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System and method for dynamically matching clamping force of stacking robot

A stacking robot and dynamic matching technology, applied in the field of automatic matching of robot clamping force, can solve problems such as excessive clamping force and energy loss, avoid over-clamping and under-clamping, high clamping reliability, and realize The effect of adaptive matching

Inactive Publication Date: 2019-07-16
CHINA UNIV OF MINING & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, when the existing stacking robot clamps the blank workpiece, there is often an over-clamping phenomenon, that is, the clamping force exceeds the required clamping force, resulting in unnecessary energy loss

Method used

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  • System and method for dynamically matching clamping force of stacking robot
  • System and method for dynamically matching clamping force of stacking robot
  • System and method for dynamically matching clamping force of stacking robot

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Embodiment Construction

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0025] like figure 1 As shown, a stacking robot clamping force dynamic matching system includes a host computer PC, a controller 1, a detection system and a gripper 2, and the detection system includes a visual sensor, two ranging sensors S1 and an acceleration sensor S2 , the visual sensor includes a horizontal visual sensor Sh and a vertical visual sensor Sv respectively arranged on one side and above the conveyor belt of the workpiece A, and the distance me...

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Abstract

The invention discloses a system and method for dynamically matching clamping force of a stacking robot. The system comprises an upper computer PC, a controller, a detection system and a clamp holder,wherein the detection system comprises a visual sensor, two distance measuring sensors S1 and an acceleration sensor S2, the visual sensor comprises a horizontal visual sensor Sh and a vertical visual sensor Sv which are arranged on one side and above a workpiece conveying belt respectively, and the distance measuring sensors S1 and the acceleration sensor S2 are arranged on the clamp holder. Dynamic automatic matching of the clamping force of the stacking robot is realized according to the geometric characteristics and the texture characteristics of a workpiece. According to the method, thephenomena of over-clamping and under-clamping in a workpiece dynamic pickup process are effectively avoided, and the method has practical engineering significance for energy-saving and consumption-reducing operation of intelligent stacking of a wood furniture production line.

Description

technical field [0001] The invention relates to the technical field of automatic matching of robot clamping force, in particular to a system and method for dynamic matching of clamping force of a stacking robot. Background technique [0002] In recent years, the demand for automation and intelligent operation of woodworking workpiece stacking operations has been increasing at home and abroad. At present, energy saving, consumption reduction and emission reduction are the trend of industrial production, and energy waste should be avoided during production operations. However, when the existing stacking robot clamps the blank workpiece, the phenomenon of overclamping often occurs, that is, the clamping force exceeds the required clamping force, resulting in unnecessary energy loss. Therefore, starting from the actual situation, a stable, reliable, easy-to-control, compact and practical automatic matching system and method for the clamping force of stacking robots are develope...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16B25J13/08
CPCB25J9/0093B25J9/1633B25J9/1697B25J13/085
Inventor 刘送永谢奇志江红祥崔玉明李允旺张德义姚健
Owner CHINA UNIV OF MINING & TECH
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