Outlined： Fully automatic lens fixture robot loading and unloading to umbrella, automatic umbrella transfer and handling, personnel judgement of umbrella and spreader hook position

Technical difficulties

1. high precision requirements, customers require precision ± 0.2mm

2. Placement requirements are high, the customer requires to place can not make a sound, to prevent damage to the lens

3. one eye on the hand vision needs to meet the requirements of feeding and discharging functions at the same time

4. The umbrella frame is ellipsoidal, it is difficult to locate visually.

5. The umbrella frame is partially deformed, resulting in inaccurate placement.

 Prescription

1. The end of the robot arm adopts 3D camera, with our self-developed high-precision hand-eye calibration, the average calibration error is less than 0.1mm.

2. adopt self-developed high-precision 3D visual positioning algorithm, positioning accuracy is less than 0.1mm.

3. adopts self-developed workpiece model construction algorithm to achieve adaptive adjustment of photo point position.

4. can adapt to the scene of simultaneous production of multiple workpieces.

5. adopts self-developed special coating fixture, which has been iterated for 3 times to achieve high-precision grasping.