CN110802599B - Control method for grabbing parts from material frame under visual guidance of robot - Google Patents
Control method for grabbing parts from material frame under visual guidance of robot Download PDFInfo
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- CN110802599B CN110802599B CN201911192727.3A CN201911192727A CN110802599B CN 110802599 B CN110802599 B CN 110802599B CN 201911192727 A CN201911192727 A CN 201911192727A CN 110802599 B CN110802599 B CN 110802599B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
Abstract
The invention relates to a system and a control method for grabbing parts from a material frame by robot vision guidance, wherein the system comprises a robot, a processor and a grabbing component, the grabbing component comprises a main beam, and a part position sensing module and a clamping module which are arranged on the main beam, the part position sensing module comprises a part photoelectric sensor, a double-channel photoelectric sensor and a 2D camera, and the control method comprises the following steps: the part position sensing module confirms whether the material frame has parts or not, acquires the position information of the parts and the material frame, acquires a grabbing position and a returning position according to the position information, moves the grabbing component to the grabbing position to grab the parts, and then moves the grabbing component to the returning position and moves upwards to complete grabbing of the parts. Compared with the prior art, the invention utilizes a single 2D camera to acquire the horizontal position information of the part and the material frame, guides the robot to move based on the horizontal position information acquired by the 2D camera, realizes the clamping of the part by utilizing the telescopic sucker and the clamping jaw, and has the advantages of low equipment cost, convenient maintenance, high grabbing accuracy and stability.
Description
Technical Field
The invention relates to a system for grabbing parts from a material frame and a control method, in particular to a system for grabbing parts from the material frame and a control method by using a robot for visual guidance.
Background
Vision is increasingly used in the field of industrial automation, such as visual guidance, visual detection, and visual sensors. Visual guidance is a technique of detecting and comparing through photographing by an industrial camera, calculating an offset, and correcting according to the position of a part. The part is grabbed in vision guide application, snatched from the material frame stack, snatched from the long-pending chain, snatch in the EHB conveying system, and the location is accurate, realizes high efficiency automation. The part grabbing from the stacking frame is the most complicated, and the position of the part is not only required to be positioned, but also required to be judged.
At present, two methods are used for grabbing parts from a material frame, one method is realized by using a fixed precise positioning material frame and matching with an automatic part searching function of a robot, the method is used for grabbing small parts, the requirement on the material frame is too high, a person is needed to place the parts into the precise positioning material frame, and the automation rate is low. Another method uses a common material frame, when the material frame is used, the position of a part in the material frame has deviation, an industrial 3D camera is needed to be used, the material frame and the part are respectively photographed before being grabbed, the deviation is calculated and sent to a robot for deviation, the material frame is photographed to calculate the deviation between the material frames, the robot is wholly deviated, then the part is photographed for one time to calculate the deviation between the parts, for example, when the industrial 3D camera is used for grabbing a car body roof part from the material frame, 4 3D camera combinations are needed to be used, four corners of the material frame and the part are respectively corresponded, the deviation of the material frame is calculated by photographing four corners of the material frame, only the middle deviation can be taken when the irregular material frame is encountered, then the parts are searched one by one, and the deviation value between the parts is calculated by photographing the four corners of the part respectively, the robot guide system can grab the top cover from the material frame, repeated operation needs to be carried out on the part, if the calculated value of local deformation of one angle of the part has deviation, the operation difficulty is high, and the cost is too high.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a system and a control method for grabbing parts from a material frame by using a robot vision guide.
The purpose of the invention can be realized by the following technical scheme:
a system for grabbing parts from a material frame by robot vision guidance is characterized by comprising a robot, a processor and a gripper assembly, wherein the gripper assembly comprises a main beam, a part position sensing module and a clamping module, the part position sensing module and the clamping module are arranged on the main beam, the main beam is fixedly arranged on an output end of a sixth shaft at the tail end of the robot, the part position sensing module comprises a part photoelectric sensor, a double-channel photoelectric sensor and a 2D camera, the clamping module comprises a telescopic sucker arranged at the bottom of the main beam and two pairs of cylinders and clamping jaws arranged on two sides of the main beam, the robot, the double-channel photoelectric sensor, the 2D camera and the cylinders are respectively connected with the processor,
the robot be used for driving tongs subassembly and remove, part position response module be used for acquireing the position information of part and material frame: firstly, detecting whether a part exists in a material frame by the aid of the part photoelectric sensor, then acquiring level information of the part by the aid of the double-channel photoelectric sensor, and finally acquiring horizontal position information of the part and the material frame by the aid of the 2D camera;
the clamping module is used for grabbing parts, and the processor is used for processing the position information and controlling the movement of the robot and the grabbing action of the clamping module according to the position information.
The double-channel photoelectric sensor on be equipped with first detection channel and second detection channel, the detection distance of first detection channel be greater than the detection distance of second detection channel, when first detection channel detects the part, the treater control robot removes at a slow speed, when the second detection channel detects the part, the treater control robot stops to remove.
The processor comprises a robot control unit, a 2D camera processing unit and a clamping module control unit, the robot control unit is used for controlling the robot to drive the gripper assembly to move, the 2D camera processing unit is used for acquiring and analyzing the photographing result of the 2D camera to obtain the horizontal position information of the part and the material frame, and the clamping module control unit is used for controlling the gripping action of the clamping module.
The main beam bottom be equipped with a plurality of flexible sucking discs, the shape of flexible sucking disc with distribute and the shape cooperation of part, press from both sides earlier by flexible sucking disc suction part when getting, the tongs subassembly promotes the part by cylinder and clamping jaw clamp part after the take the altitude again, part position error when reducing and snatching improves the stability of snatching.
A control method for grabbing parts from a material frame by robot vision guide adopts the system for grabbing the parts from the material frame by the robot vision guide, and the control method comprises the following steps: whether parts exist in the material frame is judged by using the part photoelectric sensor, if the parts exist, the position information of the parts and the material frame is obtained by using the double-channel photoelectric sensor and a 2D camera, the position of the grabbing piece and the return position are obtained according to the position information, the grabbing hand assembly moves to the position of the grabbing piece to grab the parts, then the grabbing hand assembly moves to the return position and moves upwards to complete grabbing of the parts.
The control method specifically comprises the following steps:
s0: the robot drives the gripper assembly to reach a part detection position on the material frame, the part photoelectric sensor judges whether a part exists in the material frame, if so, the step S1 is carried out, otherwise, the step S7 is carried out;
s1: the robot drives the gripper assembly to reach a preparation position;
s2: detecting whether a part exists or not by a first detection channel of the dual-channel photoelectric sensor, and if so, entering step S3, otherwise, entering step S5;
s3: moving the gripper assembly downwards at a slow speed until the second detection channel detects the part, stopping moving the gripper assembly, and entering the step S4;
s4: the 2D camera takes a first photo, the processor obtains a grabbing position according to a first photo taking result, the grabbing component moves to the grabbing position, the 2D camera takes a second photo to obtain a return position, the grabbing component moves to the return position after clamping the part, then the grabbing component moves upwards to grab the part from the material frame, grabbing of the first layer of part is completed, and the step S0 is returned;
s5: the gripper assembly moves downwards until the first detection channel detects the part, the processor controls the robot to drive the gripper to move downwards at a slow speed until the second detection channel detects the part, the gripper assembly stops moving, and the step S6 is carried out;
s6: the 2D camera takes a picture, the processor obtains a new grabbing position according to the picture taking result, the grabbing component moves to the grabbing position, the grabbing component clamps the part and then moves to the returning position, then the grabbing component moves upwards to grab the part from the material frame, grabbing of the part on the lower layer is completed, and the step S0 is returned;
s7: the robot stops and the grabbing is finished.
The ready position described in step S1 is higher than the top part by the detection distance of the first detection passage. The return position in S4 is obtained according to the position of the material frame in the second photographing result, so that the part can be vertically taken out when being grabbed, and the deformation caused by touching the material frame can be avoided.
The step S4 specifically includes:
s41: the 2D camera takes a first photo, transmits the first photo result to the processor, and enters step S42;
s42: the processor acquires the grabbing position according to the first photographing result, controls the robot to drive the grabbing component to move to the grabbing position, and enters step S43;
s43: the 2D camera takes a second photo and transmits the second photo to the processor, the processor obtains a return position according to the second photo, the processor controls the telescopic sucker to start and suck up the part, the gripper assembly moves upwards to the clamping position, the processor controls the cylinder to start, the clamping jaw clamps the part, then the processor controls the robot to drive the gripper assembly to move to the return position, the gripper assembly moves upwards and returns to the preparation position, and the step S44 is entered;
s44: and the processor controls the robot to drive the gripper assembly to move to the material placing position, opens the clamping jaw, releases the telescopic sucking disc, completes material placing and returns to the step S0.
The step S6 specifically includes:
s61: the 2D camera takes a picture, transmits the picture taking result to the processor, and enters step S62;
s62: the processor acquires a new grabbing position according to the photographing result, controls the robot to drive the grabbing component to move to the grabbing position, and enters step S63;
s63: the processor controls the telescopic sucker to start, sucks up the part, the gripper assembly moves upwards to a clamping position, the processor controls the cylinder to start, the clamping jaws clamp the part, then the processor controls the robot to drive the gripper assembly to move to a return position, the gripper assembly moves upwards, the gripper assembly returns to a preparation position, and the step S64 is carried out;
s64: and the processor controls the robot to drive the gripper assembly to move to the material placing position, opens the clamping jaw, releases the telescopic sucking disc, completes material placing and returns to the step S0.
After the telescopic sucker sucks up the part, the gripper assembly moves upwards 150-200 mm to reach the clamping position.
Compared with the prior art, the invention has the following advantages:
(1) according to the system for grabbing parts from the material frame by the robot vision guide, only a single 2D camera is used for obtaining the position information of the parts and the material frame, the processor obtains the position deviation information of the parts in the material frame and the position deviation information of the material frame according to the two-time photographing results, the grabbing position and the returning position of the robot are calculated by the processor, the robot is guided to grab the parts from the material frame based on the vision information obtained by one 2D camera, the cost of system equipment is effectively reduced, and the grabbing accuracy and stability are improved;
(2) according to the system for grabbing parts from the material frame through the robot vision guidance, the two-channel photoelectric sensor is used for acquiring the level information of the parts, and the robot is controlled to decelerate and stop, so that the grabbing component is accurately stopped, and the grabbing stability is improved;
(3) according to the system for grabbing parts from the material frame under the guidance of the robot vision, the parts are clamped by using the telescopic sucker, the air cylinder and the clamping jaws, the telescopic sucker can float in position, the position deviation during clamping is effectively reduced, and the air cylinder clamping jaws further clamp the parts to prevent the parts from falling off;
(4) the invention relates to a control method for grabbing parts from a material frame by robot vision guidance, which comprises the steps of utilizing a 2D camera to obtain vision information to guide a robot to move and clamp the parts, utilizing the 2D camera to shoot a first layer of parts twice, utilizing a processor to obtain position deviation information of the first layer of parts in the material frame and position deviation information of the material frame according to the shooting results of the two times, calculating a grabbing part position and a returning position of the robot by the processor, shooting a bottom layer of parts once, calculating the grabbing position of the bottom layer of parts, improving the clamping efficiency, and reducing the influence of the position deviation of the parts and the material frame on the clamping accuracy;
(5) according to the control method for grabbing parts from the material frame by the robot vision guide, the two-channel photoelectric sensor is used for acquiring the level information of the parts, and the shooting times of the 2D camera are judged according to the level information, so that the calculated amount of a processor is reduced, and the grabbing efficiency is improved;
(6) according to the control method for grabbing parts from the material frame through robot visual guidance, disclosed by the invention, when the parts are detected by the first detection channel, the processor controls the robot to move at a low speed, and when the parts are detected by the first detection channel, the processor controls the robot to stop, so that the precision of the stop position of the grabbing component is ensured.
Drawings
FIG. 1 is a schematic diagram of a robot vision-guided part grabbing system for a material frame according to the present invention;
FIG. 2 is a schematic diagram of a gripper assembly of a robot vision-guided part grabbing system for a material frame according to the present invention;
FIG. 3 is a flowchart of a control method for grabbing parts from a material frame by a robot under visual guidance according to the present invention.
Wherein, 1, robot, 2, sixth axle, 3, girder, 4, binary channels photoelectric sensor, 5, 2D camera, 6, flexible sucking disc, 7, cylinder, 8, clamping jaw, 9, part, 10, material frame, 11, part photoelectric sensor.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. Note that the following description of the embodiments is merely a substantial example, and the present invention is not intended to be limited to the application or the use thereof, and is not limited to the following embodiments.
Examples
A system for grabbing parts from a material frame through robot vision guiding is used for grabbing the parts 9 from the material frame 10, as shown in figure 1, the parts 9 are multiple parts 9 with the same shape, the multiple parts are stacked in the material frame 10 layer by layer, the system comprises a robot 1, a processor and a gripper assembly, the gripper assembly comprises a main beam 3, a part position sensing module and a clamping module, the robot 1 is used for driving the gripper assembly to move, the part position sensing module is used for acquiring position information of the parts 9 and the material frame 10, the clamping module is used for grabbing the parts 9, the processor is used for processing the position information and controlling the moving action of the robot 1 and the grabbing action of the clamping module according to the position information, and the robot 1, the part position sensing module and the clamping module are respectively connected with the processor.
In the system, the parts 9 are stacked in the material frame 10 layer by layer, the position of each layer of the parts 9 in the horizontal direction has certain deviation, and the position of the material frame 10 in the horizontal direction also has position deviation.
As shown in fig. 1 and fig. 2, the robot 1 in the system is a six-axis industrial robot, a main beam 3 of the gripper assembly is fixedly mounted on an output end of a sixth axis 2 at the tail end of the robot 1, the part position sensing module comprises a part photoelectric sensor 11, a dual-channel photoelectric sensor 4 and a 2D camera 5, the dual-channel photoelectric sensor 4 and the 2D camera 5 are fixedly arranged on the main beam 3, the part photoelectric sensor 11 is used for detecting whether a part 9 exists in a material frame 10, the dual-channel photoelectric sensor 4 is used for acquiring the level information of the part 9, a first detection channel and a second detection channel are arranged on the dual-channel photoelectric sensor 4, and the detection distance of the first detection channel is greater than that of the second detection channel. In this embodiment, the detection distance of the first detection channel is 500mm, the detection distance of the second detection channel is 300mm, when the first detection channel detects the part 9, the processor controls the robot 1 to drive the gripper assembly to move at a slow speed, and when the second detection channel detects the part 9, the processor controls the robot 1 to drive the gripper assembly to stop.
The processor comprises a robot control unit, a 2D camera processing unit and a clamping module control unit, the robot control unit is used for controlling the robot 1 to drive the gripper assembly to move, the 2D camera processing unit is used for acquiring and analyzing a photographing result of the 2D camera 5 to obtain horizontal position information of the part 9 and the material frame 10, and the clamping module control unit is used for controlling a gripping action of the clamping module.
A control method for grabbing parts from a material frame by robot vision guidance comprises the following steps: the position information of the part 9 and the material frame 10 is obtained by the double-channel photoelectric sensor 4 and the 2D camera 5, the part grabbing position and the returning position are obtained according to the position information, the grabbing hand assembly moves to the part grabbing position to grab the part 9, then the grabbing hand assembly moves to the returning position and moves upwards, and grabbing of the part 9 is completed.
In the method, the 2D camera 5 is used for obtaining visual information of the part 9 and the material frame 10, the processor obtains position deviation information of the part 9 in the material frame 10 and position deviation information of the material frame 10 according to the visual information obtained by the 2D camera 5, namely the shooting result of the 2D camera 5, obtains a grabbing position and a returning position according to the position deviation information of the part 9 in the material frame 10 and the position deviation information of the material frame 10, and further guides the robot 1 to move to drive the grabbing component to grab the part 9.
As shown in fig. 3, the control method specifically includes:
s0: the robot 1 drives the gripper assembly to reach a part detection position on the material frame 10, the part photoelectric sensor 11 judges whether a part 9 exists in the material frame 10, if the part 9 exists, the step S1 is executed, and if the part 9 does not exist, the step S7 is executed;
s1: the robot 1 drives the gripper assembly to reach a preparation position;
s2: the first detection channel of the dual-channel photoelectric sensor 4 detects whether there is a part 9, if there is a part 9, the step S3 is performed, otherwise, the step S5 is performed;
s3: moving the gripper assembly downwards at a slow speed until the second detection channel detects the part 9, stopping moving the gripper assembly, and entering the step S41;
s41: the 2D camera takes a first photo, transmits the first photo result to the processor, and enters step S42;
s42: the processor acquires the grabbing position according to the first photographing result, controls the robot to drive the grabbing component to move to the grabbing position, and enters step S43;
s43: the 2D camera takes a second photo and transmits the second photo result to the processor, the processor obtains a return position according to the second photo result, the position is corrected according to the change of the material frame 10, the part 9 can be guaranteed to be grabbed and vertically taken out without deformation, the processor controls the telescopic sucker 6 to start, the part 9 is sucked up, the gripper assembly moves upwards to a clamping position, the processor controls the cylinder 7 to start, the clamping jaw 8 clamps the part 9, then the processor controls the robot to drive the gripper assembly to move to the return position, the gripper assembly moves upwards and returns to a preparation position, and the step S44 is carried out;
s44: the processor controls the robot to drive the gripper assembly to move to the material placing position, the clamping jaw 8 is opened, the telescopic sucking disc is loosened, the material placing is completed, and the step S0 is returned;
s5: the gripper assembly moves downwards until the first detection channel detects the part 9, the processor controls the robot 1 to drive the gripper to move downwards at a slow speed, and the gripper assembly stops moving until the second detection channel detects the part 9, and the step S6 is carried out;
s61: the 2D camera 5 takes a picture, and transmits the picture taking result to the processor, and the process goes to step S62;
s62: the processor acquires a new grabbing position according to the photographing result, controls the robot 1 to drive the grabbing component to move to the grabbing position, and enters step S63;
s63: the processor controls the telescopic sucker 6 to start, sucks up the part 9, the gripper assembly moves upwards to a clamping position, the processor controls the cylinder 7 to start, the clamping jaw 8 clamps the part 9, then the processor controls the robot 1 to drive the gripper assembly to move to a return position, the gripper assembly moves upwards and returns to a preparation position, and the step S64 is carried out;
s64: the processor controls the robot 1 to drive the gripper assembly to move to a material placing position, opens the clamping jaw 8, loosens the telescopic sucker 6, completes material placing, and returns to the step S0;
s7: the robot 1 stops and the grabbing is finished.
In step S1 of this embodiment, the robot 1 drives the gripper assembly to reach 500mm above the first-layer part 9, that is, the preparation position, in steps S43 and S63, after the telescopic suction cup 6 sucks up the part 9, the gripper assembly moves up 150-200 mm to reach the clamping position, and in this embodiment, the gripper assembly moves up 150mm to reach the clamping position, so that the air cylinder 7 and the clamping jaw 8 complete the clamping action.
The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.
Claims (5)
1. A control method for grabbing parts from a material frame by robot vision guide is characterized in that a system for grabbing the parts from the material frame by the robot vision guide is adopted, the parts (9) are stacked in the material frame (10) layer by layer,
the system is used for grabbing parts (9) from a material frame (10), and comprises a robot (1), a processor and a grabbing component, the gripper assembly comprises a main beam (3), and a part position sensing module and a clamping module which are arranged on the main beam (3), the main beam (3) is fixedly arranged on the output end of a sixth shaft (2) at the tail end of the robot (1), the part position sensing module comprises a part photoelectric sensor (11), a dual-channel photoelectric sensor (4) and a 2D camera (5), the clamping module comprises a telescopic sucker (6) arranged at the bottom of the main beam (3), two pairs of cylinders (7) and clamping jaws (8) arranged at two sides of the main beam (3), the robot (1), the double-channel photoelectric sensor (4), the 2D camera (5) and the air cylinder (7) are respectively connected with a processor,
robot (1) be used for driving tongs subassembly and remove, part position response module be used for acquireing the positional information of part (9) and material frame (10): firstly, the part photoelectric sensor (11) detects whether a part (9) exists in the material frame (10), then the double-channel photoelectric sensor (4) acquires the level information of the part (9), and finally the 2D camera (5) acquires the horizontal position information of the part (9) and the material frame (10);
the clamping module is used for grabbing parts (9), the processor is used for processing the position information and controlling the moving action of the robot (1) and the grabbing action of the clamping module according to the position information,
a first detection channel and a second detection channel are arranged on the double-channel photoelectric sensor (4), the detection distance of the first detection channel is greater than that of the second detection channel,
the control method comprises the following steps: judging whether a part (9) exists in the material frame (10) by using a part photoelectric sensor (11), if the part (9) exists, acquiring position information of the part (9) and the material frame (10) by using a dual-channel photoelectric sensor (4) and a 2D camera (5), acquiring a grabbing position and a returning position according to the position information, moving the grabbing component to the grabbing position to grab the part (9), then moving the grabbing component to the returning position and moving upwards to complete grabbing of the part (9),
the control method specifically comprises the following steps:
s0: the robot (1) drives the gripper assembly to reach a part detection position on the material frame (10), the part photoelectric sensor (11) judges whether a part (9) exists in the material frame (10), if the part (9) exists, the step S1 is carried out, and if the part (9) does not exist, the step S7 is carried out;
s1: the robot (1) drives the gripper assembly to reach a preparation position;
s2: detecting whether a part (9) exists or not by a first detection channel of the dual-channel photoelectric sensor (4), if the part (9) exists, entering step S3, and if not, entering step S5;
s3: moving the gripper assembly downwards at a slow speed until the second detection channel detects the part (9), stopping moving the gripper assembly, and entering the step S4;
s4: the 2D camera (5) takes a picture for the first time, the processor obtains a grabbing position according to a first picture taking result, the grabbing component moves to the grabbing position, the 2D camera (5) takes a picture for the second time to obtain a return position, the grabbing component clamps the part (9) and then moves to the return position, then the grabbing component moves upwards to grab the part (9) from the material frame (10), grabbing of the first layer of part (9) is completed, and the step S0 is returned;
s5: the gripper assembly moves downwards until the first detection channel detects the part (9), the processor controls the robot (1) to drive the gripper to move downwards at a slow speed, and the gripper assembly stops moving until the second detection channel detects the part (9), and the step S6 is carried out;
s6: the 2D camera (5) takes a picture, the processor obtains a new grabbing position according to the picture taking result, the grabbing component moves to the grabbing position, the grabbing component clamps the part (9) and then moves to the returning position, then the grabbing component moves upwards to grab the part (9) from the material frame (10), grabbing of the part (9) on the lower layer is completed, and the step S0 is returned;
s7: the robot (1) is stopped, and the grabbing is finished.
2. The control method for robot vision-guided grabbing of parts from a material frame according to claim 1, wherein the step S4 specifically comprises:
s41: the 2D camera (5) takes a first photo, transmits the first photo result to the processor, and enters step S42;
s42: the processor acquires a grabbing position according to the first photographing result, controls the robot (1) to drive the grabbing component to move to the grabbing position, and enters step S43;
s43: the 2D camera (5) takes a picture for the second time, the picture taking result of the second time is transmitted to the processor, the processor obtains a return position according to the picture taking result of the second time, the processor controls the telescopic sucker (6) to start, the part (9) is sucked up, the gripper assembly moves upwards to the clamping position, the processor controls the cylinder (7) to start, the clamping jaw (8) clamps the part (9), then the processor controls the robot (1) to drive the gripper assembly to move to the return position, the gripper assembly moves upwards, the gripper assembly returns to the preparation position, and the step S44 is carried out;
s44: the processor controls the robot (1) to drive the gripper assembly to move to the material placing position, the clamping jaw (8) is opened, the telescopic sucker (6) is loosened, the material placing is completed, and the step S0 is returned.
3. The control method for robot vision-guided grabbing of parts from a material frame according to claim 1, wherein the step S6 specifically comprises:
s61: the 2D camera (5) takes a picture, transmits the picture taking result to the processor, and enters step S62;
s62: the processor acquires a new grabbing position according to the photographing result, controls the robot (1) to drive the grabbing component to move to the grabbing position, and enters step S63;
s63: the processor controls the telescopic sucker (6) to start, sucks up the part (9), the gripper assembly moves upwards to a clamping position, the processor controls the cylinder (7) to start, the clamping jaw (8) clamps the part (9), then the processor controls the robot (1) to drive the gripper assembly to move to a return position, the gripper assembly moves upwards, the gripper assembly returns to a preparation position, and the step S64 is carried out;
s64: the processor controls the robot (1) to drive the gripper assembly to move to the material placing position, the clamping jaw (8) is opened, the telescopic sucker (6) is loosened, the material placing is completed, and the step S0 is returned.
4. The control method for grabbing parts from a material frame by using the robot vision guide as claimed in claim 1, wherein the processor comprises a robot control unit, a 2D camera processing unit and a clamping module control unit, the robot control unit is used for controlling the robot (1) to drive the gripper assembly to move, the 2D camera processing unit is used for acquiring and analyzing the photographing result of the 2D camera (5) to obtain the horizontal position information of the parts (9) and the material frame (10), and the clamping module control unit is used for controlling the grabbing action of the clamping module.
5. The control method for grabbing parts from a material frame by the robot vision guide according to claim 1 is characterized in that a plurality of telescopic suckers (6) are arranged at the bottom of the main beam (3), and the shapes and the distribution of the telescopic suckers (6) are matched with the shapes of the parts (9).
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|---|---|---|---|---|
| CN111993568B (en) * | 2020-08-27 | 2021-11-30 | 广东博智林机器人有限公司 | Mounting equipment and production line with same |
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