Method and device for detecting objects held by mechanical arms

Abstract

The invention relates to a method and a device for detecting objects clamped by a mechanical arm, and belongs to the technical field of detection of clamped objects by a mechanical arm. The technical solution is: two mechanical arms are opened to hold the object; one mechanical arm moves to the open or open position first, and stops when it pre-contacts the object; wait for the other mechanical arm to open or open to the contact position with the object ; The robotic arm that moves in place and stops first starts the clamping action, so that the two mechanical arms perform the clamping action at the same time until the object is clamped in place. The beneficial effects of the present invention are: the movement of the mechanical arm to hold the object can be soft, without the impact force of the holding, will not cause damage to the holding object, will not cause the phenomenon of the holding object to run away, and is stable and reliable, effectively improving the It ensures the safety and reliability of mechanical equipment handling objects.

Description

technical field [0001] The invention relates to a method and a device for detecting objects clamped by a mechanical arm, and belongs to the technical field of detection of clamped objects by a mechanical arm. Specifically, it is a large mechanical arm clamping arm used in warehouses, logistics transportation, three-dimensional warehouses, automobile parking garages, automobile production lines, mechanical equipment product production lines, food production lines, electronic product production lines, docks, coal mines and other industries. Object detection method and device. These objects include: storage pallets, storage brackets, storage boxes, automobiles, finished food packaging boxes, electronic product packaging boxes, containers and other equipment. Background technique [0002] At present, equipment such as robots and mechanical handlers are more and more widely used in the actual production process. When a robot moves an object, it needs the clamping of the mechanic...

AI Technical Summary

Problems solved by technology

[0002] At present, equipment such as robots and mechanical handlers are more and more widely used in the actual production process. When a robot moves an object, it needs the clamping of the mechanical arm to complete the handling tasks such as picking and placing the object. However, with the shape, weight, Due to the different materials, the mechanical arm also has various shapes and clamping methods. During the clamping process of the mechanical arm, due to the constraints of the mechanical gap and the differentiation of the oil circuit and air circuit, the mechanical arm moves asynchronously, which is easy to The damage and running away of the clamped objects are often compensated by increasing the clamping force in actual engineering, which will bring the risk of easily damaging the clamped objects, causing unnecessary economic losses to users, and even causing production problems. process stoppage

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