Industrial robot disordered grabbing method based on double-clamp real-time switching

A technology of industrial robots and double grippers, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as potential safety hazards, reduced production efficiency, and low grasping success rate, so as to avoid collisions, ensure stability, and improve flexibility. sexual effect

Pending Publication Date: 2021-06-01
陕西工业职业技术学院
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  • Abstract
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  • Application Information

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Problems solved by technology

With the continuous advancement of production automation, there will be continuous grabbing of workpieces of different shapes and sizes; there are also situations where it is necessary to grab workpieces of various specifications in the material frame, and for workpieces of different specifications and shapes, the same The grabbing success rate of this fixture is low, which brings certain safety hazards and reduces production efficiency

Method used

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  • Industrial robot disordered grabbing method based on double-clamp real-time switching
  • Industrial robot disordered grabbing method based on double-clamp real-time switching
  • Industrial robot disordered grabbing method based on double-clamp real-time switching

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Embodiment Construction

[0045] Embodiments of the present invention will be described in detail below in conjunction with examples, but those skilled in the art will understand that the following examples are only used to illustrate the present invention, and should not be considered as limiting the scope of the present invention.

[0046] refer to figure 1, the present invention provides a disorderly grasping method for an industrial robot based on double-clamp real-time switching, the robot is a six-axis robot with a six-axis flange, and a tool is installed on the six-axis flange, and the tool includes Suction cups and grippers are two kinds of fixtures. In this embodiment, the robot is a mechanical arm, and the end of the mechanical arm is a tool. The tool includes two independent grabbing tools, and each grabbing tool has a telescopic actuator and Clamps at its ends, i.e. suction cups and grippers.

[0047] The fetching method includes the following steps:

[0048] Step 1: Use the 3D structured...

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Abstract

The invention discloses an industrial robot disordered grabbing method based on double-clamp real-time switching. The industrial robot disordered grabbing method comprises the following steps that point cloud data and an image of a target workpiece are obtained, a rough position of the target workpiece is determined, the rough position is mapped to the point cloud data, and the position, the posture and the matching score of the target workpiece are obtained through point cloud surface matching; a current to-be-grabbed workpiece and a grabbing point are determined; the grabbing mode of the current to-be-grabbed workpiece is determined, and clamp switching is carried out according to the grabbing mode; mathematical model switching is conducted according to the grabbing mode, the grabbing position and posture of a six-axis flange plate of a robot are obtained, and corresponding adjustment is conducted; and a grabbing path is designed, and workpiece grabbing is completed. According to the industrial robot disordered grabbing method based on double-clamp real-time switching, real-time switching of two clamps of the robot is achieved according to a visual recognition result, the space poses of the clamps after switching are calculated, disordered grabbing of workpieces in different grabbing modes is achieved, and the workpiece grabbing success rate is increased.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an out-of-order grabbing method for industrial robots based on real-time switching of double grippers. Background technique [0002] With the continuous and rapid development of industrial automation, industrial robots are gradually replacing humans with their stable, fast and efficient characteristics. However, the actual factory production scene is becoming more and more complex, and the types of workpieces on the production line are gradually increasing. As a result, the industrial robots at the workpiece loading and unloading stations need to grasp various types of workpieces at the same time; however, the grasping methods of each workpiece are different, and the quality is relatively low. Workpieces that are light and have smooth surfaces are suitable for pneumatic suction, while workpieces with large masses and no smooth surfaces need to be grasped by grippers. T...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664B25J9/1697
Inventor 强华王聪慧刘晓莎孟娇娇
Owner 陕西工业职业技术学院
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