Robot clamp grabbing algorithm

A robot fixture and algorithm technology, applied in the field of mechanical equipment, can solve problems such as inaccurate grasping positions

Active Publication Date: 2020-10-30
合肥盛恩智能装备科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The invention provides a gripping algorithm for robot grippers, which effectively solves the problem of inaccurate gripping positions during the working process of robot grippers

Method used

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Embodiment Construction

[0089] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings 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 creative efforts fall within the protection scope of the present invention.

[0090] See how Figure 1 to Figure 10 , this embodiment provides a gripping algorithm for a robot gripper.

[0091] Such as Figure 2 to Figure 6 As shown, the robot gripper 1 includes two rows of suction cups 2 arranged at the bottom and capable of moving along the length direction of the gripper, which are respectively the first row of suckers and the second row of suckers, which are used to grab the cut sheet on the CNC platform 3. The first, Each row of suction cups includes two rows (X1_1, X1_2, X2_1, X2_2) of multiple groups of suction cups arranged in a straight line along the width of the fi...

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PUM

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Abstract

The invention discloses a robot clamp grabbing algorithm. A robot clamp comprises two rows of suction cups which are arranged at the bottom and can move in the length direction of the clamp, the two rows of suction cups are used for grabbing a plate cut on a CNC platform, the first suction cup row and the second suction cup row each comprise two columns of multiple sets of suction cups which are linearly arranged in the width direction of the clamp, and each set of suction cups are numbered in sequence. The grabbing algorithm is calculated under a CNC platform coordinate system, the length direction of the platform is an X direction, the width direction of the platform is a Y direction, and the grabbing algorithm comprises the steps that S1, a Y-direction offset value of the robot clamp and serial number values of suction cup sets needing to be started are calculated; and S2, the suction cup sets needing to be started are selected, and an X-direction offset value of the robot clamp iscalculated. According to the algorithm, for different lengths, widths and positions of objects to be grabbed, various conditions are fully considered, the space coordinates of the grabbing position ofthe robot clamp are obtained through accurate calculation, the suction cup columns needing to be started and the suction cup serial numbers are selected, accurate grabbing of the objects is completed, and work errors caused by grabbing position errors are avoided.

Description

technical field [0001] The invention relates to the field of mechanical equipment, in particular to a gripping algorithm for a robot gripper. Background technique [0002] With the improvement of modern mechanization, a large number of handling robots are used in industrial production to depalletize and stack goods (take plates as an example). When the robot clamps pick up and place items, it needs to complete automatic target recognition within a certain range according to parameter settings. , grabbing, stacking and other functions. [0003] How to accurately calculate the gripping position of the robot gripper based on the length and width of the plate to be gripped, and the position information on the platform, so as to avoid work errors caused by errors in the gripping position, is an urgent problem to be solved in this technical field. Contents of the invention [0004] The invention provides a gripping algorithm for a robot gripper, which effectively solves the pro...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1669G05B2219/40155
Inventor 朱沈阳
Owner 合肥盛恩智能装备科技有限公司
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