Electromagnetic attraction type carrying and stacking device based on visual multi-sensing

Abstract

The invention discloses an electromagnetic attraction type carrying and stacking device based on visual multi-sensing. A physical mechanical structure comprises an electromagnetic chuck, and a visualmulti-sensing system is built on the basis of the physical mechanical structure. A depth camera is used for detecting the position posture, color and depth information of a target object and is matched with a mechanical arm of the robot to form a visual closed loop to perform visual servo carrying and stacking operation. A touch switch is used for detecting contact between the target object and anelectromagnetic attraction type end effector. Laser distance measuring sensors are used for improving the stacking precision in a target object stacking task, and the laser distance measuring sensorson the two sides are matched to detect the position deviation of the target object and a stacking pile and are matched with the mechanical arm to make corresponding position adjustment. A force sensor is used for detecting the change of the gravity of the whole device, force closed-loop operation is achieved for target object suction, the operation detection speed is increased, and the operationprecision and the operation efficiency of the electromagnetic suction type end effector are improved through visual, laser and tactile multi-sensor fusion.

Description

technical field [0001] The invention belongs to the fields of robotics, mechanical design, etc., and relates to a robot end effector, in particular to an electromagnetic suction type handling and stacking device based on vision and multi-sensing. Background technique [0002] The end effector of a robot is an important executive component to complete robot operation tasks. For the task of robot stacking and handling, robot end effectors can usually be divided into four categories according to the driving and operation forms: pneumatic suction type, pneumatic clamping type, electromechanical clamping type and electromagnetic adsorption type. The pneumatic suction type end effector mainly includes pneumatic suction cups, and the pneumatic clamping type mainly includes pneumatic grippers. The typical representatives of these two forms are the pneumatic actuators produced by SMC Corporation of Japan. Pneumatic suction and pneumatic clamping end effectors have the advantages of ...

AI Technical Summary

Problems solved by technology

However, their solutions are generally based on pneumatic forms, and can only be used for specified operating task scenarios. At the same time, Mujin's automatic handling and stacking devices are relatively expensive

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