot pressing, cooling, saw side, sanding.It wherein can accurately be docked in assembly stage painting bakelite plate most important.
It is come out from glue spreader in plank, by conveying mechanism, the inevitable position of plank is deviated, however currently in assembly
Stage still manually carries plank, and low efficiency, there are no an automation equipments can be automatically performed assembly.
Summary of the invention
The technical problem of being solved of the invention is that one kind is provided during board making with vision automatic deviation correction function
Can painting bakelite plate transfer robot and method be automatically performed the assembly stage.
To solve the above problems, the present invention provides a kind of painting bakelite plate conveying robot with vision automatic deviation rectifying function
Transport mechanism (2), plank carrying and deviation correction mechanism (3), plank corner edge are known after people, including plank front delivery mechanism (1), plank
Other system (4), robot frame (5), black background platform (6)；The black background platform (6) plank front delivery mechanism (1) with
Conveying mechanism (2) is intermediate after plank；The robot frame (5) centered on black background platform (6) frame in plank front conveyor
The top of conveying mechanism (2) after structure (1) and plank；The plank is carried and deviation correction mechanism (3) is located at robot frame (5)
Top；Conveying mechanism (2) after plank front delivery mechanism (1), plank, black background platform (6) upper surface in one plane；Wood
Conveying mechanism (2), black background platform (6), robot frame (5) centerline collineation after plate front delivery mechanism (1), plank；Machine
Plane is parallel with the upper plane of plank front delivery mechanism (1) on man-machine frame (5).
The plank is carried and deviation correction mechanism (3) includes two synchronous belt long guideways (7), two synchronous belt short lead rails
(9), feed screw nut guide rail (10), rotating mechanism (12), terminal-collecting machine (14)；Two synchronous belt long guideways (7) are in robot
Above rack (5)；Two synchronous belt short lead rails (9) are in the top of two synchronous belt long guideways (7), with synchronous belt long guideway
(7) traffic direction is vertical；The feed screw nut guide rail (10) is located at frame on the left of the crossbeam of two synchronous belt short lead rails (9),
Perpendicular to baseplane where terminal-collecting machine (14).
The rotating mechanism (12) includes θ servo motor (13), motor cabinet (16), L-type connector (15), shaft coupling
(17), shaft (18), bearing (19), bearing cap (21)；Terminal-collecting machine (14) is connected to rotating mechanism (12) end by flange (20)
End；Terminal-collecting machine (14) lower surface is parallel with plank front delivery mechanism (1) upper surface.
The plank corner edge identifying system (4), including industrial camera (24), protective cover (22), ring illumination lamp
(23), wherein industrial camera (24) and ring illumination lamp (23) are fixed on protective cover (22) inside, and protective cover (22) is fixed on black
On the right side of color background platform (6).
Protective cover (22) in the plank corner edge identifying system (4) can pass through screw-nut according to the size of plank
(25) it promotes or reduces height, and then obtain most suitable field range.
Plank front delivery mechanism (1) front end is also equipped with photoelectric sensor (26), can adjust it according to the size of plank
The distance of left and right ends, make plank always within the scope of.
There are also origin positions and second for a kind of painting bakelite plate transfer robot with vision automatic deviation rectifying function
Position, wherein origin position is robot starting position and plank crawl position, and the second position is plank detection position.
A kind of vision automatic correction method applying bakelite plate transfer robot, includes the following steps:
1) gridiron pattern scaling board calibration for cameras is used, angle point grid calculates ladder to the chessboard table images transverse and longitudinal both direction taken
Degree obtains X-axis and Y-axis, and crosspoint is origin, and X-axis is parallel with plank front delivery mechanism (1) width direction；
2) plank is carried and deviation correction mechanism (3) reaches the second position, records the position of the rotation center of rotating mechanism (12) at this time
Set (XRC,YRC), set a standard point (XSP,YSP), which is the normal place after automatic deviation correction；
3) after recording rotary middle point and standard point, a black background is clapped in control industrial camera (24), establishes background mould
Type；
4) plank reaches photoelectric sensor (26) position, feed screw nut guide rail (10) the sliding block decline of robot, terminal-collecting machine (14)
Plank is picked up, is then run from origin position, the second position is reached, control industrial camera (24) is taken pictures, and frame difference method is utilized
The absolute value of the difference of present image and background is calculated, error image is obtained；
5) median filtering is carried out to error image, image information binaryzation is obtained bianry image by threshold method；
6) to bianry image carry out morphological images processing, by image expansion is corroded again eliminate plank on black defect and
Crack obtains fitting image；
7) gaussian filtering is used, with Smoothing fit image, noise etc. is filtered out and completes edge detection, the inspection of Hough straight line is carried out to image
It surveys, and classifies to all straight lines detected, is i.e. x class, y class, the straight line completed to classification is fitted out two straight lines,
That is LX, LY, and two rectilinear coordinates are transformed under true coordinate；
8) intersection point (X of LX and LY is acquiredN,YN), the angle of LX and X-axis is calculated, with standard angle θbDifference be exactly deviation
Angle, θL, controller is passed to, θ servo motor (13) controls rotating mechanism (12) rotation, the angular coordinate after being rotated
(XNA,YNA), angular coordinate (X is calculatedNA,YNA) and standard point (XSP,YSP) deviation, pass to controller, and then watch by x
It takes motor (8) and controls short synchronous belt guide rail (9) and the corresponding deviation of y servo motor (11) control synchronous belt long guideway (7) completion
It makes up；
9) after plank makes up standard point position, y servo motor (11) drives synchronous belt long guideway (7) that plank is sent to plank
The corresponding position of conveying mechanism (2) afterwards, the decline of feed screw nut guide rail (10) sliding block, terminal-collecting machine (14) put down plank, feed screw nut
The lifting of guide rail (10) sliding block, returns to origin position, then from step 4), recycle with this, until assembly is completed.
The angle for obtaining LX and X-axis, with standard angle θbDifference be exactly misalignment angle θL, it calculates as follows:
xK=(y1-y2)/(x1-x2) (formula 1)
θL=arctan(xK)-θb(formula 2)
Wherein, xK is the slope of straight line LX.
Intersection point (the X for acquiring LX and LYN,YN), it calculates as follows:
xK=(y1-y2)/(x1-x2),yK=(y3-y4)/(x3-x4) (formula 3)
b1=y1-xK*x1,b2=y3- yK *x3(formula 4)
K=xK-yK (formula 5)
XN=(b2-b1)/k,YN= (xK *b2- yK * b1)/k (formula 6)
Wherein, point (x1, y1), (x2, y2) be straight line LX endpoint, (x3, y3), (x4, y4) be straight line LY endpoint, xK and yK points
It is not the slope of straight line LX and LY.
Angular coordinate (the X obtained after rotationNA,YNA) and standard point (XSP,YSP) deviation XPAnd YP, calculate such as
Under:
tx= XN -XRC,ty= YN-YRC(formula 7)
l=(tx2+ty2)1/2(formula 8)
A=| arctan (ty/tx) | (formula 9)
b=a+θL(formula 10)
XNA=XRC-l*cos(b),YNA=l*sin(b)+YRC(formula 11)
XP=XNA-XSP,YP= YNA -YSP(formula 12)
Wherein, l is the intersection point (X of LX and LYN,YN) arrive rotary middle point (XRC,YRC) distance, a is (XN,YN) arrive (XRC,YRC)
The angle of the line segment and x-axis that are linked to be, b are the angular coordinate (X after rotationNA,YNA) arrive (XRC,YRC) line segment being linked to be and x-axis folder
Angle.
The utility model has the advantages that plank can be calculated by corner edge visual identity acquisition angle edge image information in the present invention
Angle and angular coordinate, then obtain the difference of plank angle and standard angle and the difference of plank angular coordinate and standard angular coordinate
Value passes to control system, and control carrier robot is fast and accurate to carry out automatic butt to plank, and quality is stablized, efficiency
It is high.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention;
Fig. 2 is plank carrying and deviation correction mechanism schematic diagram of the invention;
Fig. 3 is the rotating mechanism schematic diagram in plank carrying and deviation correction mechanism of the invention;
Fig. 4 is plank corner edge identifying system schematic diagram of the invention;
Fig. 5 is origin position and second position schematic diagram.
In figure: transport platform, the carrying of 3 planks and deviation correction mechanism, 4 plank corner edges identification system behind 1 plank front delivery mechanism, 2
System, 5 robot frames, 6 black background platforms, 7 synchronous belt long guideways, 8x servo motor, 9 synchronous belt short lead rails, 10 feed screw nuts
Guide rail, 11y servo motor, 12 rotating mechanisms, 13 θ servo motors, 14 terminal-collecting machines, 15L type connector, 16 motor cabinets, 17 shaft couplings
Device, 18 shafts, 19 bearings, 20 flanges, 21 bearing caps, 22 protective covers, 23 ring illumination lamps, 24 industrial cameras, 25 screw-nuts,
26 photoelectric sensors.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and embodiments.
The present invention is a kind of painting bakelite plate transfer robot and method with vision automatic deviation rectifying function.
Fig. 1 is overall structure diagram of the invention.
A kind of painting bakelite plate transfer robot with vision automatic deviation rectifying function, including plank front delivery mechanism
(1), transport mechanism (2), plank carrying and deviation correction mechanism (3), plank corner edge identifying system (4), robot frame after plank
(5), black background platform (6)；The black background platform (6) is behind plank front delivery mechanism (1) and plank in conveying mechanism (2)
Between；The robot frame (5) frame conveyer after plank front delivery mechanism (1) and plank centered on black background platform (6)
The top of structure (2)；The plank carrying and deviation correction mechanism (3) are located at the top of robot frame (5)；Plank front delivery mechanism
(1), conveying mechanism (2) after plank, black background platform (6) upper surface in one plane；Plank front delivery mechanism (1), wood
Conveying mechanism (2), black background platform (6), robot frame (5) centerline collineation after plate；Plane and wood in robot frame (5)
The upper plane of plate front delivery mechanism (1) is parallel.
Fig. 2 is plank carrying and deviation correction mechanism schematic diagram of the invention.
The plank is carried and deviation correction mechanism (3) includes two synchronous belt long guideways (7), two synchronous belt short lead rails
(9), feed screw nut guide rail (10), rotating mechanism (12), terminal-collecting machine (14)；Two synchronous belt long guideways (7) are in robot
Above rack (5)；Two synchronous belt short lead rails (9) are in the top of two synchronous belt long guideways (7), with synchronous belt long guideway
(7) traffic direction is vertical；The feed screw nut guide rail (10) is located at frame on the left of the crossbeam of two synchronous belt short lead rails (9),
Perpendicular to baseplane where terminal-collecting machine (14).
Fig. 3 is the rotating mechanism schematic diagram in plank carrying and deviation correction mechanism of the invention.
The rotating mechanism (12) includes θ servo motor (13), motor cabinet (16), L-type connector (15), shaft coupling
(17), shaft (18), bearing (19), bearing cap (21)；Terminal-collecting machine (14) is connected to rotating mechanism (12) end by flange (20)
End；Terminal-collecting machine (14) lower surface is parallel with plank front delivery mechanism (1) upper surface.
Fig. 4 is plank corner edge identifying system schematic diagram of the invention.
The plank corner edge identifying system (4), including industrial camera (24), protective cover (22), ring illumination lamp
(23), wherein industrial camera (24) and ring illumination lamp (23) are fixed on protective cover (22) inside, and protective cover (22) is fixed on black
On the right side of color background platform (6), a kind of vision automatic correction method applying bakelite plate transfer robot includes the following steps:
1) gridiron pattern scaling board calibration for cameras is used, angle point grid calculates ladder to the chessboard table images transverse and longitudinal both direction taken
Degree obtains X-axis and Y-axis, and crosspoint is origin, and X-axis is parallel with plank front delivery mechanism (1) width direction；
2) plank is carried and deviation correction mechanism (3) reaches the second position, records the position of the rotation center of rotating mechanism (12) at this time
Set (XRC,YRC), set a standard point (XSP,YSP), which is the normal place after automatic deviation correction；
3) after recording rotary middle point and standard point, a black background is clapped in control industrial camera (24), establishes background mould
Type；
4) plank reaches photoelectric sensor (26) position, feed screw nut guide rail (10) the sliding block decline of robot, terminal-collecting machine (14)
Plank is picked up, is then run from origin position, the second position is reached, control industrial camera (24) is taken pictures, and frame difference method is utilized
The absolute value of the difference of present image and background is calculated, error image is obtained；
5) median filtering is carried out to error image, image information binaryzation is obtained bianry image by threshold method；
6) to bianry image carry out morphological images processing, by image expansion is corroded again eliminate plank on black defect and
Crack obtains fitting image；
7) gaussian filtering is used, with Smoothing fit image, noise etc. is filtered out and completes edge detection, the inspection of Hough straight line is carried out to image
It surveys, and classifies to all straight lines detected, is i.e. x class, y class, the straight line completed to classification is fitted out two straight lines,
That is LX, LY, and two rectilinear coordinates are transformed under true coordinate；
8) intersection point (X of LX and LY is acquiredN,YN), the angle of LX and X-axis is calculated, with standard angle θbDifference be exactly deviation
Angle, θL, controller is passed to, θ servo motor (13) controls rotating mechanism (12) rotation, the angular coordinate after being rotated
(XNA,YNA), angular coordinate (X is calculatedNA,YNA) and standard point (XSP,YSP) deviation, pass to controller, and then watch by x
It takes motor (8) and controls short synchronous belt guide rail (9) and the corresponding deviation of y servo motor (11) control synchronous belt long guideway (7) completion
It makes up；
9) after plank makes up standard point position, y servo motor (11) drives synchronous belt long guideway (7) that plank is moved to plank
The corresponding position of conveying mechanism (2) afterwards, the decline of feed screw nut guide rail (10) sliding block, terminal-collecting machine (14) put down plank, feed screw nut
The lifting of guide rail (10) sliding block, returns to origin position, then from step 4), recycle with this, until assembly is completed.
The angle for obtaining LX and X-axis, with standard angle θbDifference be exactly misalignment angle θL, it calculates as follows:
xK=(y1-y2)/(x1-x2) (formula 1)
θL=arctan(xK)-θb(formula 2)
Wherein, xK is the slope of straight line LX.
Intersection point (the X for acquiring LX and LYN,YN), it calculates as follows:
xK=(y1-y2)/(x1-x2),yK=(y3-y4)/(x3-x4) (formula 3)
b1=y1-xK*x1,b2=y3- yK *x3(formula 4)
K=xK-yK (formula 5)
XN=(b2-b1)/k,YN= (xK *b2- yK * b1)/k (formula 6)
Wherein, point (x1, y1), (x2, y2) be straight line LX endpoint, (x3, y3), (x4, y4) be straight line LY endpoint, xK and yK points
It is not the slope of straight line LX and LY.
Angular coordinate (the X obtained after rotationNA,YNA) and standard point (XSP,YSP) deviation XPAnd YP, calculate such as
Under:
tx= XN -XRC,ty= YN-YRC(formula 7)
l=(tx2+ty2)1/2(formula 8)
A=| arctan (ty/tx) | (formula 9)
b=a+θL(formula 10)
XNA=XRC-l*cos(b),YNA=l*sin(b)+YRC(formula 11)
XP=XNA-XSP,YP= YNA -YSP(formula 12)
Wherein, l is the intersection point (X of LX and LYN,YN) arrive rotary middle point (XRC,YRC) distance, a is (XN,YN) arrive (XRC,YRC)
The angle of the line segment and x-axis that are linked to be, b are the angular coordinate (X after rotationNA,YNA) arrive (XRC,YRC) line segment being linked to be and x-axis folder
Angle.
Fig. 5 is origin position and second position schematic diagram.
Origin position is the initial start position of robot and the position for starting to grab plank, and the second position is plank detection
Position.
Invention described above embodiment, is not intended to limit the scope of the present invention., any in the present invention
Spirit or principle within the modifications, equivalent substitutions and improvements etc. done, should be included in the claim protection of name of the present invention
Within the scope of.
Claims (10)
1. a kind of painting bakelite plate transfer robot with vision automatic deviation rectifying function, it is characterised in that: including being conveyed before plank
Transport mechanism (2), plank carrying and deviation correction mechanism (3), plank corner edge identifying system (4), robot after mechanism (1), plank
Rack (5), black background platform (6)；The black background platform (6) conveying mechanism (2) behind plank front delivery mechanism (1) and plank
It is intermediate；The robot frame (5) frame centered on black background platform (6) conveys after plank front delivery mechanism (1) and plank
The top of mechanism (2)；The plank carrying and deviation correction mechanism (3) are located at the top of robot frame (5)；Plank front conveyor
Conveying mechanism (2) after structure (1), plank, black background platform (6) upper surface in one plane；Plank front delivery mechanism (1),
Conveying mechanism (2), black background platform (6), robot frame (5) centerline collineation after plank；In robot frame (5) plane with
The upper plane of plank front delivery mechanism (1) is parallel.
2. a kind of painting bakelite plate transfer robot with vision automatic deviation rectifying function according to claim 1, feature
Be: the plank is carried and deviation correction mechanism (3) includes two synchronous belt long guideways (7), two synchronous belt short lead rails (9),
Feed screw nut guide rail (10), rotating mechanism (12), terminal-collecting machine (14)；Two synchronous belt long guideways (7) are in robot frame
(5) top；Two synchronous belt short lead rails (9) are in the top of two synchronous belt long guideways (7), with synchronous belt long guideway (7)
Traffic direction it is vertical；The feed screw nut guide rail (10) is located at frame on the left of the crossbeam of two synchronous belt short lead rails (9), vertically
The baseplane where terminal-collecting machine (14).
3. plank according to claim 1 is carried and deviation correction mechanism (3), it is characterised in that: the rotating mechanism (12)
Including θ servo motor (13), motor cabinet (16), L-type connector (15), shaft coupling (17), shaft (18), bearing (19), bearing
It covers (21)；Terminal-collecting machine (14) is connected to rotating mechanism (12) end by flange (20)；Terminal-collecting machine (14) lower surface and wood
Plate front delivery mechanism (1) upper surface is parallel.
4. plank corner edge identifying system (4) according to claim 1, it is characterised in that: the protective cover (22) can root
According to the size of plank, height is promoted or reduced by screw-nut (25), and then obtains most suitable field range.
5. a kind of painting bakelite plate transfer robot with vision automatic deviation rectifying function according to claim 1, feature
Be: plank front delivery mechanism (1) front end is also equipped with photoelectric sensor (26), can adjust its left and right according to the size of plank
The distance at both ends, make plank always within the scope of.
6. a kind of painting bakelite plate transfer robot with vision automatic deviation rectifying function according to claim 1, feature
Be: there are also origin positions and the second position for robot, and wherein origin position is that robot starts position and plank crawl position,
The second position is plank detection position.
7. a kind of vision automatic correction method for applying bakelite plate transfer robot, includes the following steps:
1) gridiron pattern scaling board calibration for cameras is used, angle point grid calculates ladder to the chessboard table images transverse and longitudinal both direction taken
Degree obtains X-axis and Y-axis, and crosspoint is origin, and X-axis is parallel with plank front delivery mechanism (1) width direction；
2) plank is carried and deviation correction mechanism (3) reaches the second position, records the position of the rotation center of rotating mechanism (12) at this time
Set (XRC,YRC), set a standard point (XSP,YSP), which is the normal place after automatic deviation correction；
3) after recording rotary middle point and standard point, a black background is clapped in control industrial camera (24), establishes background mould
Type；
4) plank reaches photoelectric sensor (26) position, feed screw nut guide rail (10) the sliding block decline of robot, terminal-collecting machine (14)
Plank is picked up, is then run from origin position, the second position is reached, control industrial camera (24) is taken pictures, and frame difference method is utilized
The absolute value of the difference of present image and background is calculated, error image is obtained；
5) median filtering is carried out to error image, image information binaryzation is obtained bianry image by threshold method；
6) to bianry image carry out morphological images processing, by image expansion is corroded again eliminate plank on black defect and
Crack obtains fitting image；
7) gaussian filtering is used, with Smoothing fit image, noise etc. is filtered out and completes edge detection, the inspection of Hough straight line is carried out to image
It surveys, and classifies to all straight lines detected, is i.e. x class, y class, the straight line completed to classification is fitted out two straight lines,
That is LX, LY, and two rectilinear coordinates are transformed under true coordinate；
8) intersection point (X of LX and LY is acquiredN,YN), the angle of LX and X-axis is calculated, with standard angle θbDifference be exactly deviation
Angle, θL, controller is passed to, θ servo motor (13) controls rotating mechanism (12) rotation, the angular coordinate after being rotated
(XNA,YNA), angular coordinate (X is calculatedNA,YNA) and standard point (XSP,YSP) deviation, pass to controller, and then watch by x
It takes motor (8) and controls short synchronous belt guide rail (9) and the corresponding deviation of y servo motor (11) control synchronous belt long guideway (7) completion
It makes up；
9) after plank makes up standard point position, y servo motor (11) drives synchronous belt long guideway (7) that plank is moved to plank
The corresponding position of conveying mechanism (2) afterwards, the decline of feed screw nut guide rail (10) sliding block, terminal-collecting machine (14) put down plank, feed screw nut
The lifting of guide rail (10) sliding block, returns to origin position, then from step 4), recycle with this, until assembly is completed.
8. a kind of vision automatic correction method for applying bakelite plate transfer robot according to claim 7, it is characterised in that:
The angle for obtaining LX and X-axis, with standard angle θbDifference be exactly misalignment angle θL, it calculates as follows:
xK=(y1-y2)/(x1-x2) (formula 1)
θL=arctan(xK)-θb(formula 2)
Wherein, xK is the slope of straight line LX.
9. a kind of vision automatic correction method for applying bakelite plate transfer robot according to claim 7, it is characterised in that:
Intersection point (the X for acquiring LX and LYN,YN), it calculates as follows:
xK=(y1-y2)/(x1-x2),yK=(y3-y4)/(x3-x4) (formula 3)
b1=y1-xK*x1,b2=y3- yK *x3(formula 4)
K=xK-yK (formula 5)
XN=(b2-b1)/k,YN= (xK *b2- yK * b1)/k (formula 6)
Wherein, point (x1, y1), (x2, y2) be straight line LX endpoint, (x3, y3), (x4, y4) be straight line LY endpoint, xK and yK points
It is not the slope of straight line LX and LY.
10. a kind of vision automatic correction method for applying bakelite plate transfer robot according to claim 7, feature exist
In: the angular coordinate (X after rotation is calculatedNA,YNA) and standard point (XSP,YSP) deviation XPAnd YP, it calculates as follows:
tx= XN -XRC,ty= YN-YRC(formula 7)
l=(tx2+ty2)1/2(formula 8)
A=| arctan (ty/tx) | (formula 9)
b=a+θL(formula 10)
XNA=XRC-l*cos(b),YNA=l*sin(b)+YRC(formula 11)
XP=XNA-XSP,YP= YNA -YSP(formula 12)
Wherein, l is the intersection point (X of LX and LYN,YN) arrive rotary middle point (XRC,YRC) distance, a is (XN,YN) arrive (XRC,YRC) even
At line segment and x-axis angle, b be rotation after angular coordinate (XNA,YNA) arrive (XRC,YRC) line segment being linked to be and x-axis angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811085891.XA CN109013222B (en) | 2018-09-18 | 2018-09-18 | Glue-coated wood board transfer robot with vision automatic correction function and method |
Applications Claiming Priority (1)
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| CN109454741A (en) * | 2018-12-31 | 2019-03-12 | 山西万锐液压机械有限公司 | A kind of timber veneering production line and a kind of timber coating process |
| CN109927009A (en) * | 2019-03-05 | 2019-06-25 | 广东博智林机器人有限公司 | Carry the control method of aluminum alloy pattern plate and the system of device, carrying aluminum alloy pattern plate |
| CN110182580A (en) * | 2019-05-17 | 2019-08-30 | 温州大学 | Assembly line automatic deviation correction industrial robot |
| CN110722648A (en) * | 2019-09-05 | 2020-01-24 | 厦门市中赛机电科技有限公司 | Veneer automatic separation and screening single gluing equipment |
| CN111360820A (en) * | 2020-02-18 | 2020-07-03 | 哈尔滨工业大学 | Distance space and image feature space fused hybrid visual servo method |
| WO2020259521A1 (en) * | 2019-06-25 | 2020-12-30 | 安吉八塔机器人有限公司 | Carrying and deflection correction system for elastic material, and method thereof |
| CN113478487A (en) * | 2021-07-13 | 2021-10-08 | 苏州市汇邦自动化***有限公司 | Automatic deviation rectifying method, device and system for manipulator and storage medium |
| WO2023245878A1 (en) * | 2022-06-23 | 2023-12-28 | 安吉八塔机器人有限公司 | Traceless deviation correction and lamination apparatus and system for flexible materials, and deviation correction method |
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| CN113478487A (en) * | 2021-07-13 | 2021-10-08 | 苏州市汇邦自动化***有限公司 | Automatic deviation rectifying method, device and system for manipulator and storage medium |
| CN113478487B (en) * | 2021-07-13 | 2023-12-29 | 苏州市汇邦自动化***有限公司 | Automatic deviation correcting method, device and system for mechanical arm and storage medium |
| WO2023245878A1 (en) * | 2022-06-23 | 2023-12-28 | 安吉八塔机器人有限公司 | Traceless deviation correction and lamination apparatus and system for flexible materials, and deviation correction method |
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