Automatic grabbing method of manipulator in different coordinate systems
A coordinate system and manipulator technology, applied in the field of automatic positioning and grasping of manipulators, can solve problems such as the inability of manipulators to achieve automatic gripping operations
Pending Publication Date: 2022-04-12
四川共享铸造有限公司
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[0005] Based on this, it is necessary to provide a method for automatic grasping of manipulators in different coordinate systems in view of the problem that the manipulator cannot achieve automatic gripping operations after manual intervention in the prior art
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[0020] In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the related drawings. The preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that a thorough and complete understanding of the present disclosure is provided.
[0021] It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "left", "right", "top", "bottom", "bottom", "top" and similar expressions used herein are ...
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The invention relates to a method for automatic grabbing of manipulators in different coordinate systems, and the method comprises the following steps: S1, a first manipulator grabs an object and places the object on an assembly line, and a processor records first coordinates (X, Y, Z) of the object in a first coordinate system; s2, the object moves to a second coordinate system along with the assembly line on the assembly line; s3, the processor operates the first coordinate data according to a compensation algorithm to obtain second coordinate data (X ', Y', Z ') of the object in a second coordinate system; and S4, the second manipulator receives the second coordinate data and accurately grabs the objects on the assembly line. According to the method, after the objects on the assembly line are manually operated, the follow-up mechanical arm can continuously and automatically grab the objects accurately only according to the coordinates obtained through the compensation algorithm, manual confirmation is not needed, and the problem that the mechanical arm cannot grab the objects accurately after manual operation is avoided.
Description
technical field [0001] The invention relates to the technical field of automatic positioning and grasping of manipulators, and more particularly, to a plurality of manipulators in different coordinate systems of an assembly line in the foundry industry to automatically obtain and calculate the coordinates of sand cores and implement accurate automatic grasping. Background technique [0002] In the traditional casting industry process, the caster fills the wood mold with resin sand mixed with resin, and the sand becomes a sand core after solidification. This process requires the use of lifting tools such as a gantry crane. Sand core forming and moulding, transfer, core grouping and other technological processes are inseparable from the crane. This phenomenon is gradually replaced by robots in the modern foundry industry. [0003] In the modern advanced casting process, sand core forming has changed from sand filling in wooden molds to 3D printers or core shooting. After form...
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IPC IPC(8): B25J9/16
Inventor 肖博刘巍唐钟雪
Owner 四川共享铸造有限公司