CN107953338A - A kind of method, apparatus and mechanical arm of robot segregating articles - Google Patents
A kind of method, apparatus and mechanical arm of robot segregating articles Download PDFInfo
- Publication number
- CN107953338A CN107953338A CN201711487185.3A CN201711487185A CN107953338A CN 107953338 A CN107953338 A CN 107953338A CN 201711487185 A CN201711487185 A CN 201711487185A CN 107953338 A CN107953338 A CN 107953338A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- target item
- pressure
- value
- grabbing device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
Abstract
The present invention is suitable for mechanical arm technical field, provide a kind of method, apparatus and mechanical arm of robot segregating articles, the N number of mechanical arm set along conveyer belt is provided, each mechanical arm includes actuating station and the grabbing device installed in actuating station, grabbing device includes acting at least two clamping jaws on target item side wall at the same time, and method includes：When X mechanical arm control grabbing device grabs target item, gradually increase pressure is applied to target item by clamping jaw and records the changes in coordinates value of clamping jaw in real time, after changes in coordinates value reaches preset value, pressure is X pressure to record at this time；Compare X pressure and X threshold value relation, judge whether to take；X is the random natural number less than or equal to N.By applying the changes in coordinates of pressure clamping jaw into designated value acquisition process gradually increased, you can judgement be take it is no meet the requirements, the present invention is easy to operate, reduces manual intervention, cost of implementation is low, has higher usability and practicality.
Description
Technical field
The invention belongs to technical field of automation, more particularly to a kind of method, apparatus and machinery of robot segregating articles
Arm.
Background technology
Mechanical arm is a kind of some actions that can imitate human hand and arm, object or behaviour are captured, carried by fixed routine
Make the automatic pilot of instrument.
However, in the application of existing mechanical arm, the mixing sorting for multiple articles, also needs to rely on people's industry control mostly
Mechanical arm processed is completed, and complicated, sorting efficiency is low.
The content of the invention
In view of this, can be according to thing the present invention provides a kind of method, apparatus and mechanical arm of robot segregating articles
The hardness of product distinguishes the type of article, reduces manual intervention, effectively improves sorting efficiency.
The first aspect of the present invention provides a kind of method of robot segregating articles, for sorting target from conveyer belt
Article, including the N number of mechanical arm set along the conveyer belt, each mechanical arm include actuating station and installed in the actuating stations
Grabbing device, the grabbing device includes acting at least two clamping jaws on the target item side wall, Duo Gesuo at the same time
Stating mechanical arm and be followed successively by first mechanical arm, second mechanical arm ... N mechanical arms, N is natural number, the described method includes：It is described
When the X mechanical arm control grabbing device grabs target item, applied gradually to the target item by the clamping jaw
The pressure of increase and the changes in coordinates value for recording the clamping jaw in real time, when the changes in coordinates value reaches preset value, record this
When corresponding X pressure；If the X pressure is less than or equal to X threshold value, by the target item from the conveyer belt
On remove, if the X pressure is more than the X threshold value, abandon taking；X is the random natural number less than or equal to N.
The second aspect of the present invention provides a kind of device of mechanical arm segregating articles, for sorting thing from conveyer belt
Product, including multiple mechanical arms, each mechanical arm include actuating station and the grabbing device installed in the actuating station, the crawl
Device includes acting at least two clamping jaws on the target item side wall at the same time, and each mechanical arm further includes：
Control module, for when the grabbing device grabs target item, by the clamping jaw to the object
Product apply the pressure gradually increased and record the clamping jaw changes in coordinates value in real time, when the changes in coordinates value reaches preset value
When, record corresponding pressure value at this time；
Sort module, for being determined whether according to the pressure value and corresponding threshold value by the target item from described
Taken away on conveyer belt.
The third aspect of the present invention provides a kind of mechanical arm, including memory, actuating station, installed in the actuating station
Grabbing device and the computer program that can be run in the memory and in the actuating station is stored in, the actuating station is held
The step of method as described above being realized during the row computer program.
The fourth aspect of the present invention provides a kind of computer-readable recording medium, and the computer-readable recording medium is deposited
Contain computer program, it is characterised in that the step of computer program realizes preceding method when being executed by processor.
Existing beneficial effect is the embodiment of the present invention compared with prior art：When any mechanical arm is on conveyer belt
When target item is taken, by apply gradually increase pressure during in real time record clamping jaw changes in coordinates value, when up to
During to preset value, you can judge that the target item is deformed upon in current pressure values, pressure value at this time and threshold value are compared
It is right, target item is taken away from conveyer belt if the hardness requirement captured for meeting the mechanical arm, if do not met
Do not take, different threshold values is set to each mechanical arm in advance, you can carried out automatically for the article of different hardness on conveyer belt
Sorting, improves the efficiency of sorting.And the present invention is easy to operate, reduces manual intervention, cost of implementation is low, has higher
Usability and practicality.
Brief description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is that the method for the mechanical arm segregating articles that the embodiment of the present invention one provides realizes flow diagram；
Fig. 2 is the mechanical arm schematic diagram of the device of mechanical arm segregating articles provided by Embodiment 2 of the present invention；
Fig. 3 is the schematic diagram for the mechanical arm that the embodiment of the present invention three provides.
Embodiment
In being described below, in order to illustrate rather than in order to limit, it is proposed that such as tool of particular system structure, technology etc
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that these are specific
The present invention can also be realized in the other embodiments of details.In other situations, omit to well-known system, device, electricity
Road and the detailed description of method, in case unnecessary details hinders description of the invention.
It should be appreciated that ought be special described by the instruction of term " comprising " use in this specification and in the appended claims
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded from one or more of the other feature, entirety, step,
Operation, element, component and/or its presence or addition for gathering.
It is also understood that the term used in this description of the invention is merely for the sake of the mesh for describing specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singulative, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combinations and all possible combinations of one or more of the associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determining " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Fig. 1 is that the method for the mechanical arm segregating articles that the embodiment of the present invention one provides realizes flow diagram, this method
For sorting target item from conveyer belt, including N number of mechanical arm set along conveyer belt, each mechanical arm include actuating station and
Installed in the grabbing device of actuating station, grabbing device includes acting at least two clamping jaws on target item side wall at the same time, is
Easy to narration, multiple mechanical arms are denoted as first mechanical arm, second mechanical arm ... N mechanical arms successively, N is natural number,
This method as shown in Figure 1 may comprise steps of：
When step S101, the X mechanical arm control the grabbing device to grab target item, by the clamping jaw to
The target item applies the pressure gradually increased and records the changes in coordinates value of the clamping jaw in real time, when the changes in coordinates value
When reaching preset value, corresponding X pressure at this time is recorded；
Step S102, if the X pressure is less than or equal to X threshold value, by the target item from the transmission
Take and remove, if the X pressure is more than the X threshold value, abandon taking
Above-mentioned X can be the random natural number less than or equal to N, such as can take 1, then brought into 1 in above-mentioned steps, i.e.,
First mechanical arm, first pressure, first threshold.
When X mechanical arm is taken for the target item on conveyer belt, gradually increase pressure applied, obtain
The changes in coordinates of this process clamping jaw is simultaneously contrasted with default preset value, if it exceeds preset value judges to deform upon, will at this time
Pressure value be recorded as X pressure, for X mechanical arm, X threshold value is set, by X pressure and X threshold value contrast judgement whether
For the crawl target of X mechanical arm, if it is taken away from conveyer belt, do not take if not meeting.In advance to each
Mechanical arm sets different pressure thresholds, you can carries out automatic sorting, each machinery for the article of different hardness on conveyer belt
Whether automatic decision is oneself corresponding hardness range when arm captures, and the crawl that will meet is incongruent to stay in conveyer belt wait
Other mechanical arms capture, the mode of this automatic crawl sorting, improve the efficiency of sorting.And the present invention is easy to operate, subtracts
Manual intervention is lacked, cost of implementation is low, has higher usability and practicality.
In addition, the mode that the embodiment of the present invention obtains the changes in coordinates of clamping jaw can have a variety of, such as correlation can be installed
Vision collecting device, choose clamping jaw on certain point as monitoring point, changes in coordinates is judged according to the change in location of the point.Example
Property, it can also be detected by the sensor being installed on clamping jaw and record coordinate when grabbing device applies pressure, sensor
It can be displacement sensor, pass through displacement of the displacement sensor detection along pressure direction.
Optionally, from first threshold to N threshold values in the present embodiment, numerical value gradually increases.First mechanical arm is defined as
Along the First mechanical arm of conveyer belt direction of transfer, by the way of gradually increase threshold value setting, have technical effect that, first
The corresponding scope of target item that mechanical arm is taken is minimum for hardness, namely first takes most soft target item from conveyer belt
Walk, and so on, N mechanical arms are compared with other mechanical arms, most hard article of taking, so as to avoid applying larger pressure
Cause on softer target item damage the problem of.It is easily understood that it could be provided as：First mechanical arm, the second machinery
The crawl determination range covering of arm ... N mechanical arms or the hardness range more than target item, also can be by conveyer belt
On all target items all sorting take away, a portion hardness range can also be covered, the target that will be met the requirements
Article is taken away, and the target item for being unsatisfactory for requiring stays on a moving belt.
In the embodiment of the present invention, the type of target item can be two or more.Exemplary, can be by coordinate
Changing value is divided into multiple sections compared with default changes in coordinates scope, by changes in coordinates value, and each section corresponds to same
Type or multiple interval combinations correspond to same type, for example, qualified type and unqualified type can be divided into, or foundation
Changes in coordinates is divided into severe injury, moderate lesion, minor injury and intact four type, so that target item be divided
Class, determines the type of target item.
Optionally, after certain mechanical arm judges that target item captures target for it, made on the target item corresponding
Label information, and simultaneously the target item for being provided with label information is sorted to corresponding exit passageway by control machinery arm
Optionally, mechanical arm can also include filming apparatus, before grabbing device captures target item, pass through collection
Figure line information, control machinery arm accurately capture target item.
Exemplary, the image information of target item can include but is not limited to the position of target item in the embodiment of the present invention
Confidence breath, colouring information, shape information etc..Exemplary, it can be believed by the image that visual identity collects filming apparatus
Breath is handled, and target item is distinguished according to image information, such as first reaches predetermined value to surface discolouration area
Target item distinguishes, and target item is distinguished again in conjunction with the changes in coordinates value detected, so as to improve sorting
Precision.
It is to be understood that the size of the sequence number of each step is not meant to the priority of execution sequence, each process in above-described embodiment
Execution sequence should determine that the implementation process without tackling the embodiment of the present invention forms any limit with its function and internal logic
It is fixed.
Fig. 2 is the schematic diagram of the device of mechanical arm sorting provided by Embodiment 2 of the present invention, and sorting equipment includes multiple machines
Tool arm, due to multiple mechanical arms, structure is not different in addition to a position, for convenience of description, illustrate only mechanical arm and this hair
The bright relevant part of embodiment, is not shown whole device.
In the embodiment of the present invention, each mechanical arm can include actuating station and the grabbing device installed in actuating station, crawl dress
Put including while act at least two clamping jaws on target item side wall, further include：
Control module 32, for when the grabbing device grabs target item, by the clamping jaw to the target
Article applies the pressure gradually increased and records the clamping jaw changes in coordinates value in real time, when the changes in coordinates value reaches preset value
When, record corresponding pressure value at this time；
Sort module 33, for being determined whether according to the pressure value and corresponding threshold value by the target item from institute
State and taken away on conveyer belt.
Device in the present embodiment includes multiple mechanical arms, is judged for the target item on conveyer belt using crawl, so
The mode sorted afterwards, implements process and a kind of foregoing method of robot segregating articles is essentially identical, does not repeat.
Therefore, the device in the present embodiment intelligent, automation can sort, and reduces artificial participation, has
The features such as cost is low, easy to operate.
Optionally, the device in the present embodiment, its multiple mechanical arm arranged along conveyer belt, corresponding preset pressure are gradual
Increase.
Optionally, further device can also include：
Generation module, for generating label information corresponding with target item, label information is arranged on target item,
And the target item for being provided with label information is sorted to corresponding exit passageway by control machinery arm.
Optionally, device can also include：
Filming apparatus, for gathering the image information of target item, control machinery arm accurately captures target item.
Correspondingly, sort module 33 is specifically used for determining target according to the image information and corresponding threshold value of target item
The type of article.
Fig. 3 is the schematic diagram for the mechanical arm that the embodiment of the present invention three provides, and for convenience of description, be illustrate only and the present invention
The relevant part of embodiment.
As shown in figure 3, the mechanical arm 4 of the embodiment includes：Actuating station 40, memory 41, the crawl installed in actuating station
Device 43 and storage are in memory and the computer program 42 that can be run in actuating station.Processor 40 performs computer journey
The step in the embodiment of the method for above-mentioned each mechanical arm segregating articles, such as step 101 and step shown in Fig. 1 are realized during sequence 42
Rapid 102.Alternatively, processor 40 realizes the function of each module/unit in above-mentioned each device embodiment when performing computer program 42,
Such as the function of module 31 to 33 shown in Fig. 3.
Exemplary, computer program 42 can be divided into one or more module/units, one or more mould
Block/unit is stored in memory 41, and is performed by processor 40, to complete the present invention.One or more module/units can
To be the series of computation machine programmed instruction section that can complete specific function, the instruction segment is for describing computer program 42 in machine
Implementation procedure in tool arm 4.For example, computer program 42 can be divided into multiple control modules, sort module, each module tool
Body function is as follows：
Control module, for when the grabbing device grabs target item, by the clamping jaw to the object
Product apply the pressure gradually increased and record the clamping jaw changes in coordinates value in real time, when the changes in coordinates value reaches preset value
When, record corresponding pressure value at this time；
Sort module, for being determined whether according to the pressure value and corresponding threshold value by the target item from described
Taken away on conveyer belt.
Mechanical arm 4 may include, but be not limited only to, processor 40, memory 41.It will be understood by those skilled in the art that Fig. 3
The only example of mechanical arm 4, does not form the restriction to mechanical arm 4, can include components more more or fewer than diagram, or
Person combines some components, or different components, such as mechanical arm can also include control circuit, servomotor, network insertion
Equipment, bus etc..
Alleged processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), application-specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng.
Memory 41 can be the internal storage unit of mechanical arm 4, such as the hard disk or memory of mechanical arm 4.Memory 41
Can also be the plug-in type hard disk being equipped with the External memory equipment of mechanical arm 4, such as mechanical arm 4, intelligent memory card (Smart
Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card) etc..Further,
Memory 41 can also both include the internal storage unit of mechanical arm 4 or including External memory equipment.Memory 41 is used to store
Other programs and data needed for computer program and mechanical arm.Memory 41 can be also used for temporarily storing and export
Or the data that will be exported.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work(
Can unit, module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of device are divided into different functional units or module, to complete above description
All or part of function.Each functional unit, module in embodiment can be integrated in a processing unit or
Unit is individually physically present, can also two or more units integrate in a unit, above-mentioned integrated unit
Both it can be realized, can also be realized in the form of SFU software functional unit in the form of hardware.In addition, each functional unit, mould
The specific name of block is not limited to the protection domain of the application also only to facilitate mutually distinguish.It is single in said system
Member, the specific work process of module, may be referred to the corresponding process in preceding method embodiment, details are not described herein.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in detail or remembers in some embodiment
The part of load, may refer to the associated description of other embodiments.
Those of ordinary skill in the art may realize that each exemplary list described with reference to the embodiments described herein
Member and algorithm steps, can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, application-specific and design constraint depending on technical solution.Professional technician
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, can be with
Realize by another way.For example, device described above/terminal device embodiment is only schematical, for example, mould
The division of block or unit, is only a kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple
Unit or component can combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another
Point, shown or discussed mutual coupling or direct-coupling or communication connection can be by some interfaces, device or
The INDIRECT COUPLING of unit or communication connection, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
Component may or may not be physical location, you can with positioned at a place, or can also be distributed to multiple networks
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If integrated module/unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, the present invention realizes above-described embodiment side
All or part of flow in method, can also instruct relevant hardware to complete by computer program, computer program
It can be stored in a computer-readable recording medium, the computer program is when being executed by processor, it can be achieved that above-mentioned each side
The step of method embodiment..Wherein, computer program includes computer program code, and computer program code can be source code
Form, object identification code form, executable file or some intermediate forms etc..Computer-readable medium can include：It can carry
Any entity or device of computer program code, recording medium, USB flash disk, mobile hard disk, magnetic disc, CD, computer storage,
Read-only storage (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electricity carry
Ripple signal, telecommunication signal and software distribution medium etc..It should be noted that the content that computer-readable medium includes can root
Appropriate increase and decrease is carried out according to legislation in jurisdiction and the requirement of patent practice, such as in some jurisdictions, according to vertical
Method and patent practice, computer-readable medium do not include electric carrier signal and telecommunication signal.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to foregoing each implementation
Technical solution described in example is modified, or carries out equivalent substitution to which part technical characteristic；And these modification or
Replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical solution, should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of method of robot segregating articles, for sorting target item from conveyer belt, it is characterised in that including along institute
N number of mechanical arm of conveyer belt setting is stated, each mechanical arm includes actuating station and the grabbing device installed in the actuating station, institute
Stating grabbing device includes while acts at least two clamping jaws on the target item side wall, and multiple mechanical arms are followed successively by
First mechanical arm, second mechanical arm ... N mechanical arms, N are natural number, the described method includes：
When the X mechanical arm controls the grabbing device to grab target item, by the clamping jaw to the target item
Apply the pressure gradually increased and record the changes in coordinates value of the clamping jaw in real time, when the changes in coordinates value reaches preset value
When, record corresponding X pressure at this time；
If the X pressure is less than or equal to X threshold value, the target item is removed from the conveyer belt, if
The X pressure is more than the X threshold value, then abandons taking；
X is the random natural number less than or equal to N.
2. the method as described in claim 1, it is characterised in that threshold value is pressed from the first threshold to the N, numerical value is gradual
Increase.
3. method as claimed in claim 2, it is characterised in that after the definite target item is crawl target, also wrap
Include：
Generation label information corresponding with the target item when target item is removed from the conveyer belt, and control
The target item is sorted to corresponding exit passageway by the corresponding mechanical arm.
4. such as claims 1 to 3 any one of them method, it is characterised in that the mechanical arm further includes filming apparatus, in institute
Before stating grabbing device crawl target item, the method further includes：
The image information of the target item is gathered by the filming apparatus, controls the mechanical arm accurately to capture the target
Article.
A kind of 5. device of mechanical arm segregating articles, for the segregating articles from conveyer belt, it is characterised in that including multiple machineries
Arm, each mechanical arm include actuating station and the grabbing device installed in the actuating station, and the grabbing device includes making at the same time
For at least two clamping jaws on the target item side wall, each mechanical arm further includes：
Control module, for when the grabbing device grabs target item, being applied by the clamping jaw to the target item
Add the pressure gradually increased and record the clamping jaw changes in coordinates value in real time, when the changes in coordinates value reaches preset value, note
Record corresponding pressure value at this time；
Sort module, for being determined whether according to the pressure value and corresponding threshold value by the target item from the transmission
Take and take away.
6. device as claimed in claim 5, it is characterised in that the multiple mechanical arms arranged along the conveyer belt, corresponding institute
Threshold value is stated gradually to increase.
7. device as claimed in claim 6, it is characterised in that described device further includes：
Generation module, for generating label information corresponding with the target item, the mesh is arranged on by the label information
Mark on article, and control the mechanical arm that the target item for being provided with label information is sorted to corresponding exit passageway.
8. device as claimed in claim 5, it is characterised in that described device further includes：
Filming apparatus, for gathering the image information of the target item, controls the mechanical arm accurately to capture the object
Product.
9. a kind of mechanical arm, including memory, actuating station, the grabbing device installed in the actuating station and it is stored in described deposit
In reservoir and the computer program that can be run in the actuating station, it is characterised in that the actuating station performs the computer
Realized during program such as the step of any one of Claims 1-4 the method.
10. a kind of computer-readable recording medium, the computer-readable recording medium storage has computer program, its feature exists
In realization is such as the step of any one of claims 1 to 4 the method when the computer program is executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711487185.3A CN107953338B (en) | 2017-12-29 | 2017-12-29 | Method and device for sorting articles by robot and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711487185.3A CN107953338B (en) | 2017-12-29 | 2017-12-29 | Method and device for sorting articles by robot and mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107953338A true CN107953338A (en) | 2018-04-24 |
| CN107953338B CN107953338B (en) | 2023-04-11 |
Family
ID=61956037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711487185.3A Active CN107953338B (en) | 2017-12-29 | 2017-12-29 | Method and device for sorting articles by robot and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107953338B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111687060A (en) * | 2020-06-11 | 2020-09-22 | 湖北美和易思教育科技有限公司 | Logistics multistage sorting system and method |
| CN112077845A (en) * | 2020-08-31 | 2020-12-15 | 东风电驱动系统有限公司 | Automatic performance detection method, control device, industrial robot and storage medium |
| CN112847348A (en) * | 2020-12-30 | 2021-05-28 | 深兰人工智能芯片研究院（江苏）有限公司 | Manipulator control method, manipulator control device, pickup apparatus, and computer-readable storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10114314A (en) * | 1996-10-08 | 1998-05-06 | Toyo Shokuhin Kikai Kk | Article sending device |
| DE20203818U1 (en) * | 2002-03-08 | 2002-05-16 | Thom Metall Und Maschb Gmbh | Gripper for a robot for gripping pressure-sensitive objects and gripper transport and depositing system for pressure-sensitive objects |
| CN1806940A (en) * | 2006-01-23 | 2006-07-26 | 湖南大学 | Defective goods automatic sorting method and equipment for high-speed automated production line |
| CN102950114A (en) * | 2011-08-25 | 2013-03-06 | 精工爱普生株式会社 | Sorting machine and member checking apparatus |
| CN106000904A (en) * | 2016-05-26 | 2016-10-12 | 北京新长征天高智机科技有限公司 | Automatic sorting system for household refuse |
| CN107000208A (en) * | 2014-12-16 | 2017-08-01 | 亚马逊技术股份有限公司 | The robot crawl of article in inventory system |
| CN107030692A (en) * | 2017-03-28 | 2017-08-11 | 浙江大学 | One kind is based on the enhanced manipulator teleoperation method of perception and system |
-
2017
- 2017-12-29 CN CN201711487185.3A patent/CN107953338B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10114314A (en) * | 1996-10-08 | 1998-05-06 | Toyo Shokuhin Kikai Kk | Article sending device |
| DE20203818U1 (en) * | 2002-03-08 | 2002-05-16 | Thom Metall Und Maschb Gmbh | Gripper for a robot for gripping pressure-sensitive objects and gripper transport and depositing system for pressure-sensitive objects |
| CN1806940A (en) * | 2006-01-23 | 2006-07-26 | 湖南大学 | Defective goods automatic sorting method and equipment for high-speed automated production line |
| CN102950114A (en) * | 2011-08-25 | 2013-03-06 | 精工爱普生株式会社 | Sorting machine and member checking apparatus |
| CN107000208A (en) * | 2014-12-16 | 2017-08-01 | 亚马逊技术股份有限公司 | The robot crawl of article in inventory system |
| CN106000904A (en) * | 2016-05-26 | 2016-10-12 | 北京新长征天高智机科技有限公司 | Automatic sorting system for household refuse |
| CN107030692A (en) * | 2017-03-28 | 2017-08-11 | 浙江大学 | One kind is based on the enhanced manipulator teleoperation method of perception and system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111687060A (en) * | 2020-06-11 | 2020-09-22 | 湖北美和易思教育科技有限公司 | Logistics multistage sorting system and method |
| CN111687060B (en) * | 2020-06-11 | 2022-03-11 | 湖北美和易思教育科技有限公司 | Logistics multistage sorting system and method |
| CN112077845A (en) * | 2020-08-31 | 2020-12-15 | 东风电驱动系统有限公司 | Automatic performance detection method, control device, industrial robot and storage medium |
| CN112847348A (en) * | 2020-12-30 | 2021-05-28 | 深兰人工智能芯片研究院（江苏）有限公司 | Manipulator control method, manipulator control device, pickup apparatus, and computer-readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107953338B (en) | 2023-04-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108212807A (en) | A kind of method, apparatus and mechanical arm of robot segregating articles | |
| CN107953338A (en) | A kind of method, apparatus and mechanical arm of robot segregating articles | |
| CN108044627A (en) | Detection method, device and the mechanical arm of crawl position | |
| CN107817534A (en) | A kind of collecting method of Intelligent worn device, device and Intelligent worn device | |
| CN108115688A (en) | Crawl control method, system and the mechanical arm of a kind of mechanical arm | |
| CN107610481A (en) | Stop detection method, device and terminal device and computer-readable recording medium | |
| CN108098776A (en) | A kind of automatic grasping means, device, manipulator and storage medium | |
| CN105678344A (en) | Intelligent classification method for power instrument equipment | |
| CN108127666A (en) | A kind of grasping means of mechanical arm, system and mechanical arm | |
| CN107657161A (en) | Method of mobile payment and Related product based on recognition of face | |
| CN109124620A (en) | A kind of atrial fibrillation detection method, device and equipment | |
| CN108564579A (en) | A kind of distress in concrete detection method and detection device based on temporal and spatial correlations | |
| CN108937867A (en) | A kind of dormant monitoring method and device | |
| CN109886143A (en) | Multi-tag disaggregated model training method and equipment | |
| CN108133477A (en) | A kind of object detecting method and intelligent machine arm | |
| CN104573017A (en) | Network water army group identifying method and system | |
| CN107563325A (en) | A kind of method, apparatus and terminal device for testing fatigue strength | |
| CN108145712A (en) | A kind of method, apparatus and robot of robot segregating articles | |
| CN106485329A (en) | The processing method and processing device of man-machine chess | |
| CN108555901A (en) | A kind of method, apparatus and mechanical arm of robot segregating articles | |
| CN108268863A (en) | A kind of image processing method, device and computer storage media | |
| CN110348792A (en) | Configuration method and device, the method and device of stacking of stacking | |
| CN109512509A (en) | A kind of Shared control method, device and equipment of robot | |
| Li et al. | Robot vision model based on multi-neural network fusion | |
| CN107227665A (en) | Gapless track destressing method for monitoring state, apparatus and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |