Control method of parts grabbing device based on "alignment-approach-grasp"

Abstract

The invention belongs to the technical field of precision assembly and particularly provides a method of controlling a parts gripping device based on 'alignment-approach-gripping'. In order to solve the problem that an existing parts gripping method has high workload, low precision, certain system complexity and large errors, the method of the invention includes the steps of S100, aligning phase,to be specific, adjusting the position of an end effector such that deviations between image characteristics of a part to be gripped and preset image characteristics are less than a preset threshold;S200, approach phase, moving the end effector according to a set position adjustment such that a gripper approaches the position of the part to be gripped; S300, gripping phase, to be specific, controlling the gripper to grip the part to be gripped. The method has the advantages that a system algorithm is relatively simple, calculation quantity is low, operations are simple, a visual system is aligned with a part by decreasing the deviations between the image characteristics of the part and the preset image characteristics, aligning precision is high, and smaller errors occur when the grippergrips the part.

Description

technical field [0001] The invention belongs to the technical field of precision assembly, and specifically provides a control method of a part grabbing device based on "alignment-approach-grab". Background technique [0002] With the rapid development of micro-electro-mechanical systems, the requirements for the automation of micro-miniature parts assembly systems are getting higher and higher. The automatic grasping operation of parts is the basis of automatic assembly. Efficient and practical automatic grasping technology is of great significance in shortening the assembly cycle and reducing costs. In order to move towards comprehensive practicality, the improvement of precision assembly system in terms of efficiency, precision and adaptability has become the focus of current research. Specifically, practical precision assembly technology requires mass production capacity. The visual perception and measurement system has the advantages of non-contact, high precision, an...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problems of large workload, low precision, complex system and large errors in the existing parts grabbing method, the present invention provides a method based on "alignment-approach- The control method of the part grabbing device of "grabbing", the grabbing device includes a robot, a vision system fixed on the end effector of the robot that can acquire the parts to be grabbed, and can execute the execution on the parts to be grabbed The gripper of the grasping action, the control method includes: step S100: the alignment stage, adjusting the position of the end effector so that the deviation between the image feature of the part to be grasped and the preset image feature is less than the preset Threshold; step S200: approach stage, move the end effector according to the set position adjustment amount so that the gripper reaches the position of the part to be grasped; step S300: grasp stage, control the gripper The holder grabs the part to be grabbed

Images