发明名称 |
Method for aligning a workpiece to a robot |
摘要 |
The invention relates to a method for aligning a workpiece (15) to a robot, said robot comprising a gripper (10) for gripping the workpiece (15) and a detail camera (12), the method comprising the steps of:
- moving the gripper (10) over a stack (14) of workpieces;
- gripping the upper workpiece;
- moving the robot with the gripped workpiece (15) in a predetermined position, in which at least part of the workpiece is in the view of the detail camera (12);
- detecting a predefined contour (17) in at least one image of the detail camera;
- calculating the difference between an expected position of the predefined contour (17) and the detected position of the contour to align the workpiece to the robot.
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申请公布号 |
EP2177326(A2) |
申请公布日期 |
2010.04.21 |
申请号 |
EP20080017950 |
申请日期 |
2008.10.14 |
申请人 |
SAFAN B.V. |
发明人 |
WEIJS, HARMEN JAN;VELTKAMP, HENDRIK TEUNIS;VISSCHERS, DIRK |
分类号 |
B25J9/16;B21D5/02;B21D43/00;B21D43/10;B21D43/24 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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