CN109015659B - Vision-based robot offset grabbing mechanism and method thereof - Google Patents
Vision-based robot offset grabbing mechanism and method thereof Download PDFInfo
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- CN109015659B CN109015659B CN201811145504.7A CN201811145504A CN109015659B CN 109015659 B CN109015659 B CN 109015659B CN 201811145504 A CN201811145504 A CN 201811145504A CN 109015659 B CN109015659 B CN 109015659B
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a vision-based robot offset grabbing mechanism, which comprises two grabbing trays and two placing trays, wherein profile brackets are fixed on one sides of the two grabbing trays and the two placing trays, vision cameras are fixed on the upper ends of the four profile brackets, fixing frames are arranged on the lower ends of the two grabbing trays and the two placing trays, and an electric guide rail is arranged on one side of the upper ends of the two fixing frames; the invention further provides a vision-based robot offset grabbing method. According to the invention, through the cooperation of the PLC and the visual camera, the conditions of grabbing the tray and placing the position points on the tray can be accurately analyzed and judged, so that the grabbing position and the placing position with the highest priority can be obtained, the problem of large programming workload of the traditional grabbing method can be effectively solved, the problem that manual intervention cannot be effectively processed in the traditional grabbing method can be effectively solved, and efficient and accurate grabbing and placing are realized.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a vision-based robot offset grabbing mechanism and a vision-based robot offset grabbing method.
Background
In the automation program, it is necessary to grasp and place brake shoes arranged in a matrix array, and a total of 42 brake shoes are usually used in a matrix of 6 rows and 7 columns. Because of the large number of gate tiles, if a one-to-one programming scheme is used, 42 grabbing positions plus 42 placing positions for a total of 84 position points are required, the programming effort is great. Meanwhile, the downlink number and the column number are not limited on the premise of meeting the range of the robot, namely the larger the number of the downlink numbers and the column number is, the larger the workload of finding points by ordinary manual programming is, and the more obvious the difference between the offset grabbing method and the offset grabbing method is in the aspect of working efficiency.
During the production process, there are two factors that can lead to the ease of human intervention during automated production. Firstly, the quality inspection of semi-finished products in running production is carried out, as equipment corresponds to the whole process from raw material input to product output, a semi-finished product input new raw material can be generated in the middle, and if defective products are found in the quality inspection of the semi-finished products, the defective products need to be removed, so that the quantity and position information of the semi-finished products which are sequentially output are inconsistent with those of the semi-finished products which are input in the next step; secondly, unexpected special conditions occur during the operation and production of equipment, such as equipment shutdown caused by power failure and water interruption in a factory, falling of workpieces in the middle of a gripper, no workpiece gripping by the gripper during gripping, and the like, which also can cause that the quantity and position conditions of the workpieces recorded by the PLC are inconsistent with the actual conditions. Because of the manual intervention, the number and position conditions of the workpieces are required to be corrected by a human-computer interaction interface and transmitted to the robot which is automatically running, so that the working efficiency is affected.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a vision-based robot offset grabbing mechanism and a method thereof.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a robot skew snatchs mechanism based on vision, including two snatch the tray and two place the tray, two snatch the tray and two place one side of tray all be fixed with the section bar support, the upper end of four section bar supports all is fixed with the vision camera, two snatch the tray and two lower extreme of placing the tray all are equipped with the mount, an electric rail is all installed to upper end one side of two mounts, two backing plates that are parallel to each other are all installed to the upper end opposite side of two mounts, and two backing plates of same side are a set of, another electric rail is installed jointly to the upper end of two backing plates in same group, two snatch the tray and two lower extreme of placing the tray all are fixed with the slider, four sliders respectively with four electric rail are corresponding, and the slider is installed on electric rail, be equipped with processing equipment and industrial robot body between two mounts, and industrial robot body is located one side of processing equipment, install robot gripper equipment on the industrial robot body, be equipped with PLC on the industrial robot body.
Preferably, the processing equipment comprises a mounting frame, a first bearing plate and a second bearing plate are sequentially and detachably connected from top to bottom in the mounting frame, glue spraying equipment is fixed on the first bearing plate, a first sealing cover is hinged to one side of the mounting frame and located between the first bearing plate and the second bearing plate, a second sealing cover is hinged to the other side of the mounting frame and located at the upper end of the first bearing plate.
Preferably, the four corners of the upper ends of the first bearing plate and the second bearing plate are respectively provided with a connecting piece, two bolts penetrate through the connecting piece, four bolts on the same horizontal plane are in one group, one ends of the two groups of bolts are screwed on the mounting frame, and the other two groups of bolts are respectively screwed on the first bearing plate and the second bearing plate.
Preferably, the robot gripper device comprises a connecting rod, a bidirectional cylinder is fixed at the lower end of the connecting rod, and clamping plates are fixed at two sides of the lower end of the bidirectional cylinder.
Preferably, a buckle is jointly mounted on the first cover and the mounting frame.
Preferably, fixed angle codes are installed at four corners of the lower end of the fixing frame, second screw feet are screwed at four corners of the lower end of the fixing frame, and four second screw feet are located among the four fixed angle codes.
Preferably, the fixing frame is made of aluminum profiles.
Preferably, baffles are fixed on two sides of the mounting frame.
Preferably, first screw feet are screwed at four corners of the lower end of the mounting frame.
The invention also provides a vision-based robot offset grabbing method, which comprises the following steps:
s1, the number of the grabbing trays and the placing trays is two, the grabbing trays and the placing trays are equally divided into six rows and six columns of matrixes, so that thirty-six position points are equally arranged on each grabbing tray and each placing tray, different priorities are respectively set for the position points on each grabbing tray and each placing tray, each position point on each grabbing tray and each placing tray has different priority when grabbing or placing, and grabbing and placing according to the height of the priority are facilitated;
s2, installing a visual camera on the grabbing tray and the placing tray through the profile support, wherein the shooting ranges of the four visual cameras cover the grabbing tray and the placing tray respectively, and comparing and analyzing the shot pictures by the visual camera so as to judge whether gate tiles are placed at all position points on the grabbing tray and the placing tray or not, and judging the position points with and without pieces on the grabbing tray and the placing tray;
s3, the PLC directly performs signal communication with the four cameras, and analyzes the position points on the grabbing tray and the placing tray, and because each position point is divided into rows and columns, the PLC can obtain a conclusion that each specific position point has a piece or has no piece, and because different priorities are respectively set for the position points on the grabbing tray and the placing tray, grabbing or placing can be performed according to the order of the priorities;
s4, when the brake tiles are grabbed, the industrial robot body drives the robot gripper device to rotate, so that the robot gripper device rotates to the upper end of the grabbing tray, the visual cameras on the grabbing tray are matched with the PLC, and different priorities are marked on brake shoe sheets placed on the grabbing tray according to different grabbing position points;
s5, the PLC gives out position point signals of the brake shoe sheets with the highest priority on the grabbing tray, and the grabbing position point signals of other to-be-grabbed pieces with low priorities are temporarily not given out;
s6, after the industrial robot body scans the position signal of the tile to be grabbed, calculating a position point of the grabbing position on the basis of the reference point position according to the coordinates given by the PLC;
s7, the industrial robot body drives the robot gripper device to move to a gripping position, and the gate tile is gripped by the robot gripper device;
s8, the industrial robot body drives the robot gripper equipment to move so as to drive the brake tile to move, the gripped brake shoe sheets are placed on the processing equipment to be processed through the robot gripper equipment, and after the processing is finished, the industrial robot body grips the processed brake shoe sheets through the robot gripper equipment;
s9, transferring the brake shoe sheet to the upper part of the placing tray by the industrial robot body through the robot gripper equipment, and matching the visual camera on the placing tray with the PLC, so as to judge the position points on the placing tray, analyze the position points where the brake tiles are placed and the position points where the brake tiles are not placed, give out the position points to be placed with the highest priority, and give out signals of the other position points to be placed with low priority;
s10, after the industrial robot body scans a position signal of a point to be placed, calculating the position point of the position to be placed on the basis of the reference point position according to coordinates given by the PLC;
s11, the industrial robot body is operated to the position of a point to be placed, and the brake shoe sheet is placed through the robot gripper equipment;
s12, repeating the steps S4-S11, and grabbing, processing and placing the brake shoe sheet.
In the invention, when the brake tile is used, the industrial robot body drives the robot gripper device to rotate, so that the robot gripper device rotates to the upper end of the grabbing tray, the vision camera on the grabbing tray shoots, thereby identifying and judging each grabbing position of the grabbing tray according to the photos, the position of a part on the grabbing tray and the position of a part without the part can be effectively identified, the vision camera on the grabbing tray is matched with the PLC, so that the position of the part placed on the grabbing tray is marked with different priorities according to the difference of the grabbing position points, the PLC firstly gives out the position point signals of the brake shoe with the highest priority on the grabbing tray, the other grabbing position point signals of the part to be grabbed with low priority are temporarily not given out, after the position signals of the part to be grabbed are scanned by the industrial robot body, the position points of the grabbing tray are calculated on the basis of the reference point positions according to the coordinates given by the PLC, the industrial robot body drives the robot gripper device to move to the grabbing position, the robot gripper tile is matched with the PLC, the robot body drives the robot body to move the robot gripper device to the grabbing position through the position of the part, the robot body is placed on the grabbing tray through the robot body, the position of the robot body is matched with the position of the robot body is arranged on the position of the grabbing tray after the robot body is processed, and the robot body is placed on the position of the gripper device is processed through the robot body, and the position of the gripper device is arranged on the gripper device is moved to the position of the gripper device to be positioned on the position of the gripper tray on the gripper tray through the gripper device after the gripper device is finished, the method comprises the steps of analyzing the position points of the placed gate tiles and the position points to be placed of the non-placed gate tiles, giving out the position points to be placed with the highest priority, giving out signals of the position points to be placed with other low priority, calculating the position points of the position to be placed on the basis of the datum point position according to coordinates given by a PLC after the industrial robot body scans the position signals of the position points to be placed, and operating the industrial robot body to the position points to be placed.
Drawings
Fig. 1 is a schematic diagram of a mounting frame of a vision-based robot offset grabbing mechanism;
fig. 2 is a schematic diagram of a bidirectional cylinder structure of a vision-based robot offset grabbing mechanism according to the present invention;
fig. 3 is an enlarged view of a position a of the vision-based robot offset grabbing mechanism according to the present invention;
fig. 4 is a schematic structural view of a fixing frame of a vision-based robot offset grabbing mechanism according to the present invention;
fig. 5 is a workpiece processing flow chart of the vision-based robot offset grabbing method.
In the figure: the novel plastic material clamping device comprises a first bearing plate 1, a first sealing cover 2, a second bearing plate 3, a mounting frame 4, glue spraying equipment 5, a first screw foot 6, a connecting rod 7, a bidirectional cylinder 8, a clamping plate 9, a bolt 10, a connecting piece 11, a grabbing tray 12, a sliding block 13, an electric guide rail 14, a second screw foot 15, a backing plate 16, a fixing frame 17, a fixing angle code 18, a second sealing cover 19, a buckle 20, a baffle 21, a placing tray 22, a visual camera 23 and a section bar bracket 24.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-5, a vision-based robot offset grabbing mechanism comprises two grabbing trays 12 and two placing trays 22, wherein profile brackets 24 are fixed on one sides of the two grabbing trays 12 and the two placing trays 22, and vision cameras 23 are fixed on the upper ends of the four profile brackets 24, so that photographing is facilitated, and positioning is facilitated by cooperation with a PLC;
the lower ends of the two grabbing trays 12 and the two placing trays 22 are respectively provided with a fixing frame 17, the four corners of the lower ends of the fixing frames 17 are respectively provided with a fixed angle code 18, the four corners of the lower ends of the fixing frames 17 are respectively provided with a second screw foot 15 in a screwed manner, the four second screw feet 15 are respectively positioned among the four fixed angle codes 18, so that the fixing frames 17 are convenient to fix, the fixing frames 17 are made of aluminum profiles, the processing is convenient, one side of the upper ends of the two fixing frames 17 is respectively provided with one electric guide rail 14, the other side of the upper ends of the two fixing frames 17 is respectively provided with two mutually parallel base plates 16, the two base plates 16 on the same side are in a group, the upper ends of the two base plates 16 in the same group are respectively provided with another electric guide rail 14, the two grabbing trays 12 and the lower ends of the two placing trays 22 are respectively corresponding to the four electric guide rails 14, the sliding blocks 13 are respectively arranged on the electric guide rails 14, and the electric guide rails 14 can drive the sliding blocks 13 to move, so that the positions of the placing trays 22 and the grabbing trays 12 are convenient to grab and add workpieces;
be equipped with processing equipment and industrial robot body between two mounts 17, and industrial robot body is located one side of processing equipment, installs robot tongs equipment on the industrial robot body, is equipped with PLC on the industrial robot body, makes things convenient for the industrial robot body to drive robot tongs equipment and snatchs, and PLC can cooperate vision camera 23 to carry out accurate location.
According to the invention, the processing equipment comprises the mounting frame 4, the baffles 21 are fixed on both sides of the mounting frame 4, so that the influence of the outside can be effectively avoided, the first screw feet 6 are screwed on four corners of the lower end of the mounting frame 4, and the processing equipment is convenient to rotate, so that the processing equipment is convenient to stably support, and the first bearing plate 1 and the second bearing plate 3 are sequentially and detachably connected in the mounting frame 4 from top to bottom, so that the processing equipment is convenient to mount and dismount, and is convenient to assemble and overhaul;
be fixed with on the first loading board 1 and spout gluey equipment 5, conveniently spout gluey, one side of mounting bracket 4 articulates there is first closing cap 2, and first closing cap 2 is located between first loading board 1 and the second loading board 3, installs hasp 20 jointly on first closing cap 2 and the mounting bracket 4, conveniently connects fixedly, and the opposite side of mounting bracket 4 articulates there is second closing cap 19, and second closing cap 19 is located the upper end of first loading board 1, conveniently opens and shuts to facilitate the use.
According to the invention, the four corners of the upper ends of the first bearing plate 1 and the second bearing plate 3 are respectively provided with the connecting piece 11, two bolts 10 are arranged on the connecting piece 11 in a penetrating way, and four bolts 10 on the same horizontal plane are in one group, wherein one end of each of the two groups of bolts 10 is screwed on the mounting frame 4, and the other two groups of bolts 10 are respectively screwed on the first bearing plate 1 and the second bearing plate 3 and are screwed and fixed through the bolts 10.
According to the invention, the robot gripper device comprises the connecting rod 7, the lower end of the connecting rod 7 is fixedly provided with the two-way air cylinder 8, two sides of the lower end of the two-way air cylinder 8 are respectively fixedly provided with the clamping plates 9, and the two clamping plates 9 can be driven to move by the two-way air cylinder 8, so that the clamping is convenient, and the connection is stable.
The invention also provides a vision-based robot offset grabbing method, which comprises the following steps:
s1, the number of the grabbing trays 12 and the placing trays 22 is two, so that the alternating action is convenient, the working progress is ensured, the grabbing trays 12 and the placing trays 22 are equally divided into six rows and six columns of matrixes, thirty-six position points are equally arranged on the single grabbing tray 12 and the single placing tray 22, the position points on the grabbing tray 12 and the placing tray 22 are respectively provided with different priorities, the position points with high priorities are grabbed and placed before the position points with low priorities, each position point on the grabbing tray 12 and the placing tray 22 has different priorities when grabbed or placed, so that grabbing and placing according to the height of the priorities are convenient, the priorities are judged and analyzed again when grabbed and placed each time, so that the influence of manual intervention on normal working is avoided, the working efficiency is ensured, programming is only needed for the position points on the grabbing tray 12 and the placing tray 22, the programming is not needed in a one-to-one mode, the programming workload is effectively reduced, and the programming is convenient to expand;
s2, installing a visual camera 23 on the grabbing tray 12 and the placing tray 22 through a profile bracket 24, wherein the shooting ranges of the four visual cameras 23 cover the grabbing tray 12 and the placing tray 22 respectively, so that shooting can be carried out on the trays, the visual cameras 23 carry out contrast analysis on the shot photos, and therefore whether gate tiles are placed at all position points on the grabbing tray 12 and the placing tray 22 or not is judged, the grabbing sequence of the position points with parts and the position points without parts on the grabbing tray 12 and the placing tray 22 is judged, shooting and analysis are carried out before each grabbing and placing, grabbing and placing are facilitated, and the situation that the number of workpieces is not matched due to manual intervention, the number of workpieces is corrected on a human-computer interaction interface and transmitted to an automatic running robot is avoided;
s3, the PLC directly performs signal communication with the four cameras so as to conveniently transfer information, and the position points on the grabbing tray 12 and the placing tray 22 are analyzed, so that the PLC can obtain the conclusion that each specific position point is provided with a piece or not because each position point is already subjected to row-column division, and the grabbing tray 12 and the placing tray 22 are respectively provided with different priorities so as to grab or place according to the priority order, and the grabbing and placing are only performed according to the priority order without one-to-one programming, thereby reducing the programming workload and guaranteeing the working accuracy;
s4, when the brake tiles are grabbed, the industrial robot body drives the robot gripper device to rotate, so that the robot gripper device rotates to the upper end of the grabbing tray 12, grabbing is facilitated, the visual camera 23 on the grabbing tray 12 is matched with the PLC, and different priorities are marked on brake shoe sheets placed on the grabbing tray 12 according to different grabbing position points, so that grabbing is facilitated in sequence;
s5, the PLC gives out position point signals of the brake shoe sheets with the highest priority on the grabbing tray 12, and the grabbing position point signals of other to-be-grabbed pieces with low priorities are not given out temporarily;
s6, after the industrial robot body scans the position signal of the tile to be grabbed, calculating a position point of the grabbing position on the basis of the reference point position according to the coordinates given by the PLC;
s7, the industrial robot body drives the robot gripper device to move to a gripping position, the brake tiles are gripped by the robot gripper device, and the brake pads are stably clamped, so that the situation that the brake pads are not gripped and fall off in the transferring process is avoided;
s8, the industrial robot body drives the robot gripper equipment to move so as to drive the brake tile to move, the gripped brake shoe sheets are placed on the processing equipment to be processed through the robot gripper equipment, and after the processing is finished, the industrial robot body grips the processed brake shoe sheets through the robot gripper equipment;
s9, transferring the brake shoe sheet to the upper part of the placing tray 22 by the industrial robot body through the robot gripper equipment, conveniently placing, judging the position points on the placing tray 22 by the cooperation of the visual camera 23 on the placing tray 22 and the PLC, photographing, analyzing and judging the condition of the placing tray 22 by the visual camera on the placing tray 22, analyzing the position points of the placed brake tiles and the position points to be placed of the non-placed brake tiles, giving out the position points to be placed with the highest priority, and giving out signals of the other position points to be placed with the low priority;
s10, after the industrial robot body scans a position signal of a point to be placed, calculating the position point of the position to be placed on the basis of the reference point position according to coordinates given by the PLC;
s11, the industrial robot body is operated to the position of a point to be placed, and the brake shoe sheet is placed through the robot gripper equipment;
s12, repeating the steps S4-S11, grabbing, processing and placing brake shoe sheets, so that the problem that workpieces are lack caused by manual intervention, and information on a grabbing tray and a placing tray 22 cannot be corresponding can be effectively avoided, an optimal grabbing point and an optimal placing point are obtained through the cooperation of a visual camera 23 and a PLC before grabbing and placing each time, grabbing and placing efficiency is improved, the problem of large programming workload in a traditional grabbing method is also avoided, only the grabbing tray and the placing tray 22 are required to be programmed independently, programming workload is greatly reduced, and expansion is convenient.
In the invention, when the brake tile is grabbed, the industrial robot body drives the robot gripper device to rotate, so that the robot gripper device rotates to the upper end of the grabbing tray 12, the visual camera 23 on the grabbing tray 12 shoots, thereby identifying and judging each grabbing position of the grabbing tray 12 according to the photos, effectively identifying the part-containing position and the part-free position on the grabbing tray 12, the visual camera 23 on the grabbing tray 12 is matched with the PLC, dividing the brake shoe sheets placed on the grabbing tray 12 into different priorities according to different grabbing position points, the PLC firstly gives out the position point signals of the brake shoe sheets with the highest priority on the grabbing tray 12, the grabbing position point signals of other to-be-grabbed parts with low priority are not given out, after the industrial robot body scans the position signals of the brake tile to be grabbed, calculating the position point of the grabbing position on the basis of the reference point position according to the coordinates given by the PLC, driving the robot gripper device to move to the grabbing position by the industrial robot body, grabbing the brake tile by the robot gripper device, driving the robot gripper device to move so as to drive the brake tile to move, placing the grabbed brake shoe sheet on the processing device for processing by the robot gripper device, after the processing is finished, grabbing the processed brake shoe sheet by the industrial robot body by the robot gripper device, transferring the brake shoe sheet to the upper side of the placing tray 22 by the industrial robot body, photographing by the visual camera 23 on the placing tray 22, identifying the part position and the part-free position on the placing tray 22, matching the visual camera 23 on the placing tray 22 with the PLC, judging the position point on the placing tray 22, analyzing the position points of the placed gate tiles and the position points to be placed of the non-placed gate tiles, giving out the position points to be placed with the highest priority, giving out signals of the position points to be placed with other low priorities, after the position signals of the position points to be placed are scanned by the industrial robot body, calculating the position points of the position to be placed on the basis of the reference point positions according to coordinates given by the PLC, and running the industrial robot body to the position of the position points to be placed to place the brake shoe sheets through the robot gripper equipment.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (9)
1. The offset grabbing method of the robot offset grabbing mechanism based on vision is characterized in that the robot offset grabbing mechanism comprises two grabbing trays (12) and two placing trays (22), one sides of the two grabbing trays (12) and the two placing trays (22) are respectively fixed with profile brackets (24), the upper ends of the four profile brackets (24) are respectively fixed with vision cameras (23), the lower ends of the two grabbing trays (12) and the two placing trays (22) are respectively provided with a fixing frame (17), one electric guide rail (14) is arranged at one side of the upper ends of the two fixing frames (17) in the length direction, two mutually parallel base plates (16) are arranged at one side of the upper ends of the two fixing frames (17) in the width direction, the two base plates (16) at the same side are in a group, the upper ends of the two base plates (16) in the same group are jointly provided with another electric guide rail (14), the lower ends of the two grabbing trays (12) and the two placing trays (22) are respectively fixed with sliding blocks (13), the four sliding blocks (13) are respectively arranged on one side of an industrial main body (14) of the robot main body (17) corresponding to the four electric guide rails (14), the robot main bodies are arranged on one side of the robot main body (17) and the robot main body (17) is processed, the industrial robot body is provided with a PLC;
the offset grabbing method comprises the following steps:
s1, equally dividing the grabbing tray (12) and the placing tray (22) into six rows and six columns of matrixes, so that thirty-six position points are equally arranged on the single grabbing tray (12) and the single placing tray (22), and different priorities are respectively arranged on the position points on the grabbing tray (12) and the placing tray (22), so that each position point on the grabbing tray (12) and the placing tray (22) has different priorities when grabbing or placing, and grabbing and placing according to the height of the priorities are facilitated;
s2, installing a visual camera (23) on the grabbing tray (12) and the placing tray (22) through a profile bracket (24), wherein photographing ranges of the four visual cameras (23) respectively cover the grabbing tray (12) and the placing tray (22), and comparing and analyzing photographed pictures by the visual cameras (23) so as to judge whether gate tiles are placed at all position points on the grabbing tray (12) and the placing tray (22) or not, and further judge a piece-containing position point and a piece-free position point on the grabbing tray (12) and the placing tray (22);
s3, the PLC directly performs signal communication with the four cameras, and analyzes the position points on the grabbing tray (12) and the placing tray (22), and as each position point is divided into rows and columns, the PLC can obtain the conclusion that each specific position point has a piece or has no piece, and as different priorities are respectively set for the position points on the grabbing tray (12) and the placing tray (22), grabbing or placing can be performed according to the order of the priorities;
s4, when the brake tiles are grabbed, the industrial robot body drives the robot gripper device to rotate, so that the robot gripper device rotates to the upper end of the grabbing tray (12), a visual camera (23) on the grabbing tray (12) is matched with the PLC, and different priorities are marked on brake shoe sheets placed on the grabbing tray (12) according to different grabbing position points;
s5, the PLC gives out position point signals of the brake shoe sheets with the highest priority on the grabbing tray (12), and the position point signals of grabbing positions of other to-be-grabbed pieces with low priorities are temporarily not given out;
s6, after the industrial robot body scans a position signal of a tile to be grabbed, calculating a position point of a grabbing position on the basis of a datum point position according to coordinates given by the PLC;
s7, the industrial robot body drives the robot gripper device to move to a gripping position, and the gate tile is gripped by the robot gripper device;
s8, the industrial robot body drives the robot gripper equipment to move so as to drive the brake tile to move, the gripped brake shoe sheets are placed on the processing equipment to be processed through the robot gripper equipment, and after the processing is finished, the industrial robot body grips the processed brake shoe sheets through the robot gripper equipment;
s9, transferring the brake shoe sheet to the upper part of a placing tray (22) by the industrial robot body through robot gripper equipment, and matching a visual camera (23) on the placing tray (22) with a PLC (programmable logic controller) so as to judge the position points on the placing tray (22), analyzing the position points of the placed brake tiles and the position points to be placed of the non-placed brake tiles, giving the position points to be placed with the highest priority, and temporarily giving no signals of the position points to be placed with other low priorities;
s10, after the industrial robot body scans a position signal of a position point to be placed, calculating the position point to be placed on the basis of the reference point position according to coordinates given by the PLC;
s11, the industrial robot body is operated to the position of the position point to be placed, and the brake shoe sheet is placed through the robot gripper equipment;
s12, repeating the steps S4-S11, and grabbing, processing and placing the brake shoe sheet.
2. The offset grabbing method of the vision-based robot offset grabbing mechanism according to claim 1, wherein the machining equipment comprises a mounting frame (4), a first bearing plate (1) and a second bearing plate (3) are sequentially and detachably connected in the mounting frame (4) from top to bottom, glue spraying equipment (5) is fixed on the first bearing plate (1), a first sealing cover (2) is hinged to one side of the mounting frame (4), the first sealing cover (2) is located between the first bearing plate (1) and the second bearing plate (3), a second sealing cover (19) is hinged to the other side of the mounting frame (4), and the second sealing cover (19) is located at the upper end of the first bearing plate (1).
3. The offset grabbing method of the vision-based robot offset grabbing mechanism according to claim 2, wherein four corners of the upper ends of the first bearing plate (1) and the second bearing plate (3) are respectively provided with a connecting piece (11), two bolts (10) penetrate through the connecting piece (11), four bolts (10) on the same horizontal plane are in a group, one ends of the two groups of bolts (10) are screwed on the mounting frame (4), and the other two groups of bolts (10) are respectively screwed on the first bearing plate (1) and the second bearing plate (3).
4. The offset grabbing method of the vision-based robot offset grabbing mechanism according to claim 1, wherein the robot gripper device comprises a connecting rod (7), a two-way air cylinder (8) is fixed at the lower end of the connecting rod (7), and clamping plates (9) are fixed on two sides of the lower end of the two-way air cylinder (8).
5. A vision-based robotic offset gripping method of an offset gripping mechanism according to claim 2, wherein the first cover (2) and the mounting frame (4) are co-mounted with a buckle (20).
6. The offset grabbing method of the vision-based robot offset grabbing mechanism according to claim 1, wherein fixed corner codes (18) are installed at four corners of the lower end of the fixing frame (17), second screw feet (15) are screwed at four corners of the lower end of the fixing frame (17), and four second screw feet (15) are located among the four fixed corner codes (18).
7. The offset grabbing method of the vision-based robot offset grabbing mechanism according to claim 1, wherein the fixing frame (17) is made of aluminum profiles.
8. The offset grabbing method of the vision-based robot offset grabbing mechanism according to claim 2, wherein baffles (21) are fixed to two sides of the mounting frame (4).
9. The offset grabbing method of the vision-based robot offset grabbing mechanism according to claim 2, wherein first screw feet (6) are screwed at four corners of the lower end of the installation frame (4).
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| CN109560027B (en) * | 2019-01-18 | 2020-10-30 | 深海弈智京山智能科技有限公司 | String-placing position correcting vision guiding system |
| CN110171708B (en) * | 2019-05-10 | 2021-09-03 | 惠州市德赛电池有限公司 | Automatic control method for high-precision material taking and discharging |
| CN114952851B (en) * | 2022-06-08 | 2024-10-01 | 中国第一汽车股份有限公司 | Robot workbin grabbing piece control device and method |
| CN115092673A (en) * | 2022-07-01 | 2022-09-23 | 河北汉光重工有限责任公司 | Positioning method for grabbing tray by gripper device |
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