An electromagnetic suction handling and stacking device based on vision and multi-sensing

Abstract

The invention discloses an electromagnetic suction type handling and stacking device based on visual multi-sensing. The physical mechanical structure includes an electromagnetic chuck, and a visual multi-sensing system is built on the basis of the physical mechanical structure; wherein a depth camera is used to detect the position of a target object Posture, color and depth information, cooperate with the robot arm to form a visual closed loop, and perform visual servo handling and stacking operations. The touch switch is used to detect the contact between the target object and the electromagnetic suction end effector; the laser ranging sensor is used to improve the stacking accuracy in the target object stacking task, and the laser ranging sensors on both sides cooperate to detect the target object and palletizing The position deviation of the stack, cooperate with the mechanical arm to make corresponding position adjustments. The force sensor is used to detect the change of the gravity of the whole device, to realize the force closed loop for the operation of absorbing the target object, and to speed up the operation detection speed. efficiency.

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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