Robotic arm device and method of use combined with visual recognition and grasping for tea sets
A visual recognition and visual device technology, applied in the field of mechanical arm devices, can solve the problems of high cost and large amount of calculation, and achieve the effect of low cost, simple circuit and strong adaptability
Active Publication Date: 2020-12-25
ZHEJIANG UNIV
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Problems solved by technology
A vision device with a fixed position can be used to perform visual measurement in parallel with the robot during other operations, which has the advantage of shortening the overall cycle time, but due to image distortion, hardware or software correction is required, which requires a large amount of calculation and high cost
Method used
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specific Embodiment
[0046] Teapot grabbing and tea pouring:
[0047] Step 1): Calibrate the image captured by the visual device 9: the control system of the robotic arm controls the first gripper 6 to be in the grabbing preparation position of the first gripper 6, and the grasping center of the grasping auxiliary structure 10 in the image captured by the visual device 9 at this time is and the grabbing axis are demarcated as the demarcation center and demarcation line of the picture taken by the visual device 9;
[0048] The grasping preparation posture of the first clamp is the position where the first clamp can grasp the handle of the grasping auxiliary structure 10 after the first clamp axially interpolates 24mm along the central axis of the first clamp, and the working state is as follows: Figure 5 Shown; the grasping preparation pose includes the grasping preparation position and the grasping preparation posture;
[0049] The grasping center of the grasping auxiliary structure 10 is the mi...
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The invention discloses a mechanical arm device with visual identification and used for tea set grabbing and an application method. The mechanical arm device comprises a mechanical arm and a control system, a mechanical arm terminal executer, a visual device and a grabbing auxiliary structure. The mechanical arm terminal executer comprises a flange base, a first support foot, a second support foot, a first pneumatic finger, a second pneumatic finger, a first fixture, a second fixture and a camera bracket; the grabbing auxiliary structure is additionally mounted at matters to be grabbed; a visual identifying characteristic point is provided; the first fixture and the grabbing auxiliary structure can be mechanically cooperated for grabbing; the visual device is mounted on the camera bracket,and is provided with image processing software inside; seven control signals are connected with the mechanical arm control system; and relative positions of the first fixture and the grabbing auxiliary structure are corrected to realize grabbing of irregular objects. The mechanical arm device is high in adaptability to the irregular objects, capable of expanding, precise in grabbing through visual identifying feedback and low in calculating amount, and reduces the cost.
Description
technical field [0001] The invention belongs to the application field of a mechanical arm, and in particular relates to a mechanical arm device combined with visual recognition and aimed at grasping tea sets and a use method thereof. Background technique [0002] The robotic arm refers to a complex system with high precision, multiple input and multiple output, high nonlinearity, and strong coupling. Because of its unique operational flexibility, it is widely used in various industrial production processes. With the development of the robot industry, robotic arms are also used in personal / home service robots and special service robots. [0003] In industrial sorting and assembly and other occasions, the robotic arm often grabs the same kind of regular parts at a time, and the end mechanism of the robotic arm uses a single fixture. A vision device with a fixed position can be used to perform visual measurement in parallel with the robot during other operations, which has the...
Claims
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IPC IPC(8): B25J15/08B25J9/16
CPCB25J9/1697B25J15/08
Inventor 王韵楚陈梅林佘注廷顾大强卢慧芬吴敏朱新杰
Owner ZHEJIANG UNIV