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Fingertip vision ridge recognition self-adaptive robot hand device

A robotic hand and self-adaptive technology, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve problems such as difficulty in application, low reliability, and low success rate

Active Publication Date: 2016-12-07
广州市轻工职业学校
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

Complex algorithms often have low reliability and low success rate under different lighting environments, making it difficult to apply to a wider set of objects

Method used

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  • Fingertip vision ridge recognition self-adaptive robot hand device
  • Fingertip vision ridge recognition self-adaptive robot hand device
  • Fingertip vision ridge recognition self-adaptive robot hand device

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Embodiment Construction

[0067] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0068] An embodiment of the fingertip visual ridge recognition adaptive robot hand device designed by the present invention, such as Figure 1 to Figure 2 As shown, it includes a base 1, a first motor 11, a first transmission mechanism 12, a first joint shaft 13, a palm 14, a first finger 2 and a second finger 3; the first motor 11 is fixed on the base 1 Above, the output shaft of the first motor 11 is connected to the input end of the first transmission mechanism 12, and the output end of the first transmission mechanism 12 is connected to the first joint shaft 13, and the first joint shaft 13 is sleeved on In the base 1, the palm 14 is fixed on the first joint axis 13; the palm 14 is respectively connected with the first finger 2 and the second finger 3; the first finger 2 and the second finger...

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Abstract

The invention discloses a fingertip vision ridge recognition self-adaptive robot hand device and belongs to the technical field of robot hand vision. The fingertip vision ridge recognition self-adaptive robot hand device comprises a base, three motors, a transmission mechanism, a first joint shaft, a palm, two parallel clamping fingers, two cameras, an image processing module, a controller and the like. The device achieves the robot hand grabbing orientation self adjustment function and the parallel clamping adapting to situations that an object is not in the center. The device has a parallel clamping and grabbing mode, ridge recognition is carried out on the object to be grabbed through vision detection, and the grabbing orientation of the palm and the fingers is adjusted automatically according to the ridge recognition result; and movement of the different fingers is controlled automatically according to the vision feedback about whether the device makes contact with the object to be grabbed or not, and accordingly the object not in the center can be well grabbed.

Description

technical field [0001] The invention belongs to the technical field of robotic hand vision, in particular to a structural design of an adaptive robotic hand device for fingertip visual ridge line recognition. Background technique [0002] As an important means of human-computer interaction, vision has been widely used and has become a current research hotspot. However, due to the large amount of information in vision technology, high requirements for real-time processing, and difficulties in visual feature extraction and recognition, there is still much room for development in the application of vision in robots. [0003] When grasping, the robot hand often needs to adjust its posture according to the object, so as to facilitate stable grasping. There are many corners and ridges on the object, which are not suitable for grasping, that is, when the finger touches the corners or ridges, it is difficult to apply a stable grasping force, resulting in grasping failure. Traditio...

Claims

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Application Information

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IPC IPC(8): B25J15/02B25J15/08B25J9/16
CPCB25J9/1697B25J15/0206B25J15/08
Inventor 曾宝莹张文增蔡基锋梁伟东杨沛袁晨峰
Owner 广州市轻工职业学校
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