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Monocular vision-based six-finger manipulator capable of changing grabbing modes

A technology of monocular vision and manipulator, which is applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of decreased work efficiency, placement work without precision requirements, and complicated switching, so as to save time, improve the level of intelligence, and rotate flexibly. Effect

Pending Publication Date: 2022-05-03
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the prior art, when the manipulator grasps objects of different specifications, different grasping devices need to be replaced, or even the entire manipulator needs to be replaced. The switching is very complicated, resulting in a decrease in work effic

Method used

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  • Monocular vision-based six-finger manipulator capable of changing grabbing modes
  • Monocular vision-based six-finger manipulator capable of changing grabbing modes
  • Monocular vision-based six-finger manipulator capable of changing grabbing modes

Examples

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Example Embodiment

[0030] Example

[0031] see also Figure 1 and Figure 2 , in which Figure 1 It is an exploded schematic diagram of a six-finger manipulator with changeable grasping mode based on monocular vision. Figure 2 It is a structural schematic diagram of a six-fingered manipulator with changeable grasping mode based on monocular vision.

[0032] such as Figure 1 and Figure 2 As shown, a six-finger manipulator with changeable grasping mode based on monocular vision is characterized by comprising six mechanical fingers 1, a mechanical palm 2 and a mechanical wrist 3; The mechanical finger 1 is provided with six finger steering engines 19 for driving the mechanical finger 1 to grab; The mechanical palm 2 is provided with six palm steering engines 14, which can control the six mechanical fingers 1 to quickly switch the appropriate grasping mode according to the target shape acquired by the monocular camera 16. The mechanical wrist 3 has three degrees of freedom, which can realize the rotation o...

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Abstract

The embodiment of the invention discloses a six-finger manipulator capable of changing grabbing modes based on monocular vision. The six-finger manipulator comprises mechanical fingers, a mechanical palm and a mechanical wrist. Each mechanical finger is provided with a finger steering engine used for driving the finger to conduct grabbing. Six palm steering engines are arranged on the mechanical palm, and the six mechanical fingers can be controlled to rapidly switch a proper grabbing mode according to the target shape obtained by the monocular camera; the mechanical wrist has three degrees of freedom, and rotation of the mechanical wrist around the x axis, the y axis and the z axis can be achieved. According to the embodiment of the invention, the monocular camera is arranged, so that the pose measurement can be carried out before the target is grabbed, the grabbing precision is improved, and the method can be applied to occasions with relatively high grabbing precision requirements; and moreover, appropriate grabbing modes can be rapidly switched according to different target shapes, the six-finger manipulator has multiple combined grabbing modes, switching is rapid, the working efficiency is high, and the application range is wide.

Description

technical field [0001] The embodiment of the present invention relates to the fields of machine vision and robotics, specifically a six-fingered manipulator based on monocular vision with a changeable grasping method. Background technique [0002] The manipulator is the most widely used automatic mechanical device in the field of robot technology. It can be seen in the fields of industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. With the continuous advancement of machine vision technology and being introduced into the field of robotics, robots begin to have their own "eyes". It not only expands its scope of application, but also improves its intelligence. The advantage of machine vision technology is to improve the automation and production efficiency of production. [0003] In the prior art, when the manipulator grasps objects of different specifications, different grasping devices need to be ...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J15/02B25J17/02B25J19/02
CPCB25J15/10B25J15/0206B25J17/02B25J19/023
Inventor 张洪鑫舒容梓竣王洪宇
Owner HARBIN UNIV OF SCI & TECH
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