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A Robotic Gripper Grasping Algorithm

A robot fixture and algorithm technology, applied in the field of mechanical equipment, can solve the problem of inaccurate grasping position, and achieve the effect of avoiding work errors

Active Publication Date: 2021-09-28
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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  • A Robotic Gripper Grasping Algorithm
  • A Robotic Gripper Grasping Algorithm
  • A Robotic Gripper Grasping Algorithm

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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] like 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 fixtu...

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Abstract

The invention discloses a gripping algorithm for a robot fixture. The robot fixture includes two rows of suction cups arranged at the bottom and capable of moving along the length direction of the fixture, and is used for grabbing a plate cut on a CNC platform. The first and second rows of suction cups each include two rows of suction cups. Multiple groups of suction cups arranged in a straight line along the width direction of the fixture, each group of suction cups are numbered in sequence; the grasping algorithm is calculated in the coordinate system of the CNC platform, the length direction of the platform is the X direction, and the platform width direction is the Y direction. The grasping algorithm includes Step S1, calculating the Y-direction offset value of the robot fixture and the serial number value of the suction cup group to be opened; Step S2, selecting the suction cup row to be opened and calculating the X-direction offset value of the robot fixture. This algorithm fully considers various situations for different lengths, widths, and positions of the items to be grasped. After accurate calculation, the space coordinates of the grasping position of the robot fixture are obtained, and the required open suction cup column and suction cup number are selected to complete the accurate grasping of the object. , to avoid work errors caused by grasping position errors.

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 palletize goods (take plates as an example). When the robot clamps pick 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 pr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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