A robot grasping system based on depth vision and its using method

Abstract

The invention discloses a robot grasping system based on depth vision and a method of using the same. A seventh shaft is arranged below, the seventh shaft includes a ground rail, a slide rail is arranged on the ground rail, the slide rail is slidably connected with a slider, the top of the slider is fixedly connected with a support table, and the support table is connected with a driving mechanism; The base is connected; the support table is also provided with a depth vision sensor, the depth vision sensor is connected to the lift, and the bottom of the lift is connected to the support table; the support table is provided with a lubrication system. The invention installs the depth vision sensor and the robot on the same support table, which effectively avoids the scanning blind area caused by the change of the robot's posture; the lubricating system has an ingenious structure design, and uses the change of the guide groove to realize the relative position between the piston and the plunger Change, you can complete the oil extraction and lubrication.

Description

technical field [0001] The invention relates to the field of robot technology, in particular to a robot grasping system based on depth vision and a method for using the same. Background technique [0002] In the field of robot applications, especially when moving in one direction over a long distance, because the running trajectory is too long to teach, it is necessary to calculate the theoretical trajectory of the robot in advance, and then perform small-scale corrections to the running pose of the robot during the running process. At present, the solution to this problem is usually to install a depth vision sensor on the robot tool, and project the structured light of the depth vision sensor on the front end of the robot tool 3 to 5 cm. During the operation of the robot, according to the position of the measurement point and The difference between the current positions of the robot tools corrects the robot trajectory. The depth vision sensor is installed 3 to 5cm from the...

AI Technical Summary

Problems solved by technology

Install the depth vision sensor at the front end of the robot tool at 3 to 5 cm. This installation method is to avoid the impact of various harsh environments on site, but this installation method will cause problems: the robot’s running track is limited, It must run in a direction perpendicular to the structured light of the depth vision sensor, and the measurement is susceptible to changes in the attitude of the industrial robot itself

[0003] In addition, the slide rail of the walking axis (seventh axis) of the robot system has to withstand high-speed and high-pressure friction back and forth during the working process. Effective lubrication for it is a very important maintenance method to ensure the normal operation of the slide rail. Currently, there are There are a large number of lubricating devices in the technology, but there are still some problems in the process of using them. For example, when lubricating and maintaining, the lubricating oil is usually added manually at regular intervals, and the oil film on the surface of the slide rail is mostly observed with the naked eye. For maintenance, this method is likely to cause lubrication lag problems, resulting in the slide rails not being lubricated in time and effectively, resulting in greater wear, and the manual lubrication method is time-consuming and labor-intensive. In addition, the existing device exerts pressure on the entire box surface , and then ensure that the oil can be fully overflowed, but this method is not easy to control the oil output speed and oil output, and it is prone to excessive overflow of lubricating oil, which is a waste of cost and easy to pollute the environment

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