Industrial robot tray grabbing height intelligent detection method

Abstract

The invention relates to an industrial robot tray grabbing height intelligent detection method. The method utilizes a photoelectric distance sensor installed on a robot gripper for detection, and thedetection method comprises the following steps: placing a partition plate on the ground, moving a robot to a partition plate grabbing point, and recording a teaching grabbing point P1; setting an induction distance H of the photoelectric distance sensor; executing a search program through the robot, and recording the current sensing position P2 of the robot when the signal of the photoelectric distance sensor becomes a high-level signal; obtaining a mapping relation X through P1 and P2; grabbing the partition plate with the unknown height, executing a third operation step, and recording a current induction position P3; and sixthly, obtaining a grabbing position coordinate Px according to the combination of X and P3, wherein the coordinate Px is a final grabbing position coordinate. According to the method, a 3D vision system and a laser distance sensor do not need to be matched with distance measurement grabbing, the production cost is effectively controlled, and meanwhile the system is stable in operation, high in robustness and easy to copy in a project.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to an intelligent detection method for the pallet grasping height of an industrial robot. Background technique [0002] Industrial robot dismantling is currently widely used in the market, but dismantling is often limited to the design of robot grippers and the status of incoming materials. Like some industrial cast iron parts, small in size, heavy in weight, and inconsistent in appearance, this type of workpiece often needs to be separated by hard thickened plates between each layer on the pallet of incoming materials. Because there are many types of products and the height of each workpiece is different, the actual height of each layer of partitions fluctuates up and down from the theoretical height. If the robot wants to grab the partitions, it must first detect the height of the current partitions. At present, the industry mainly uses the 3D vision system for positioning, ident...

AI Technical Summary

Problems solved by technology

At present, the industry mainly uses the 3D vision system for positioning, identification and positioning. This system has high cost and high requirements for the robot itself, which increases the production cost; another solution is to directly use the laser distance sensor to detect the height, and the specific value of the height is obtained as an analog value. Send it to the PLC for processing and then send it to the robot. This solution requires high sensor accuracy and complex data processing, which is prone to system errors and leads to production stagnation. In order to solve the above problems, a highly intelligent detection method for industrial robot pallet grabbing is designed.

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