Research On Collaborative Assembly Technology Of Multi-Industrial Robot Based On Machine Vision

With the extensive application of automation technology,a single robot can not complete some complex tasks because of its own limitations.The duplexer robot and the multi-robot system have the advantages of good flexibility and strong adaptability,which can break through the limitation of single robot,reduce the fixture,adapt to the complicated task complexity,operation intelligence and system flexibility.It is an important way to achieve intelligent manufacturing.The problem of cooperative path planning for multiple robots,the problem of multi-robot cooperative position calibration and the compensation of robot path error are the key technical problems that robot needs to solve in industrial environment.In this paper,the double 6 degree vertical multi-joint robot and embedded camera built dual robot coordinated operation system are as the research object.to explore the path planning problem of dual robot synergy in the automatic production line,the solution of multi-robot position calibration problem and machine path error compensation coordination.The main contents are as follows:1.this paper studies and solves the problem of the coordinate of the robot system and the coordinate problem of the two robot tools.Firstly,the self-calibration method of industrial robot tool based on space eight points is studied,which can realize the coordinate system of robot tool quickly and easily.Secondly,the principle of self-calibration method of tool coordinate system is expounded.For the open-fit gripper,through the calibration tool,the use of space 4 points to determine the center of the ball and to determine the TCP location.And then calibrate the TCF direction using calibration tools of different lengths.The experimental results show that the tool self calibration method can effectively measure the position of the tool coordinate system with respect to the robot coordinate system.The problem of calibration of robot virtual-realistic workpiece coordinate system based on corresponding feature 3 points is studied.Firstly,the calibration principle of robot virtual-realistic workpiece coordinate system based on the 3 points of the corresponding feature is studied.Secondly,the principle of calibration of workpiece coordinate system of virtual-realistic-relative position of duplex industrial robot is deduced.Through the calibration of the workpiece coordinate system of the virtual-reality-relative position of the duplex robot,it can realize the calibration of the workpiece coordinates from the virtual simulation-realistic environment-relative position of the duplex industrial robot without solving the basic coordinate position relationship of the duplex industrial robot.It plays an important role in both robot and multi-robot off-line programming.Experiments show that this method can effectively solve the problem of calibration of workpiece coordinate system,complete the rapid planning of collaborative tasks of duplex industrial robots,and improve the production efficiency.2.An offline collaborative path planning method is proposed.Firstly,the basic functional module based on the off-line programming software of SolidWorks is introduced,and the 3D virtual model of the collaborative assembly platform is built.Secondly,the path interpolation principle of industrial robot based on off-line programming is studied.This paper studies the cooperative motion of dual robots commonly used in the assembly process,and deduces the basic principle of off-line cooperative path planning.According to the robot position of dual industrial cooperative movement,coordination,coordination to follow the movement of the relative motion,using the 3D model to plan the path curve dual industrial robot and simulation verification and validation test.Experiments show that the method of off-line collaborative path planning can quickly and intuitively plan the cooperative motion path of dual industrial robots,which avoids the relationship between robot-based coordinate system and cumbersome motion chain pose calculation.3.A method of assembly path error compensation based on transform robot coordinate system is proposed.Firstly,the method of feature based visual recognition is studied,and the orthogonal experiment is designed to find the most effective feature.Secondly,the basic principle of the assembly path error compensation method based on the transform robot coordinate system is studied.Finally,the thread assembly experiment is designed,the embedded camera is used to measure the assembly error,and the robot base coordinate system is transformed to compensate the robot path error.Experiments show that the compensation method of assembly path error based on transforming robot-based coordinate system can realize the compensation of the overall direction and position error of the path,which is of great significance to realize the cooperative application of dual robot.