Industrial robot visual servo system and servo method and device

Abstract

The embodiment of the invention discloses an industrial robot visual servo system and a servo method and device. The industrial robot visual servo system comprises a six-axis robot, a weld joint tacker, a calibration object, a wireless handheld demonstrator, a USB wireless receiver, an infrared laser positioning base station, a robot control cabinet, a welding machine power supply control cabinet,an upper computer control cabinet and an automatic wire feeding system. Rapid demonstration without programming is achieved, non-uniform workpiece incoming is avoided, and real-time tracking of welding thermal deformation is achieved; the working process of a traditional welding automatic system is improved, and an operator does not need to use the demonstrator to carry out complex demonstrationprogramming; as the recognition technology based on deep learning is adopted for weld joint tracking, the universality of welding automation is greatly improved; and in addition, welding path planning, demonstration, system calibration and welding real-time tracking are completely integrated in the same upper computer interface, and therefore the process operation and management can be conveniently carried out by the operator.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an industrial robot visual servo system, a servo method and a device. Background technique [0002] The mechanical arm is the most widely used automatic mechanical device in the field of robotics. It is widely used in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing and other fields. Although the common six-degree-of-freedom mechanical arm pose accuracy Now it can achieve a very high level, but to achieve high precision in actual use requires complex simulation and on-site teaching processes to achieve. At the same time, there are high requirements for the consistency of the workpiece, and it lacks the intelligence to correct deviations independently. [0003] In the 1960s, due to the development of robots and computer technology, people began to study robots with visual functions, aiming to collect and analyze the images o...

AI Technical Summary

Problems solved by technology

[0006] However, the existing industrial robot visual servo system for welding automation has the following problems: First, it does not solve the problem of difficult teaching of robots in welding automation production. Teaching reproduction is a method commonly used in the field of robots, that is, through The teaching pendant adapted to the robot manipulates the joint movement of the robot so that the robot moves to a predetermined position, and at the same time records the position and transmits it to the robot controller, and the subsequent robot can automatically repeat the task according to the instruction

Since welding has high requirements on spatial position accuracy and many requirements on welding posture, this work usually takes a long time and the process is cumbersome, prone to omissions and mistakes. high skill requirements

Second, the problem of welding versatility has not been solved. Due to the wide variety of welding workpieces and the different types of weld seams, it is difficult for the current visual recognition effect to reach a usable level on all workpieces.

In addition, errors caused by workpiece reflection and arc light interference also greatly increase the difficulty of visual recognition

Third, there is no integrated closed-loop solution. The aforementioned industrial robot visual servo system for welding automation can only be called a seam tracker in a strict sense. , system calibration, reproduction to a complete set of solutions for welding real-time tracking

Operators often need to learn how to operate a variety of different systems, such as learning how to use the robot teach pendant and the weld seam tracker. At the same time, they also need to learn how to calibrate the vision system and the robot system and other complicated knowledge, which is labor-intensive. the cost is too high

Images