A State Planning Method Based on Matrix Suction Cup for Various Complex Sheet Metal Parts
A technology of sheet metal parts and suction cups, applied in the field of state planning of matrix suction cups, can solve problems such as large weight, large size of sheet metal parts, and complex structure
Active Publication Date: 2022-05-31
EFORT INTELLIGENT EQUIP CO LTD +1
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Problems solved by technology
Because sheet metal parts not only have many styles, but also have complex structures, not only external contours, but also various complex internal contours. It is obviously unreasonable to judge whether the suction cup is opened based on the external contours alone; and the sheet metal parts are not only large in size, but also heavy in weight. Large, it is obviously not feasible to use only 2*3 matrix suction cups
Method used
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[0058] b: No, go back to step S2 to acquire the next image.
[0063] For example:
[0065] The base coordinate system of the robot = [0.0, 15.0, 30.0, 45.0].
[0067] The traversal of the step S10 means that each value in the basic coordinate system of the robot must be selected once.
[0068] No in the step S10, go back to the step S7.
[0069] Yes in the step S10, enter the step S11.
[0070] If the step S11 is no, go back to the step S4.
[0071] The step S11 is, go to step S12.
[0074] The large sheet metal part provides a grasping method, which provides conditions for the robot 1 to grasp a complex workpiece;
[0075] Use the matrix suction cups 3 to grab sheet metal parts with different shapes.
[0078] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. technology in the industry
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The present invention relates to the state planning field of matrix suction cups, specifically a state planning method for matrix suction cups based on various complex sheet metal parts. The specific steps are as follows: S1: Preconditions; S2: Image acquisition by camera; S3: Calculating the size of the screw rod Range; S4: Calculate the position of all single suction cups; S5: Select the possible range of the rotation angle between the matrix suction cup and the workpiece; S6: Select some points on the matrix suction cup as key points, which can be used to judge the entire suction cup The position relationship with a certain contour; S7: Calculate the key point position of the matrix sucker; S8: Determine the key point; S9: Clear the list 1; S10: Determine whether the basic coordinate system of the robot has been traversed; The traversal has not been completed; S12: Number the suction cups corresponding to the longest list in List 2; S13: Determine the number of workpieces that have completed the state planning of the matrix suction cups
Description
A state planning method for matrix suction cups based on multiple complex sheet metal parts technical field The present invention relates to the state planning field of matrix suction cup, specifically a kind of matrix suction cup based on a variety of complex sheet metal parts [0001] Disk state planning method. Background technique Chinese invention patent number is 206512234U discloses a kind of flexible leather slice cutting device, Chinese invention patent No. 206512234U wrote that due to the variety of flexible leather materials and the large size, a matrix suction cup with a size of 2*3 was used to open the Turn off the independent control, search for the leather slices in the area under the suction cup fixture according to the outline shape category, turn on the need to collect The suction cups within the borders of the leather slices in the Matrix remain closed for the other suction cups in the matrix. The Chinese invention patent number is The outline of ...
Claims
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IPC IPC(8): B25J15/06B25J19/02
CPCB25J15/0683B25J19/023Y02P90/02
Inventor 马英洪凯储昭琦易廷昊党进肖永强张帷游玮
Owner EFORT INTELLIGENT EQUIP CO LTD