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Industrial robot intelligent picking system

A technology for industrial robots and robot control cabinets, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., to solve problems such as disordered items, low efficiency, and inability to pick up quickly and efficiently

Inactive Publication Date: 2017-01-04
ANHUI UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, different job programs need to be written for different tasks and scenarios
This is complicated and inefficient
And most pick-up systems only pick up the same item in one working environment
Items of different sizes cannot be picked up differently and stored separately
In addition, it is impossible to quickly and effectively pick up and sort items that are not arranged neatly or placed randomly on the assembly line.

Method used

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  • Industrial robot intelligent picking system

Examples

Experimental program
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Embodiment 1

[0020] see figure 1 , are different in size, and the workpieces 4 with random positions are placed on the assembly line 5 . When the workpiece 4 passes by the camera 3, its position is captured by it. The camera 3 collects the original digital image of the target workpiece. After preprocessing such as correction and filtering, feature processing is performed, and the position of the target is estimated based on this, so as to identify the coordinates of the target relative to the robot's base coordinate system. The PC 8 sends the coordinates to the robot control cabinet 9, plans the grabbing trajectory of the robot according to the information of the target point, and moves to track the target. The manipulator 3 is positioned above the target and waits for the workpiece to be grasped. The coordinates of the workpiece are locked by the vision system, and the manipulator 2 runs over the workpiece 4 according to the set trajectory, and then grabs it. Whether the end of the man...

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PUM

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Abstract

The invention discloses an industrial robot intelligent picking system. The industrial robot intelligent picking system comprises an industrial robot; and the industrial robot is connected with a robot control cabinet through a communication cable. A special mechanical gripper is arranged at an actuation terminal of the industrial robot. An actuation part of the mechanical gripper is a clamping hand part; and a force sensor is arranged at the finger end of the mechanical gripper. When articles are grabbed, the differentiated sorting purpose is achieved by distinguishing the articles by size through sensing different pressure applied to the articles by gravity-different clamping manipulators. The robot control cabinet is connected with a PC; the PC is connected with an image acquiring card; and the image acquiring card is connected with a CCD camera. A force sensor is attached at the end part of the clamping hand part, and is connected with the PC through a communication cable. A visual identifying system realizes the position identification of the articles placed on a production line in disorder by the industrial robot to achieve efficient sorting. The force sensor on a manipulator clamper can be used for sensing different friction force generated by articles with different masses when the articles are grabbed by the clamper, so that differentiated sorting of the articles with different sizes is realized.

Description

technical field [0001] The invention belongs to the technical field of industrial robot control, and in particular relates to an intelligent picking and sorting technology for an industrial robot using CCD camera visual recognition and sensor technology. Background technique [0002] At present, the picking work of industrial robots is mostly programmed control. First, a specific operation program must be written, and then the robot will run according to the established program to complete the specific task. However, different job programs need to be written for different tasks and scenarios. This is very complicated and inefficient. And most pick-up systems only pick up the same item under a kind of working environment. Items of different sizes cannot be picked up differently and stored separately. Also, it is impossible to quickly and effectively pick up and sort items that are not arranged neatly or placed in disorder on the assembly line. Through the visual recogniti...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1697
Inventor 陈勇明周毅均
Owner ANHUI UNIV OF SCI & TECH
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