A moving object catching device

Abstract

The utility model discloses a kind of moving object gripping devices, by using photoelectric switch and visual perception mechanism cooperation, photoelectric switch triggers camera to take photograph when object reaches predetermined position, and industrial computer is accurately calculated the position of object according to real-time acquisition image data, further optimizes the control of manipulator.This design reduces the demand of complex algorithm and high-precision sensor, so that the device is more efficient when grabbing high-speed moving object.At the same time, through accurate target position calculation and gripper control, the industrial computer ensures that the gripper can accurately and quickly complete the grabbing action, effectively solving the problem of poor grabbing precision and slow control response in the prior art.

Description

Technical Field

[0001] This utility model relates to the field of robot control technology, specifically to a moving object grasping device. Background Technology

[0002] With the continuous development of automation technology, moving object grasping devices are being used more and more widely in industrial production lines, logistics distribution, and warehouse management. Especially in the automatic grasping of high-speed moving objects, hand-eye coordination technology has become one of the key technologies to ensure accurate grasping. Hand-eye coordination systems achieve rapid and precise grasping of moving objects through visual perception and the coordinated movement of the robotic arm. This technology has broad application prospects in smart manufacturing, automated warehouses, and robotic picking.

[0003] However, most existing moving object grasping devices rely on complex visual computing and high-precision sensors to achieve object localization and grasping control. Traditional hand-eye coordination grasping devices typically depend on high-performance cameras and complex image processing algorithms to calculate the object's position and orientation in real time, but these systems often suffer from high computational burden, high processing latency, and unstable system response. Furthermore, most existing technologies cannot effectively address grasping errors caused by changes in the speed of dynamic objects during the grasping process, resulting in low grasping accuracy in practical applications and consequently, poor reliability of moving object grasping devices. Utility Model Content

[0004] Therefore, this utility model provides a moving object grasping device to solve the problems of low grasping accuracy and poor reliability of traditional moving object grasping devices.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A moving object grasping device, the device comprising a vision sensing mechanism, a grasping mechanism, a detection module, and an industrial control computer;

[0007] The detection module includes a first photoelectric switch installed at a first position and a second photoelectric switch installed at a second position. The output terminals of the first photoelectric switch and the second photoelectric switch are both electrically connected to the input terminal of the industrial control computer.

[0008] The visual sensing mechanism is located before the first position and after the second position along the first direction, and the output end of the visual sensing mechanism is electrically connected to the input end of the industrial control computer; the first direction is the moving direction of the conveyor belt;

[0009] The gripping mechanism includes grippers, which are controlled by the industrial control computer;

[0010] When the first photoelectric switch detects an object on the conveyor belt, the visual sensing mechanism takes a picture of the object and transmits the captured image data to the industrial control computer. The industrial control computer determines the first target position corresponding to the object based on the image data and controls the gripper to move to the target position. When the second photoelectric switch detects the object, the industrial control computer controls the gripper to move to the second target position where the object is located and grasps the object.

[0011] Preferably, the gripping mechanism further includes a base, a first moving unit mounted on the base, a second moving unit mounted on the first moving unit, and a third moving unit connected to the second moving unit; the gripper is mounted on the third moving unit.

[0012] The first moving unit is used to drive the gripper to move along the first direction, the second moving unit is used to drive the gripper to move along the second direction, and the third moving unit is used to drive the gripper to move up and down; the second direction is the width direction of the conveyor belt.

[0013] Preferably, the detection module further includes a third photoelectric switch disposed on the gripper, the output terminal of the third photoelectric switch being electrically connected to the input terminal of the industrial control computer;

[0014] When the third photoelectric switch detects the object, the industrial control computer controls the gripper to grasp the object.

[0015] Preferably, the first target position is the position of the object's projection onto a first plane, where the first plane is the plane formed by the first direction and the second direction.

[0016] Preferably, the device further includes a micro switch disposed on the gripper, the output terminal of the micro switch being electrically connected to the input terminal of the industrial control computer; the micro switch is used to detect whether the gripper has grasped the object.

[0017] Preferably, the visual sensing mechanism includes a camera with its lens facing the upper surface of the conveyor belt.

[0018] Preferably, the device further includes a pressure detection module disposed on the gripper, the output end of the pressure detection module being electrically connected to the input end of the industrial control computer; the pressure detection module is used to detect the pressure applied to the object by the gripper when it grasps the object.

[0019] Preferably, the device further includes a display, the input terminal of which is electrically connected to the output terminal of the industrial control computer.

[0020] This utility model has at least the following beneficial effects:

[0021] This application provides a moving object grasping device that uses a photoelectric switch in conjunction with a visual sensing mechanism. The photoelectric switch triggers a camera to take a picture when the object reaches a predetermined position. The industrial control computer accurately calculates the object's position based on the real-time image data, further optimizing the control of the robotic arm. This design reduces the need for complex algorithms and high-precision sensors, making the device more efficient at grasping high-speed moving objects. Simultaneously, the industrial control computer ensures that the gripper can accurately and quickly complete the grasping action through precise target position calculation and gripper control, effectively solving the problems of poor grasping accuracy and slow control response in existing technologies. Attached Figure Description

[0022] To more clearly illustrate the prior art and the present invention, the accompanying drawings used in the description of the prior art and the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other drawings from the provided drawings without any creative effort.

[0023] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which this utility model can be implemented. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0024] Figure 1 This is a schematic diagram of a moving object grasping device provided in an embodiment of the present utility model. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0026] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more. The terms "first," "second," "third," "fourth," etc. (if present), in the specification, claims, and accompanying drawings of this utility model are intended to distinguish the objects they refer to. For solutions with a sequential flow, this terminology need not be interpreted as describing a specific order or sequence; for solutions with device structures, this terminology does not distinguish between matters of importance or positional relationships.

[0027] Furthermore, the terms “comprising,” “having,” and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may also include other steps or units that are not expressly listed but are inherent to these processes, methods, products, or devices, or steps or units added based on further optimizations of the inventive concept.

[0028] In this embodiment, as Figure 1 As shown, a moving object grasping device is provided, the device including a vision sensing mechanism, a grasping mechanism, a detection module and an industrial control computer;

[0029] The detection module includes a first photoelectric switch installed at a first position and a second photoelectric switch installed at a second position. The output terminals of the first photoelectric switch and the second photoelectric switch are both electrically connected to the input terminal of the industrial control computer.

[0030] The visual sensing mechanism is located before the first position and after the second position along the first direction, and the output end of the visual sensing mechanism is electrically connected to the input end of the industrial control computer; the first direction is the moving direction of the conveyor belt;

[0031] The gripping mechanism includes grippers, which are controlled by the industrial control computer;

[0032] When the first photoelectric switch detects an object on the conveyor belt, the visual sensing mechanism takes a picture of the object and transmits the captured image data to the industrial control computer. The industrial control computer determines the first target position corresponding to the object based on the image data and controls the gripper to move to the target position. When the second photoelectric switch detects the object, the industrial control computer controls the gripper to move to the second target position where the object is located and grasps the object.

[0033] In this embodiment, the gripping mechanism further includes a base, a first moving unit mounted on the base, a second moving unit mounted on the first moving unit, and a third moving unit connected to the second moving unit; the gripper is mounted on the third moving unit.

[0034] The first moving unit is used to drive the gripper to move along the first direction, the second moving unit is used to drive the gripper to move along the second direction, and the third moving unit is used to drive the gripper to move up and down; the second direction is the width direction of the conveyor belt.

[0035] In this embodiment, the detection module further includes a third photoelectric switch disposed on the gripper, and the output terminal of the third photoelectric switch is electrically connected to the input terminal of the industrial control computer;

[0036] When the third photoelectric switch detects the object, the industrial control computer controls the gripper to grasp the object.

[0037] In this embodiment, the first target position is the position of the object's projection on a first plane, and the first plane is the plane formed by the first direction and the second direction.

[0038] In this embodiment, the device further includes a micro switch disposed on the gripper, the output terminal of the micro switch being electrically connected to the input terminal of the industrial control computer; the micro switch is used to detect whether the gripper has grasped the object.

[0039] In this embodiment, the visual sensing mechanism includes a camera, the lens of which faces the upper surface of the conveyor belt.

[0040] In this embodiment, the device further includes a pressure detection module disposed on the gripper, the output end of the pressure detection module being electrically connected to the input end of the industrial control computer; the pressure detection module is used to detect the pressure applied to the object by the gripper when it grasps the object.

[0041] In this embodiment, the device further includes a display, the input terminal of which is electrically connected to the output terminal of the industrial control computer.

[0042] In one embodiment, with the increasing maturity of robotics and camera vision applications, hand-eye coordination for object grasping is becoming more and more widely used. However, due to the varying speeds of moving objects and the different positioning times and accuracies of cameras, the effectiveness of hand-eye coordination varies greatly, often manifesting as excessive speed or positioning delay. This paper introduces a hand-eye coordination method that can grasp objects moving at relatively high speeds.

[0043] Currently, most cameras and robotic arms work together, requiring a lot of computation in the vision controller, which increases the computer's workload. They also require a lot of test data to support them, and the operating speed is relatively slow. Furthermore, the motion response of 6-axis robots is difficult to predict and debug, and debugging requires a lot of time.

[0044] This solution utilizes additional sensors to directly guide robot movements using camera vision. The process is broken down into five steps: taking a picture and transmitting position information, the robot arm's first pose, the robot arm's second fixed-point walking, the robot arm grasping, the robot arm completing the grasp, and the robot arm returning to its original position. By breaking down complex movements, the parameters for each movement are reduced and made controllable, facilitating debugging.

[0045] In this embodiment, the robot can cooperate with a conveyor belt to grasp fast-moving objects; a 6-axis manipulator is not necessary, as the arm span and response are sufficient, and a 4-axis manipulator can also meet the requirements; the debugging time is short and it is easy to debug successfully.

[0046] Hardware and software equipment: Object to be inspected: 20mm*20mm, accuracy: 0.05mm, working distance: >200mm; Hikvision 2D camera MV-CU016-10GM (1 / 2.9” / 1440*1024 / 24VDC / black and white / GigE), with 200mm mounting bracket; Lens MVL-HF1624M-10MP (1 / 1.8” / 16mm / C-Mount); One 8-port switch, one 24VDC power supply, one PLC (for TCP server), three diffuse reflection photoelectric switches, one micro switch, several network cables; One industrial computer, HiViewer / VisionMaster software; One 6-axis robot; Conveyor belt, 50mm wide.

[0047] Hardware Installation and Connection: Mount the lens onto the camera, mount the camera onto the bracket, and position the bracket 200mm above the center of the conveyor belt, with the lens perpendicular to the conveyor belt. Install the robot on one side of the conveyor belt, 6000mm from the camera. Photoelectric switch ET1 is installed in the camera's infeed direction; it sends a pulse to the camera to take a picture when the object being measured obscures it. Photoelectric switch ET2 is installed in the 6-axis robot's infeed direction; it sends a pulse to the 6-axis robot to descend and grasp the object when it is obscured. Photoelectric switch ET3 is installed in the 6-axis robot's gripper infeed direction; it triggers the gripper's grasping action when the object being measured obscures it. Microswitch WS1 is installed on the gripper to detect whether the gripper has grasped the object. Power on the industrial PC, camera, switch, and 24VDC power supply. Install the software on the industrial PC. Start the conveyor belt. Connect the industrial PC, camera, and switch using network cables and set them to the same network segment.

[0048] In this embodiment, the conveyor belt runs at a certain speed. The speed signal of the conveyor belt is transmitted to the 6-axis robot through communication. Based on the speed of the conveyor belt, the robot calculates the fixed displacement of the robot's Z-axis downward movement, the time required to grasp the object to be measured, and then calculates the speed V1 of the robot's movement.

[0049] The object to be tested is placed on the conveyor belt and runs to photoelectric switch 1. Photoelectric switch 1 sends a signal to the camera, the camera takes a picture, and then calculates the center point coordinates X / Y and A (Z-axis orientation) of the object to be tested, and transmits them to the robot. The robot is positioned according to the Y-axis coordinates and A and waits at the fixed X / Z-axis position.

[0050] When photoelectric switch 2 is blocked, the robot moves down to a fixed position along the Z-axis at the calculated running speed V1, grabs the object and moves it to complete the grabbing task.

[0051] The robotic arm returns to its fixed HOME point, awaiting the next coordinated grab by the camera and robotic arm.

[0052] The above specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0053] The technical features of the above embodiments can be combined in any way (as long as there is no contradiction in the combination of these technical features). For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described; these embodiments not explicitly written should also be considered to be within the scope of this specification.

[0054] The present invention has been described in a relatively specific and detailed manner above through general description and specific embodiments. It should be noted that, without departing from the concept of the present invention, various modifications and improvements can be made to these specific embodiments, all of which fall within the scope of protection of this application. Therefore, the scope of protection of this patent application should be determined by the appended claims.

Claims

1. A device for grasping moving objects, characterized in that, The device includes a visual sensing mechanism, a grasping mechanism, a detection module, and an industrial control computer; The detection module includes a first photoelectric switch installed at a first position and a second photoelectric switch installed at a second position. The output terminals of the first photoelectric switch and the second photoelectric switch are both electrically connected to the input terminal of the industrial control computer. The visual sensing mechanism is located before the first position and after the second position along the first direction, and the output end of the visual sensing mechanism is electrically connected to the input end of the industrial control computer; the first direction is the movement direction of the conveyor belt; The gripping mechanism includes grippers, which are controlled by the industrial control computer; When the first photoelectric switch detects an object on the conveyor belt, the visual sensing mechanism takes a picture of the object and transmits the captured image data to the industrial control computer. The industrial control computer determines the first target position corresponding to the object based on the image data and controls the gripper to move to the target position. When the second photoelectric switch detects the object, the industrial control computer controls the gripper to move to the second target position where the object is located and grasps the object.

2. The moving object grasping device according to claim 1, characterized in that, The gripping mechanism further includes a base, a first moving unit mounted on the base, a second moving unit mounted on the first moving unit, and a third moving unit connected to the second moving unit; the gripper is mounted on the third moving unit. The first moving unit is used to drive the gripper to move along the first direction, the second moving unit is used to drive the gripper to move along the second direction, and the third moving unit is used to drive the gripper to move up and down; the second direction is the width direction of the conveyor belt.

3. The moving object grasping device according to claim 1, characterized in that, The detection module also includes a third photoelectric switch disposed on the gripper, the output terminal of the third photoelectric switch being electrically connected to the input terminal of the industrial control computer; When the third photoelectric switch detects the object, the industrial control computer controls the gripper to grasp the object.

4. A moving object grasping device according to claim 2, characterized in that, The first target position is the position of the projection of the object onto a first plane, which is the plane formed by the first direction and the second direction.

5. A moving object grasping device according to claim 1, characterized in that, The device also includes a micro switch disposed on the gripper, the output terminal of which is electrically connected to the input terminal of the industrial control computer; the micro switch is used to detect whether the gripper has grasped the object.

6. The moving object grasping device according to claim 1, characterized in that, The visual sensing mechanism includes a camera with its lens facing the upper surface of the conveyor belt.

7. A moving object grasping device according to claim 1, characterized in that, The device also includes a pressure detection module disposed on the gripper, the output end of the pressure detection module being electrically connected to the input end of the industrial control computer; the pressure detection module is used to detect the pressure applied to the object by the gripper when it grasps the object.

8. A moving object grasping device according to claim 7, characterized in that, The device also includes a display, the input of which is electrically connected to the output of the industrial computer.

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