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Six-axis assisting robot based on double-joint module

A robot, double-joint technology, applied in the field of robotics, can solve the problems of inability to adjust the grasping scheme, inability to achieve automatic obstacle avoidance, and low work efficiency

Active Publication Date: 2022-07-19
深圳市大族机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003]However, traditional robots can only perform simple moving tasks or handling tasks, and the execution instructions or execution routes are set in advance, and cannot realize automatic obstacle avoidance. At the same time, when grabbing items, it is impossible to adjust the grabbing plan adaptively according to the shape and other characteristics of the items to be grabbed, resulting in low work efficiency;

Method used

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  • Six-axis assisting robot based on double-joint module
  • Six-axis assisting robot based on double-joint module
  • Six-axis assisting robot based on double-joint module

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0069] This embodiment provides a six-axis assistance robot based on a double-joint module, such as figure 1 shown, including:

[0070] The positioning module is used to locate the target position information of the object to be grasped based on the robot;

[0071] a map acquisition module, configured to generate a grasping map based on the target position information, and at the same time, based on the grasping map, evaluate the six-axis rotation angle of the dual-joint module of the robot;

[0072] The working module is used to generate a control instruction based on the grasping map and the six-axis rotation angle of the double-joint module of the robot, and control the six-axis of the double-joint module based on the control instruction to assist the robot to perform the operation on the robot. The object to be grabbed is grabbed.

[0073] In this embodiment, the degree of freedom of the robot is 6, the robotic arm of the robot includes six axes, three sets of double-joi...

Embodiment 2

[0080] On the basis of Embodiment 1, this embodiment provides a six-axis assistance robot based on a double-joint module, such as image 3 As shown, in the positioning module, the target position information of the object to be grasped is positioned based on the robot, including:

[0081] a position positioning unit, used for establishing a plane rectangular coordinate system in the target scene, and determining the first coordinate position data of the robot based on the plane rectangular coordinate system;

[0082] The position positioning unit is further configured to determine the second coordinate position data of the object to be grasped in the plane rectangular coordinate system;

[0083] A data fusion processing unit, configured to perform fusion processing on the first coordinate position data and the second coordinate position data, and determine target position information of the object to be grasped based on the fusion processing result.

[0084] In this embodimen...

Embodiment 3

[0090] On the basis of Embodiment 1, this embodiment provides a six-axis assistance robot based on a dual-joint module. In the map acquisition module, a grab map is generated based on the target position information, including:

[0091] a position information acquisition unit, configured to acquire the first position information of the robot in the target scene, and read the second position information of the object to be grasped;

[0092] a target image acquisition unit, configured to acquire a target image including the robot and the object to be grasped in a target scene based on a preset image acquisition device;

[0093] A target image reading unit, configured to read the target image and determine whether there is a target obstacle in the target image, wherein the target obstacle is other than the robot and the object to be grasped items;

[0094] an obstacle position information acquisition unit, configured to locate the position of the target obstacle when there is a ...

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PUM

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Abstract

The invention provides a six-axis assisting robot based on a double-joint module, and the robot comprises a positioning module which is used for positioning the target position information of a to-be-grabbed object based on the robot; the map acquisition module is used for generating a capture map based on the target position information and evaluating the rotation angles of six axes of a double-joint module of the robot based on the capture map; and the working module is used for generating a control instruction based on the grabbing map and the six-axis rotation angle of the double-joint module of the robot, and controlling the six-axis assisting robot of the double-joint module to grab the to-be-grabbed object based on the control instruction. The corresponding grabbing map is generated according to the position information of the to-be-grabbed object, and the rotation angles of the six axes of the double-joint module are determined according to the grabbing map, so that the intelligence, accuracy and coordination of grabbing by the six-axis assisting robot based on the double-joint module are improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a six-axis assistance robot based on a double-joint module. Background technique [0002] At present, as IT technology becomes more and more mature, more and more robots appear in people's daily life, which provides great convenience for people's life; [0003] However, traditional robots can only perform simple moving tasks or handling tasks, and the execution instructions or execution routes are set in advance, so automatic obstacle avoidance cannot be achieved. The shape and other characteristics of the item are adaptively adjusted to the grasping plan, resulting in low work efficiency; [0004] Therefore, the present invention provides a six-axis assistance robot based on a double-joint module, which is used to generate a corresponding grasping map according to the position information of the object to be grasped, and determine the six-axis of the double-joint module accordin...

Claims

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Application Information

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IPC IPC(8): B25J9/08B25J19/00G06K9/62G06T7/70
CPCB25J9/08B25J19/00G06T7/70G06F18/25
Inventor 邵茂峰肖智勇张国平王光能
Owner 深圳市大族机器人有限公司