CN107690377A - Part grasping means and robot system, fixture based on robot system - Google Patents
Part grasping means and robot system, fixture based on robot system Download PDFInfo
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- CN107690377A CN107690377A CN201780001553.0A CN201780001553A CN107690377A CN 107690377 A CN107690377 A CN 107690377A CN 201780001553 A CN201780001553 A CN 201780001553A CN 107690377 A CN107690377 A CN 107690377A
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- Prior art keywords
- suction cup
- captured
- cup assembly
- robot
- fixture
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of part grasping means based on robot system, the robot system includes robot (20) and the fixture (30) by robot transmission, wherein fixture includes spaced at least two Suction cup assembly (31), and the grasping means includes：Control machine people is driven fixture with the surface to be captured of the default initial close part to be captured (40) of pose；When detecting that the first Suction cup assembly touched after surface is captured, control machine people adjusts the posture of fixture, make it that remaining Suction cup assembly further touches surface to be captured while the first Suction cup assembly and surface to be captured holding contact；Control machine people captures part to be captured by least two Suction cup assemblies.Smoothly part of the crawl in different postures can be ensured using the part grasping means.Further disclose a kind of robot system and fixture.
Description
Technical field
The present invention relates to technical field of automation, more particularly to a kind of part grasping means based on robot system and
Robot system, fixture.
Background technology
In the commercial Application of robot, it is often necessary to thin wall component, such as glass etc. are drawn using robot,
In the loading and unloading crawl station of part, often there is part position inaccurate, cause robot not capture accurately, and damage part
Bad or loading and unloading malposition.
Thin wall component in discharge station, generally has a pallet to deposit part on a production line, in order to which part is stable
Storage, pallet generally also need to certain support angle, allow part to keep specific posture.But it is artificial code to have many situations
Even pile or machine stacking are due to the individual difference of pallet and part, it is also difficult to accomplish that the posture of multiple parts is consistent, this is just
Absorption operation can be automated to Continuous maching feeding and brings the problem of very big.
Loading and unloading station to such case, have at present many factories be by artificial loading to automatic production line,
Automation to realize production line, then need to realize the automatic loading/unloading of part by robot, current usual way
It is to look for a standard posture, carries out robot teaching, but the posture of this all part for needing later feeding is required for and standard
Posture is consistent.
Because by manually put or different parts itself between difference, posture of the part on pallet is different, when zero
Posture of the part on pallet is differed greatly, and robot can be caused can not accurately to capture (damage parts can be caused by force by drawing).
The content of the invention
The present invention provides a kind of part grasping means and robot system, fixture based on robot system, can solve the problem that
Posture of the part on pallet differs greatly the technical problem for causing robot not capture accurately in the prior art.
In order to solve the above technical problems, one aspect of the present invention is：One kind is provided and is based on robot system
Part grasping means, the robot system includes robot and the fixture by the robot transmission, wherein the folder
Tool includes spaced at least two Suction cup assembly, and methods described includes：
Fixture described in the robot transmission is controlled with the surface to be captured of the default initial close part to be captured of pose；
When detecting that it is described after surface is captured that the first Suction cup assembly touches, the robot is controlled to adjust the fixture
Posture, to cause while first Suction cup assembly keeps contacting with the surface to be captured, the remaining sucker
Component further touches the surface to be captured；
The robot is controlled to pass through part to be captured described at least two Suction cup assembly crawl.
In order to solve the above technical problems, another technical solution used in the present invention is：There is provided a kind of for capturing part
Robot system, the robot system includes robot, fixture and master control system, wherein the fixture is set including interval
At least two Suction cup assemblies put, each Suction cup assembly further comprise first sensor, and the master control system controls institute
Fixture described in robot transmission is stated with the surface to be captured of the default initial close part to be captured of pose, the first sensor
For detecting whether the Suction cup assembly touches surface capture, when detecting that the first Suction cup assembly treats described in touching
After capturing surface, the master control system controls the posture of the robot adjustment fixture, to cause in first sucker
While component keeps contacting with the surface to be captured, the remaining Suction cup assembly, which further touches, described treats crawl table
Face, and then pass through part to be captured described at least two Suction cup assembly crawl.
In order to solve the above technical problems, another technical solution used in the present invention is：A kind of fixture, the fixture are provided
Including support and at least two Suction cup assemblies, quantity accommodating hole corresponding with the Suction cup assembly is provided with the support, often
One Suction cup assembly includes inserting pole, cupule head, elastic component and first sensor, wherein the inserting pole be inserted in it is described
And can be along the axial movement of the accommodating hole in accommodating hole, the cupule head is arranged at one end of the inserting pole, the bullet
Property part flexibly support between the support and the cupule head, and touch in the cupule head it is described when surface is captured,
The elastic component is compressed, and then causes axial movement of the inserting pole along the accommodating hole, and the first sensor is used for
Axial displacement of the inserting pole along the accommodating hole is detected, and judges described at least two according to the displacement
Whether Suction cup assembly touches the surface to be captured.
The beneficial effects of the invention are as follows：The situation of prior art is different from, the present invention adjusts fixture by control machine people
Posture, make it that remaining Suction cup assembly further connects while keeping contacting on the first Suction cup assembly and surface to be captured
The surface to be captured is contacted, to ensure smoothly part of the crawl in different postures.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing, wherein：
Fig. 1 is the flow chart for the part grasping means based on robot system that one embodiment of the invention provides；
Fig. 2 is the flow chart for the part grasping means based on robot system that another embodiment of the present invention provides；
Fig. 3 is the simplification structural representation of robot system provided by the invention；
Fig. 4 is the planar structure schematic diagram of the fixture of robot system provided by the invention；
Fig. 5 is the partial cutaway schematic of the fixture of robot system provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Also referring to Fig. 1 and Fig. 3 to Fig. 5, one embodiment of the invention provides a kind of part based on robot system and grabbed
Method is taken, wherein robot system includes robot 20 and the fixture 30 being driven by robot 20, and robot 20 uses six axles
Robot, fixture 30 include spaced at least two Suction cup assembly 31, and this method comprises the following steps：
S110：Control machine people 20 is driven fixture 30 and treats crawl table close to part to be captured with default initial pose
Face.During the general pallet 50 of replacing every time, the surface to be captured of the part to be captured 40 on the surface and pallet 50 of fixture 30 is two
Individual not parallel plane.
S120：When detecting that the first Suction cup assembly 31 touched after surface is captured, control machine people 20 adjusts fixture 30
Posture, make it that remaining Suction cup assembly 31 enters one while keeping contacting on the first Suction cup assembly 31 and surface to be captured
Step touches surface to be captured.First Suction cup assembly 31 refers to first Suction cup assembly 31 contacted with surface to be captured.
In this step, can carry out having detected whether that Suction cup assembly 31 touches by the sensor being arranged on fixture 30
Surface to be captured.The sensor can be the sensor that proximity transducer or photoelectric sensor etc. are used for detecting distance.More
When changing pallet 50, usually operator pushes the pallet 50 for being loaded with part 40 to be captured the operating area of robot 20 so that
Part 40 to be captured is relative with fixture 30.
The control machine people 20 adjusts the description that the particular technique of the posture of fixture 30 is seen below.
S130：Control machine people 20 captures part 40 to be captured by least two Suction cup assemblies 31.In this step, may be used
Captured by providing negative pressure of vacuum at least two Suction cup assemblies 31.
In the present embodiment, multiple parts 40 to be captured are respectively provided with different postures, therefore all adjust posture during each crawl
To ensure the accurate crawl of each part to be captured 40.
Also referring to Fig. 2 to Fig. 5, another embodiment of the present invention provides a kind of part crawl side based on robot system
Method, wherein robot system include robot 20 and the fixture 30 being driven by robot 20, and robot 20 uses six axle machines
People, fixture 30 include spaced at least two Suction cup assembly 31, and this method comprises the following steps：
S210：Control machine people 20 is driven fixture 30 and treats crawl table close to part to be captured with default initial pose
Face.During the general pallet 50 of replacing every time, the surface to be captured of the part to be captured 40 on the surface and pallet 50 of fixture 30 is two
Individual not parallel plane.
S220：When detecting that the first Suction cup assembly 31 touched after surface is captured, control machine people 20 adjusts fixture 30
Posture, make it that remaining Suction cup assembly 31 enters one while keeping contacting on the first Suction cup assembly 31 and surface to be captured
Step touches surface to be captured.First Suction cup assembly 31 refers to first Suction cup assembly 31 contacted with surface to be captured.
In this step, can carry out having detected whether that Suction cup assembly 31 touches by the sensor being arranged on fixture 30
Surface to be captured.The sensor can be the sensor that proximity transducer or photoelectric sensor etc. are used for detecting distance.More
When changing pallet 50, usually operator pushes the pallet 50 for being loaded with part 40 to be captured the operating area of robot 20 so that
Part 40 to be captured is relative with fixture 30.
The control machine people 20 adjusts the description that the particular technique of the posture of fixture 30 is seen below.
S222：The initial pose of fixture 30 is modified according to the adjusting parameter during pose adjustment.Perform
Surface the to be captured composition of step, the surface of fixture 30 and part 40 to be captured is parallel.
S224：Control machine people 20 is driven fixture 30 with revised initial pose close to surface to be captured, to cause
At least two Suction cup assemblies 31 contact surface to be captured simultaneously during.
S230：Control machine people 20 captures part 40 to be captured by least two Suction cup assemblies 31.In this step, may be used
Captured by providing negative pressure of vacuum at least two Suction cup assemblies 31.
In the present embodiment, multiple parts 40 to be captured have consistent placing attitude, after robot 20 adjusts once, after
Continuous crawl all captures according to the posture after adjustment.
In one embodiment, surface to be captured is plane, when fixture 30 includes two Suction cup assemblies 31 of coplanar setting,
Wherein, when detecting that the first Suction cup assembly 31 touched after surface is captured, control machine people 20 adjusts the posture of fixture 30
Step includes：
When detecting that the first Suction cup assembly 31 touched after surface is captured, control machine people 20 is around default first direction
Rotary clamp 30, to cause another Suction cup assembly 31 to contact surface to be captured, and record the machine in the rotation process of first direction
The rotational angle of 20 each rotating shaft of device people.The first direction is any one direction of non-two Suction cup assembly lines, preferably
For a direction vertical with described two Suction cup assembly lines.
Now, the step of adjusting parameter according to during pose adjustment is modified to initial pose includes：
According to the initial pose of rotational angle amendment of 20 each rotating shaft of robot in the rotation process of first direction.
In another embodiment, surface to be captured is plane, and fixture 30 includes at least three Suction cup assemblies of coplanar setting
31.Wherein, when detecting that the first Suction cup assembly 31 touched after surface is captured, control machine people 20 adjusts the posture of fixture 30
The step of include：
When detecting that the first Suction cup assembly 31 touched after surface is captured, control machine people 20 is around default first direction
Rotary clamp 30, to cause another Suction cup assembly 31 to contact surface to be captured, and record the machine in the rotation process of first direction
The rotational angle of 20 each rotating shaft of device people；Control machine people 20 is remaining to cause around default second direction rotary clamp 30 again
Suction cup assembly 31 contacts surface to be captured, and records the angle of rotation of 20 each rotating shaft of robot in the rotation process of second direction
Degree.
The step of being modified according to the adjusting parameter during pose adjustment to initial pose includes：
According to the rotational angle of 20 each rotating shaft of robot and the rotation around second direction in the rotation process of first direction
During 20 each rotating shaft of robot the initial pose of rotational angle amendment.
Wherein, the default first direction can be arbitrary direction, and the default second direction is to have contacted
To the line direction of two Suction cup assemblies 31 on surface to be captured.Preferably, the default first direction is to touch at first
The line direction of the Suction cup assembly 31 on surface to be captured and adjacent Suction cup assembly 31；Default second direction is to have touched
The line direction of two Suction cup assemblies 31 on surface to be captured.
In a specific embodiment of the invention, fixture 30 includes be respectively arranged at the different summits of a rectangular area four
Suction cup assembly 31, wherein first direction and second direction correspond respectively to contacting surface to be captured at first of rectangular area
Direction where two right-angle sides of one Suction cup assembly 31 connection.
As shown in Figure 4 and Figure 5, in the present embodiment, fixture 30 further comprises support 32, and quantity is provided with support 32
Accommodating hole 321 corresponding with Suction cup assembly 31, the accommodating hole 321 can be provided by support 32 itself, or as shown in figure 5,
The accommodating hole 321 is provided by another L-type sucker fixed plate 34 fixed with support 32.
In the present embodiment, each Suction cup assembly 31 includes inserting pole 311, cupule head 312, elastic component 313 and first
Sensor 314, wherein inserting pole 311 are inserted in accommodating hole 321, and can be along the axial movement of accommodating hole 321, cupule head
312 are arranged at one end of inserting pole 311, and elastic component 313 preferably uses spring, flexibly support in support 32 and cupule head 312 it
Between, and touched in cupule head 312 when surface is captured, elastic component 313 is compressed, and then causes inserting pole 311 along accommodating hole
321 axial movement.
Detecting the step of whether at least two Suction cup assemblies 31 touch surface to be captured includes：Pass through first sensor
Axial displacement of the 314 detection inserting poles 311 along accommodating hole 321, and at least two sucker groups are judged according to displacement
Whether part 31 touches surface to be captured.
In embodiments of the present invention, first sensor 314 is proximity transducer, is detected and planted by first sensor 314
Axial displacement of the bar 311 along accommodating hole 321, and judge whether at least two Suction cup assemblies 31 contact according to displacement
Include to the step of surface to be captured：
When axial displacement of the inserting pole 311 along accommodating hole 321 is in default detection range, corresponding to judgement
Suction cup assembly 31 touches surface to be captured.For example, default detection range is the area of the orientation monitoring of first sensor 314
Domain, the region equal to 20 millimeters is greater than, when axial movement certain distance (such as 20 millis of the inserting pole 311 along accommodating hole 321
Rice) it can then enter the region that the orientation of first sensor 314 monitors, now Suction cup assembly 31 corresponding to judgement, which has touched, waits to grab
Take surface.
In embodiments of the present invention, each Suction cup assembly 31 further comprises the sensing device being arranged on inserting pole 311
315, first sensor 314 detects axial displacement of the inserting pole 311 along accommodating hole 321 by sensing device 315.
In embodiments of the present invention, the air flue 316 of the intracavitary of connection cupule head 312 is provided with inserting pole 311, passes through gas
Road 316 provides negative pressure to the intracavitary of cupule head 312, to cause cupule head 312 to adsorb on surface to be captured.
In embodiments of the present invention, robot system further comprises vavuum pump 10, and Suction cup assembly 31 is connected by pipeline
Vavuum pump 10, the position of its intermediate pump 10 are not construed as limiting, and in one embodiment, the base that can be arranged on robot 20 is attached
Closely.Fixture 30 further comprises the pipeline (not shown) for connecting inserting pole 311 and vavuum pump 10, wherein at least two sucker group
The inserting pole 311 of part 31 shares same pipeline, and then the intracavitary of the cupule head 312 at least two Suction cup assemblies 31 produces simultaneously
The negative pressure of uniform pressure.
In embodiments of the present invention, fixture 30 further comprises being arranged at second sensor 317 in pipeline (in such as Fig. 4
It is shown), the vacuum that second sensor 317 is used in signal piping, provided by air flue 316 to the intracavitary of cupule head 312
After negative pressure, if the vacuum in pipeline is more than or equal to default vacuum level threshold, control machine people 20 is driven fixture 30, entered
And the part to be captured 40 for being adsorbed cupule head 312 is moved to precalculated position.
In the method for adjustment for the crawl part orientation based on robot system that the present embodiment provides, pass through control machine people
The posture of 20 adjustment fixtures 30, to cause while the first Suction cup assembly 31 keeps contacting with surface to be captured, remaining suction
Disk component 31 further touches surface to be captured, to ensure smoothly part 40 of the crawl in different postures.
Also referring to Fig. 3 to Fig. 5, the present invention also provides a kind of robot system for being used to capture part, the robot
System includes robot 20, fixture 30 and master control system (not shown).
Wherein robot 20 is six-joint robot, and fixture 30 includes spaced at least two Suction cup assembly 31, sucker
Component 31 connects vavuum pump 10 by pipeline, and the position of its intermediate pump 10 is not construed as limiting, in one embodiment, can set
In the base-adjacent of robot 20.Each Suction cup assembly 31 further comprises first sensor 314, master control system control machine people
With default initial pose close to the surface to be captured of part 40 to be captured, first sensor 314 is used to examine 20 transmission fixtures 30
Survey whether Suction cup assembly 31 touches surface capture, when detecting that the first Suction cup assembly 31 touched after surface is captured, lead
The posture that system control machine device people 20 adjusts fixture 30 is controlled, to keep contacting with surface to be captured in the first Suction cup assembly 31
While, remaining Suction cup assembly 31 further touches surface to be captured, and then is captured by least two Suction cup assemblies 31
Part 40 to be captured.In the present embodiment, multiple parts to be captured 40 are respectively provided with different postures, therefore are all adjusted during each crawl
Whole posture is to ensure the accurate crawl of each part to be captured 40.
In other embodiments, multiple parts to be captured 40 have consistent placing attitude, the adjustable primary of robot 20
After, follow-up crawl all captures according to the posture after adjustment, and specifically, master control system is according to the tune during pose adjustment
Whole parameter is modified to initial pose, and master control system control machine people 20 during follow-up crawl is driven fixture 30 to correct
Rear initial pose is close to surface capture, during approaching at least two Suction cup assemblies 31 while contact to wait to capture
Surface and then capture part 40 to be captured.
In an embodiment of the invention, surface to be captured is plane, and fixture 30 includes two sucker groups of coplanar setting
During part 31, wherein, when detecting that the first Suction cup assembly 31 touched after surface is captured, control machine people 20 adjusts fixture 30
The step of posture, includes：
When detecting that the first Suction cup assembly 31 touched after surface is captured, control machine people 20 is around default first direction
Rotary clamp 30, to cause another Suction cup assembly 31 to contact surface to be captured, and record the machine in the rotation process of first direction
The rotational angle of 20 each rotating shaft of device people.The first direction is any one direction of non-two Suction cup assembly lines, preferably
For a direction vertical with described two Suction cup assembly lines.
Now, the step of adjusting parameter according to during pose adjustment is modified to initial pose includes：
According to the initial pose of rotational angle amendment of 20 each rotating shaft of robot in the rotation process of first direction.
In an alternative embodiment of the invention, surface to be captured is plane, and fixture 30 includes at least three suctions of coplanar setting
Disk component 31, when detecting that the first Suction cup assembly 31 touched after surface is captured, master control system control machine people 20 is around first
Direction rotary clamp 30, to cause another Suction cup assembly 31 to contact surface to be captured, and record and turn around default first direction
The rotational angle of 20 each rotating shaft of robot during dynamic, the further control machine people 20 of master control system turn around default second direction
Dynamic fixture 30, to cause remaining Suction cup assembly 31 to contact surface to be captured, and record the machine in the rotation process of second direction
The rotational angle of 20 each rotating shaft of device people, further according in the rotation process of first direction the rotational angle of 20 each rotating shaft of robot and
The initial pose of rotational angle amendment of 20 each rotating shaft of robot in the rotation process of second direction.
Wherein, default first direction is the Suction cup assembly 31 for touching surface to be captured at first and adjacent Suction cup assembly
31 line direction；Default second direction is the line direction for two Suction cup assemblies 31 for having touched surface to be captured.
In a specific embodiment of the invention, fixture 30 includes be respectively arranged at the different summits of a rectangular area four
Suction cup assembly 31, wherein first direction and second direction correspond respectively to contacting surface to be captured at first of rectangular area
Direction where two right-angle sides of one Suction cup assembly 31 connection.
Wherein, fixture 30 includes support 32, and quantity accommodating hole 321 corresponding with Suction cup assembly 31 is provided with support 32,
The accommodating hole 321 can be provided by support 32 itself, or as shown in figure 4, what the accommodating hole 321 was fixed by another and support
L-type sucker fixed plate 34 provides.
In the present embodiment, each Suction cup assembly 31 further comprises inserting pole 311, cupule head 312 and elastic component
313, wherein inserting pole 311 is inserted in accommodating hole 321, and can be set along the axial movement of accommodating hole 321, cupule head 312
In one end of inserting pole 311, elastic component 313 is flexibly supported between support 32 and cupule head 312, and contacted in cupule head 312
To when surface is captured, elastic component 313 is compressed, and then causes axial movement of the inserting pole 311 along accommodating hole 321, and first passes
Sensor 314 detects axial displacement of the inserting pole 311 along accommodating hole 321, and master control system judges sucker according to displacement
Whether component 31 touches surface to be captured.
Wherein, first sensor 314 is proximity transducer, when axial displacement of the inserting pole 311 along accommodating hole 321
During in default detection range, Suction cup assembly 31 corresponding to master control system judgement touches surface to be captured.L-type sucker is fixed
Plate 34 is provided with regulating tank 341, and the position of first sensor 314 can finely tune in regulating tank 341 as needed.
In the present embodiment, each Suction cup assembly 31 further comprises the sensing device 315 being arranged on inserting pole 311,
First sensor 314 detects axial displacement of the inserting pole 311 along accommodating hole 321 by sensing device 315.
The air flue 316 of the intracavitary of connection cupule head 312 is provided with inserting pole 311, air flue 316 is used for cupule head 312
Intracavitary provide negative pressure, to cause cupule head 312 to adsorb on surface to be captured.
Robot system further comprises vavuum pump 10, and fixture 30 further comprises connecting inserting pole 311 and vavuum pump 10
Pipeline, the inserting pole 311 of wherein at least two Suction cup assembly 31 shares same pipeline, and then at least two Suction cup assemblies 31
The intracavitary of cupule head 312 produce the negative pressure of uniform pressure simultaneously.
In addition, fixture 30 further comprises being arranged at the second sensor 317 in pipeline, second sensor 317 is used to examine
Vacuum in test tube road, when vacuum of the master control system in pipeline is more than or equal to default vacuum level threshold, control machine
Device people 20 is driven fixture 30, and then the part to be captured 40 that cupule head 312 is adsorbed is moved to precalculated position.
In the robot system for being used to capture part that the present embodiment provides, fixture 30 is adjusted by control machine people 20
Posture, make it that remaining Suction cup assembly 31 is further while the first Suction cup assembly 31 keeps contacting with surface to be captured
Surface to be captured is touched, to ensure smoothly part 40 of the crawl in different postures.
Please continue to refer to Fig. 4 and Fig. 5, the present invention also provides a kind of fixture 30, and the fixture 30 includes support 32 and at least two
Individual Suction cup assembly 31, quantity accommodating hole 321 corresponding with Suction cup assembly 31 is provided with support 32, each Suction cup assembly 31 includes
Inserting pole 311, cupule head 312, elastic component 313 and first sensor 314, wherein inserting pole 311 are inserted in accommodating hole 321
And can be along the axial movement of accommodating hole 321, cupule head 312 is arranged at one end of inserting pole 311, and elastic component 313 flexibly supports
Being touched between support 32 and cupule head 312, and in cupule head 312 when surface is captured, elastic component 313 is compressed, and then
So that axial movement of the inserting pole 311 along accommodating hole 321, first sensor 314 is used to detect inserting pole 311 along accommodating hole 321
Axial displacement, and judge whether at least two Suction cup assemblies 31 touch surface to be captured according to displacement.
In embodiments of the present invention, support 32 is provided with the connecting plate for being used for being connected with the robot 20 in previous embodiment
33, connecting plate 33 is provided with connecting hole so that the end axle with robot 20 mutually assembles.
Fixture 30 further comprises sucker fixed plate 34, and the controllability of sucker fixed plate 34 is arranged on support 32, passed through
Adjust the position of sucker fixed plate 34 and then adjust the adsorbable size that Suction cup assembly 31 is formed.
The fixture 30 that the present embodiment provides can coordinate foregoing robot 20 to use, and fixture is adjusted by control machine people 20
30 posture, make it that remaining Suction cup assembly 31 enters while the first Suction cup assembly 31 keeps contacting with surface to be captured
One step touches surface to be captured, to ensure the smooth crawl of different parts 40.
Below by taking 4 first sensors 314 (S1, S2, S3, S4) as an example, the robot system of the present invention is illustrated
The course of work：
1st, robot tool coordinate system T1 (with fixture 30 for reference) and part coordinate system W1 are established (with part 40 to be captured
Pallet for reference), posture P of the fixture 30 under coordinate system W1 can obtain according to coordinate transformation algorithm；
2nd, robot 20 gradually approaches part with initial pose P0 (x, y, z, a, b, c), positioned at 30 4 jiaos of sensing of fixture
One in device S1, S2, S3, S4 senses part first, it is assumed that be S1, now robot 20 record now pose P1 (x1,
Y1, z1, a1, b1, c1), and control machine people 20 is rotating shaft to S4 directions Fixed-point Motion of A using S1-S2, senses sensor S4
Part, and pose P4 (x4, y4, z4, a4, b4, c4) now is recorded, the fixture in robot 20 is calculated by control algolithm
30 with part left and right directions posture difference, to initial pose P0 carry out first time pose compensation P0' (x, y, z, a+ Δs a1, b
+ Δ b1, c+ Δ c1).
3rd, robot is with the posture P after compensating0' (x, y, z, a+ Δs a1, b+ Δ b1, c+ Δ c1) approaches part, based on the 2nd
Step it is assumed that sensor S1 and S4 can sense part simultaneously, now robot 20 can record now pose P14 (x14,
Y14, z14, a14, b14, c14), and control machine people is using S1-S4 as axle steer S2 and S3 directions Fixed-point Motion of A, until S2 and S3
Part is sensed, and records robot pose P23 (x23, y23, z23, a23, b23, c23) now, passes through control algolithm meter
The fixture 30 of robot 20 and part are calculated in the posture difference of above-below direction, second of pose compensation is carried out to initial pose P0
P0" (x, y, z, a+ Δ a1+ Δs a2, b+ Δ b1+ Δs b2, c+ Δ c1+ Δ c2)；
4th, robot 20 is with by the posture P after modified twice0" (x, y, z, a+ Δ a1+ Δs a2, b+ Δ b1+ Δs b2, c
+ Δ c1+ Δ c2), go draw part, the posture after being now adjusted make robot 20 fixture 30 above with before part
It is horizontal.Vavuum pump 10 is opened, robot 20 continues to lean on feature contacts, robot 20 first close to part, cupule head 312 at a slow speed
Closely, elastic component 313 is compressed, and negative pressure raises in air flue 316, and part is bonded with fixture 30, until negative pressure of vacuum reaches preset value,
Vacuum transducer 317 provides signal, and robot 20 halts action, and using current point as reference, crawl glass to security bit
Put, be transported on production line.
Embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this
The equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, it is included within the scope of the present invention.
Claims (22)
- A kind of 1. part grasping means based on robot system, it is characterised in that the robot system include robot with And the fixture by the robot transmission, wherein the fixture includes spaced at least two Suction cup assembly, methods described Including：Fixture described in the robot transmission is controlled with the surface to be captured of the default initial close part to be captured of pose；When detecting that it is described after surface is captured that the first Suction cup assembly touches, the robot is controlled to adjust the appearance of the fixture State, to cause while first Suction cup assembly keeps contacting with the surface to be captured, the remaining Suction cup assembly Further touch the surface to be captured；The robot is controlled to pass through part to be captured described at least two Suction cup assembly crawl.
- 2. according to the method for claim 1, it is characterised in that pass through at least two sucker controlling the robot Also include before the step of part to be captured described in component crawl：According to the adjusting parameter during pose adjustment to described initial Pose is modified；Fixture described in the robot transmission is controlled to treat crawl table close to described with the revised initial pose Face, to cause on surface to be captured described at least two Suction cup assembly during while contact.
- 3. according to the method for claim 2, it is characterised in that the surface to be captured is plane, and the fixture is included altogether At least three Suction cup assemblies that face is set；It is described when detecting that it is described after surface capture that the first Suction cup assembly touches, control the robot adjustment fixture Posture the step of include：When detecting that it is described after surface is captured that first Suction cup assembly touches, the robot is controlled around default first Direction rotates the fixture, to cause surface to be captured described in another Suction cup assembly contact, and records around the first party To rotation process in each rotating shaft of robot rotational angle；The robot is controlled to rotate the fixture around default second direction, to cause the remaining Suction cup assembly contact institute Surface to be captured is stated, and records the rotational angle of each rotating shaft of robot in the rotation process of the second direction；The step of adjusting parameter according to during pose adjustment is modified to the initial pose includes：Turn according to the rotational angle of each rotating shaft of robot in the rotation process of the first direction and around the second direction Initial pose described in the rotational angle amendment of each rotating shaft of robot during dynamic.
- 4. according to the method for claim 3, it is characterised in that the default first direction is to touch described treat at first Capture the line direction of first Suction cup assembly and adjacent Suction cup assembly on surface；The default second direction is the line direction for two Suction cup assemblies for having touched the surface to be captured.
- 5. according to the method for claim 1, it is characterised in that the fixture further comprises support, is set on the support Be equipped with quantity accommodating hole corresponding with the Suction cup assembly, each Suction cup assembly include inserting pole, cupule head, elastic component with And first sensor, wherein the inserting pole is inserted in the accommodating hole and can be along the axial movement of the accommodating hole, institute One end that cupule head is arranged at the inserting pole is stated, the elastic component is flexibly supported between the support and the cupule head, And described in being touched in the cupule head when surface is captured, the elastic component is compressed, and then cause the inserting pole along institute State the axial movement of accommodating hole, the first sensor be used to detecting axial movement of the inserting pole along the accommodating hole away from From, and according to the displacement judge at least two Suction cup assembly whether touch described in surface to be captured.
- 6. according to the method for claim 5, it is characterised in that the first sensor is proximity transducer, is inserted when described When putting axial displacement of the bar along the accommodating hole and being in default detection range, the Suction cup assembly corresponding to judgement connects Contact the surface to be captured.
- 7. according to the method for claim 5, it is characterised in that each Suction cup assembly further comprises being arranged at described Sensing device on inserting pole, the first sensor detect the inserting pole along the accommodating hole by the sensing device The displacement of axial direction.
- 8. according to the method for claim 5, it is characterised in that the chamber for connecting the cupule head is provided with the inserting pole Interior air flue；Negative pressure is provided to the intracavitary of the cupule head by the air flue, to cause the cupule head absorption to be treated described Capture on surface.
- 9. according to the method for claim 8, it is characterised in that the robot system further comprises vavuum pump, described Fixture further comprises the pipeline for connecting the inserting pole and the vavuum pump, wherein at least two Suction cup assembly is described Inserting pole shares the same pipeline, and then the intracavitary of the cupule head at least two Suction cup assembly produces phase simultaneously With the negative pressure of pressure.
- 10. according to the method for claim 9, it is characterised in that the fixture further comprises being arranged in the pipeline Second sensor, the second sensor is used to detect vacuum in the pipeline；Methods described further comprises：After negative pressure is provided to the intracavitary of the cupule head by the air flue, if the vacuum in the pipeline is more than or equal to Default vacuum level threshold, then control fixture described in the robot transmission, so by the cupule head adsorbed described in treat Crawl part is moved to precalculated position.
- 11. a kind of robot system for being used to capture part, it is characterised in that the robot system includes robot, fixture And master control system, wherein the fixture includes spaced at least two Suction cup assembly, each Suction cup assembly enters one Step includes first sensor, and the master control system controls fixture described in the robot transmission to be treated so that default initial pose is close Capture part surface capture, the first sensor be used for detect the Suction cup assembly whether touch described in treat crawl table Face, when detecting that it is described after surface is captured that the first Suction cup assembly touches, the master control system controls the robot adjustment The posture of the fixture, it is remaining to cause while first Suction cup assembly keeps contacting with the surface to be captured The Suction cup assembly further touches the surface to be captured, and then by being treated described at least two Suction cup assembly crawl Capture part.
- 12. robot system according to claim 11, it is characterised in that grabbed by least two Suction cup assembly Before taking the part to be captured, the master control system is always according to the adjusting parameter during pose adjustment to the initial pose It is modified, the master control system controls fixture described in the robot transmission with revised described during follow-up crawl Initial pose is close to the surface to be captured, to cause described at least two Suction cup assembly during while contact Surface to be captured.
- 13. robot system according to claim 12, it is characterised in that the surface to be captured is plane, the folder Tool includes at least three Suction cup assemblies of coplanar setting, when detecting that first Suction cup assembly waits to capture described in touching Behind surface, the master control system controls the robot to rotate the fixture around default first direction, another described to cause Surface to be captured described in Suction cup assembly contact, and record the rotation of each rotating shaft of robot in the rotation process of the first direction Angle, the master control system further controls the robot to rotate the fixture around default second direction, to cause residue The Suction cup assembly contact described in surface capture, and record each rotating shaft of robot in the rotation process of the second direction Rotational angle, further according to the rotational angle of each rotating shaft of robot in the rotation process of the first direction and around described second Initial pose described in the rotational angle amendment of each rotating shaft of robot in the rotation process in direction.
- 14. robot system according to claim 13, it is characterised in that the default first direction is to contact at first To the line direction of first Suction cup assembly and adjacent Suction cup assembly on the surface to be captured；The second direction is the line direction for two Suction cup assemblies for having touched the surface to be captured.
- 15. robot system according to claim 11, it is characterised in that the fixture further comprises support, described Be provided with quantity accommodating hole corresponding with the Suction cup assembly on support, each Suction cup assembly further comprise inserting pole, Cupule head and elastic component, wherein the inserting pole is inserted in the accommodating hole, and it can be moved along the axial direction of the accommodating hole Dynamic, the cupule head is arranged at one end of the inserting pole, and the elastic component is flexibly supported in the support and the cupule head Between, and touching in the cupule head described when surface capture, the elastic component is compressed, and then so that the inserting pole Along the axial movement of the accommodating hole, the first sensor detect axial movement of the inserting pole along the accommodating hole away from From, the master control system according to the displacement judge the Suction cup assembly whether touch described in surface to be captured.
- 16. robot system according to claim 15, it is characterised in that the first sensor is proximity transducer, When axial displacement of the inserting pole along the accommodating hole is in default detection range, the master control system judges The corresponding Suction cup assembly touches the surface to be captured.
- 17. robot system according to claim 15, it is characterised in that each Suction cup assembly further comprises setting The sensing device being placed on the inserting pole, the first sensor detect the inserting pole described in by the sensing device The axial displacement of accommodating hole.
- 18. robot system according to claim 15, it is characterised in that the connection suction is provided with the inserting pole The air flue of the intracavitary of coiled hair, the air flue is used to provide negative pressure to the intracavitary of the cupule head, to cause the cupule head to adsorb On the surface to be captured.
- 19. robot system according to claim 18, it is characterised in that the robot system further comprises vacuum Pump, the fixture further comprises the pipeline for connecting the inserting pole and the vavuum pump, wherein at least two suckers group The inserting pole of part shares the same pipeline, and then the intracavitary of the cupule head at least two Suction cup assembly is same When produce uniform pressure negative pressure.
- 20. robot system according to claim 19, it is characterised in that the fixture further comprises being arranged at described Second sensor in pipeline, the second sensor are used to detect the vacuum in the pipeline, and the master control system is in institute When stating the vacuum in pipeline and being more than or equal to default vacuum level threshold, fixture described in the robot transmission is controlled, and then By the cupule head adsorbed described in part to be captured be moved to precalculated position.
- 21. a kind of fixture, it is characterised in that the fixture includes support and at least two Suction cup assemblies, is set on the support Have a quantity accommodating hole corresponding with the Suction cup assembly, each Suction cup assembly include inserting pole, cupule head, elastic component and First sensor, wherein the inserting pole is inserted in the accommodating hole and can be described along the axial movement of the accommodating hole Cupule head is arranged at one end of the inserting pole, and the elastic component is flexibly supported between the support and the cupule head, and Described in being touched in the cupule head when surface is captured, the elastic component is compressed, and then causes the inserting pole described in The axial movement of accommodating hole, the first sensor be used for detect axial movement of the inserting pole along the accommodating hole away from From, and according to the displacement judge at least two Suction cup assembly whether touch described in surface to be captured.
- 22. fixture according to claim 21, it is characterised in that the fixture further comprises sucker fixed plate, described Sucker fixed plate controllability is set on the bracket, and the suction is adjusted by adjusting the position of the sucker fixed plate The adsorbable size that disk component is formed.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/082225 WO2018195866A1 (en) | 2017-04-27 | 2017-04-27 | Component grabbing method based on robot system, and robot system and clamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107690377A true CN107690377A (en) | 2018-02-13 |
| CN107690377B CN107690377B (en) | 2021-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780001553.0A Active CN107690377B (en) | 2017-04-27 | 2017-04-27 | Part grabbing method based on robot system, robot system and clamp |
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| Country | Link |
|---|---|
| CN (1) | CN107690377B (en) |
| WO (1) | WO2018195866A1 (en) |
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| CN112247521A (en) * | 2020-11-12 | 2021-01-22 | 长春工业大学 | Automobile body part grabbing device for automobile production line |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107690377B (en) | 2021-07-09 |
| WO2018195866A1 (en) | 2018-11-01 |
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