Industrial robot tray grabbing height intelligent detection method
An industrial robot and intelligent detection technology, applied in manipulators, manufacturing tools, etc., can solve problems such as increased production costs, system errors, and production stagnation, and achieve the effects of controlling production costs, high robustness, and easy replication
Pending Publication Date: 2020-12-01
埃华路(芜湖)机器人工程有限公司
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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.
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