Manipulator assembling method, computer readable storage medium and intelligent manipulator

Abstract

The invention provides a manipulator assembly method, a computer readable storage medium and an intelligent manipulator, and the method comprises the following steps: enabling a mechanical arm and a camera to move together till the position of the mechanical arm and the position of the camera correspond to a to-be-assembled clamping jaw with an angle recognition graph, and enabling the position and pose angle of the camera to be the position and pose angle of the mechanical arm; employing the camera for recognizing the angle recognition pattern on the clamping jaw to be assembled, and then analyzing the pose angle of the camera according to the pose angle of the angle recognition pattern, so the pose angle of the mechanical arm is obtained; analyzing the pose angle of the mechanical arm according to the recognized pose angle of the angle recognition graph, and if the deviation of the pose angle of the mechanical arm compared with a preset assembling angle exceeds a preset degree, enabling the mechanical arm to rotate till the deviation does not exceed the preset degree, so that the mechanical arm is aligned with the clamping jaw to be assembled, and the mechanical arm and the clamping jaw to be assembled can move relatively to be assembled.

Description

Technical field[0001]The present invention relates to the technical field of manipulators, in particular to a manipulator assembly method, a computer-readable storage medium and an intelligent manipulator.Background technique[0002]With the rapid development of automation technology, manipulators are usually used in industrial production to reduce labor costs and improve production efficiency. The manipulator is an automatic operating device that can imitate the action of a human arm and grasp and transport objects or operate tools according to a fixed program. It can move freely in three-dimensional directions, so that objects or tools located at different workstations can be operated.[0003]The manipulator includes a mechanical arm and a gripper mounted on the mechanical arm. The gripper is driven and displaced by the mechanical arm to grasp objects in different positions. When grabbing objects of different sizes, gripper jaws with a size suitable for the object are required. Theref...

AI Technical Summary

Problems solved by technology

In the prior art, the robot arm can be moved until its position corresponds to the gripper to be assembled, but the posture angle of the robot arm cannot be adjusted to the assembly angle to align with the gripper to be assembled, so the assembly of the robot arm cannot be realized

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