Workpiece grasping device and method based on machine vision and ultrasonic sensor
A machine vision and ultrasonic technology, applied in the field of workpiece grasping device, can solve the problem of high cost of workpiece recognition equipment, achieve the effect of reducing hardware cost and calibration complexity, reducing complexity and improving efficiency
Inactive Publication Date: 2015-11-11
HANGZHOU MAEN TECH
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Problems solved by technology
[0004] In view of the problems existing in the background technology, the purpose of the present invention is to provide a workpiece grasping device and method based on machine vision and ultrasonic sensors, which can effectively solve the problems of high cost of workpiece identification equipment and special restrictions on workpiece height.
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[0021] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0022] like figure 1 As shown, the present invention includes a lifting platform 1, a stage 2, a motor driver 3, a PLC 4, a stepper motor 5, an encoder 6, a computer 7, a liquid crystal display 8, an ultrasonic sensor 9, a clamp 10, a CCD camera 11, a support 12. Industrial grabbing robot 15 and fixing plate 16. The stepping motor 5 is connected with the lifting platform 1, the motor driver 3 is installed on the bottom surface of the lifting platform 1, and the motor driver 3 is connected with the PLC4 and the encoder 6 installed on the stepping motor 5 respectively; The workpiece 13 to be grasped in the upper layer and the workpiece 14 to be grasped in the lower layer are stacked horizontally on the object table 2; on the fixed plate 16 at one end of the support 12, an ultrasonic sensor 9 and a CCD camera 11 are installed, and the ultrasonic ...
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The invention discloses a workpiece grabbing device and method based on machine vision and an ultrasonic transducer. A stepping motor is connected with a lifting platform, and a motor driver is connected with a PLC and an encoder installed on the stepping motor. Workpieces to be grabbed are stacked on a carrying table, and the ultrasonic transducer and a CCD camera are installed on a fixing plate of a support. The ultrasonic transducer is connected with the PLC, and the camera is connected with the PLC and a computer. The transmitting end of the ultrasonic transducer is parallel to the bottom face of a lens of the camera, and the workpieces to be grabbed are located in the vision of the camera. A liquid crystal display screen, the PLC and an industrial grabbing robot are connected with the computer. The ultrasonic transducer detects the distance between the upper surfaces of the workpieces and the camera in real time, the camera collects workpiece outline images, the monocular camera is used for identifying the space coordinates of the plane workpieces and grabbing the workpieces, the communication complexity of the computer and the robot is lowered, the hardware cost and the calibration complexity of the camera are lowered, and the grabbing efficiency of the workpieces is improved.
Description
technical field [0001] The invention relates to a workpiece grasping device and method, in particular to a workpiece grasping device and method based on machine vision and ultrasonic sensors. Background technique [0002] At this stage, binocular vision is usually used to identify the spatial coordinates of the target to be captured. This identification method requires high camera accuracy, high hardware platform costs, cumbersome image processing algorithms, and specific requirements for the height of the workpiece. The conditions for continuous crawling cannot be met. [0003] The ultrasonic sensor is a distance measuring unit for non-contact high-precision measurement, which has the dual function of sending and receiving sound waves. Ultrasonic sensors use the principle of the piezoelectric effect to convert electrical energy and ultrasonic waves, that is, when transmitting ultrasonic waves, convert electrical energy to emit ultrasonic waves; and when receiving echoes, c...
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IPC IPC(8): B25J9/08B25J9/18B25J19/02B25J19/04
Inventor 孙坚张振沈鹏程尤于训王亚丽陶伟刘春学
Owner HANGZHOU MAEN TECH