CN109079825A - Robot automation's visual grasping system - Google Patents
Robot automation's visual grasping system Download PDFInfo
- Publication number
- CN109079825A CN109079825A CN201710447664.6A CN201710447664A CN109079825A CN 109079825 A CN109079825 A CN 109079825A CN 201710447664 A CN201710447664 A CN 201710447664A CN 109079825 A CN109079825 A CN 109079825A
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- CN
- China
- Prior art keywords
- robot
- module
- visual
- grasping
- visual identity
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
Abstract
The invention discloses robot automation's visual grasping systems, it mainly include robot grasping mechanism, power module, camera, visual identity module, control module and drive module, the camera is connected with the visual identity module, the visual identity module, power module and drive module are connected with the control module respectively, and the drive module is connected with the robot grasping mechanism.Robot automation's visual grasping system of the invention, the advantages of robot automatic recognition cargo may be implemented, improve efficiency and save resource.
Description
Technical field
The present invention relates to visual grasping technical fields, and in particular, to robot automation's visual grasping system.
Background technique
Wheeled mobile robot is made of automatic navigation vehicle and manipulator, can be used for the work such as automatic transporting, traction, handling
Industry.When robot carries out logistics transport for drawing shelf, the course of work is that robot is engaged with shelf, robot is drawn
Shelf traveling, robot and shelf disengage, i.e., engaged in shelf robot of area to be shipped with shelf, then robot draws goods
Frame, which is transported to, connects goods area, is meeting goods area robot and shelf disengagement, is repeating above-mentioned circulation later, transport to more shelf.
Therefore it will complete engage between robot and each shelf, disengagement acts.
Above-mentioned wheeled mobile robot cannot specifically be identified exist and remove wrong cargo or repeat to carry to cargo,
Efficiency operation can not be carried out, is wasted time.
Summary of the invention
It is an object of the present invention in view of the above-mentioned problems, robot automation's visual grasping system be proposed, to realize machine
People's automatic recognition cargo, the advantages of improving efficiency and saving resource.
To achieve the above object, the technical solution adopted by the present invention is that: robot automation's visual grasping system, the system
System mainly includes robot grasping mechanism, power module, camera, visual identity module, control module and drive module；It is described
Camera is connected with the visual identity module, the visual identity module, power module and drive module respectively with it is described
Control module is connected, and the drive module is connected with the robot grasping mechanism.
Further, the robot grasping mechanism mainly includes flute profile pawl, spring and lift-pin mechanism, the spring
Both ends are connected with the driving end of the tooth form pawl respectively, and the lift-pin mechanism is set to the tail at tooth form pawl driving end
Portion.
Further, the visual identity module can shoot object to camera and be identified, is grouped and be handled.
Further, the control module handles the information of the visual identity module, and order drive module
Robot grasping mechanism is controlled.
Further, the power module provides power supply, including battery portion and USB portion.
Robot automation's visual grasping system of the invention mainly includes robot grasping mechanism, power module, camera shooting
Head, visual identity module, control module and drive module, may be implemented robot automatic recognition cargo, improve efficiency and save
The advantages of resource.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of robot automation's visual grasping system of the present invention；
Fig. 2 is the structural schematic diagram of the robot grasping mechanism of robot automation's visual grasping system of the present invention.
In conjunction with attached drawing 2, appended drawing reference is as follows in the embodiment of the present invention:
1- tooth form pawl；2- spring；3- lift-pin mechanism.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
As shown in Figure 1, robot automation's visual grasping system, includes mainly robot grasping mechanism, power module, takes the photograph
As head, visual identity module, control module and drive module；Camera is connected with visual identity module, visual identity module,
Power module and drive module are connected with control module respectively, and drive module is connected with robot grasping mechanism.
Visual identity module can shoot object to camera and be identified, is grouped and be handled.
Control module handles the information of visual identity module, and order drive module to robot grasping mechanism into
Row control.
Power module provides power supply, including battery portion and USB portion.
As shown in Fig. 2, robot grasping mechanism mainly includes flute profile pawl 1, spring 2 and lift-pin mechanism 3, the two of spring 2
End is connected with the driving end of tooth form pawl 1 respectively, and lift-pin mechanism 3 is set to the tail portion that tooth form pawl 1 drives end.
At least can achieve it is following the utility model has the advantages that
Robot automation's visual grasping system of the invention mainly includes robot grasping mechanism, power module, camera shooting
Head, visual identity module, control module and drive module, may be implemented robot automatic recognition cargo, improve efficiency and save
The advantages of resource.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (5)
1. robot automation's visual grasping system, which is characterized in that the system mainly includes robot grasping mechanism, power supply
Module, camera, visual identity module, control module and drive module；The camera is connected with the visual identity module
Connect, the visual identity module, power module and drive module are connected with the control module respectively, the drive module with
The robot grasping mechanism is connected.
2. robot automation's visual grasping system according to claim 1, which is characterized in that the robot gripper
Structure mainly includes flute profile pawl, spring and lift-pin mechanism, and the both ends of the spring are connected with the driving end of the tooth form pawl respectively
It connects, the lift-pin mechanism is set to the tail portion at tooth form pawl driving end.
3. robot automation's visual grasping system according to claim 1, which is characterized in that the visual identity module
Object can be shot to camera to be identified, be grouped and handled.
4. robot automation's visual grasping system according to claim 1, which is characterized in that the control module is to institute
The information for stating visual identity module is handled, and order drive module controls robot grasping mechanism.
5. robot automation's visual grasping system according to claim 1, which is characterized in that the power module provides
Power supply, including battery portion and USB portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710447664.6A CN109079825A (en) | 2017-06-14 | 2017-06-14 | Robot automation's visual grasping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710447664.6A CN109079825A (en) | 2017-06-14 | 2017-06-14 | Robot automation's visual grasping system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109079825A true CN109079825A (en) | 2018-12-25 |
Family
ID=64839444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710447664.6A Withdrawn CN109079825A (en) | 2017-06-14 | 2017-06-14 | Robot automation's visual grasping system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109079825A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110948491A (en) * | 2019-12-21 | 2020-04-03 | 深圳市华成工业控制有限公司 | Industrial robot grabbing method based on visual following |
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| CN103862457A (en) * | 2014-03-13 | 2014-06-18 | 湖南信息职业技术学院 | Service robot with visual system |
| CN104057459A (en) * | 2014-06-25 | 2014-09-24 | 上海发那科机器人有限公司 | Device and method for intelligently sorting workpieces by robot |
| CN104175308A (en) * | 2014-08-12 | 2014-12-03 | 湖南信息职业技术学院 | Self-service robot |
| CN106584488A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Ball picking robot and motion control system thereof |
| CN106808475A (en) * | 2017-03-24 | 2017-06-09 | 深圳万智联合科技有限公司 | A kind of excellent intelligent robot of visual performance |
| CN106808491A (en) * | 2017-03-16 | 2017-06-09 | 上海云线娃娃信息科技有限公司 | A kind of clamp structure driven by cam structure |
| CN206242055U (en) * | 2016-12-15 | 2017-06-13 | 温令太 | A kind of robot with vision servo system |
| CN206982697U (en) * | 2017-06-14 | 2018-02-09 | 天津玛斯特车身装备技术有限公司 | Robot automation's visual grasping system |
-
2017
- 2017-06-14 CN CN201710447664.6A patent/CN109079825A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100010672A1 (en) * | 2008-07-10 | 2010-01-14 | Yulun Wang | Docking system for a tele-presence robot |
| CN103862457A (en) * | 2014-03-13 | 2014-06-18 | 湖南信息职业技术学院 | Service robot with visual system |
| CN104057459A (en) * | 2014-06-25 | 2014-09-24 | 上海发那科机器人有限公司 | Device and method for intelligently sorting workpieces by robot |
| CN104175308A (en) * | 2014-08-12 | 2014-12-03 | 湖南信息职业技术学院 | Self-service robot |
| CN106584488A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Ball picking robot and motion control system thereof |
| CN206242055U (en) * | 2016-12-15 | 2017-06-13 | 温令太 | A kind of robot with vision servo system |
| CN106808491A (en) * | 2017-03-16 | 2017-06-09 | 上海云线娃娃信息科技有限公司 | A kind of clamp structure driven by cam structure |
| CN106808475A (en) * | 2017-03-24 | 2017-06-09 | 深圳万智联合科技有限公司 | A kind of excellent intelligent robot of visual performance |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110948491A (en) * | 2019-12-21 | 2020-04-03 | 深圳市华成工业控制有限公司 | Industrial robot grabbing method based on visual following |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181225 |
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| WW01 | Invention patent application withdrawn after publication |