CN111745672A - Grabbing robot and control method thereof - Google Patents
Grabbing robot and control method thereof Download PDFInfo
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- CN111745672A CN111745672A CN202010599707.4A CN202010599707A CN111745672A CN 111745672 A CN111745672 A CN 111745672A CN 202010599707 A CN202010599707 A CN 202010599707A CN 111745672 A CN111745672 A CN 111745672A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000003709 image segmentation Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 241001270131 Agaricus moelleri Species 0.000 claims description 3
- 238000001035 drying Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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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
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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
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding 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
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Abstract
The invention discloses a grabbing robot and a control method thereof, belonging to the technical field of production and manufacturing, and comprising a motor A, wherein the power output end of the motor A is rotatably connected with the power input end of a bearing, the lower part of the bearing is rotatably connected with a base, the left side and the right side of the base are respectively and fixedly provided with a rotating shaft A and a rotating shaft B, the outer parts of the rotating shaft A and the rotating shaft B are respectively and fixedly connected with a bearing arm A and a bearing arm B, the inner parts of the bearing arm A and the bearing arm B are respectively and fixedly provided with an infrared controller A and an infrared controller B, and the lower parts of the bearing arm A and the bearing arm B are respectively and rotatably connected with a grab A and a grab B. According to the invention, the gripper A, the gripper B, the telescopic rod, the electromagnet and the non-slip mat are arranged, so that the pipe is secondarily fixed during gripping, the stability of the pipe during gripping is ensured, the safety is improved, the picking in the accumulated material pile is convenient, and the practicability and the using effect are improved.
Description
Technical Field
The invention relates to the technical field of production and manufacturing, in particular to a grabbing robot and a control method thereof.
Background
The robot gripper can simulate the actions of a hand and an arm of a human body to realize the gripping and carrying of objects or operation tools, can effectively reduce the labor load of personnel and improve the working efficiency, is widely applied to various fields of mechanical manufacturing, metallurgy, electronics and the like at present, and along with the rapid development of modern industrial production, various specifications and types of robot grippers have been developed in the industry.
Patent number CN201810116334.3 discloses a robot tongs, including controlling two arms that set up relatively and be used for ordering about two the driving source of arm action, just the robot tongs still includes the backup pad, is connected to a supporting beam of driving source and set up in articulated shaft between arm and the supporting beam, the spout that extends about the backup pad is seted up, the arm is provided with to visit and stretches into the spout and can follow the back shaft that removes about the spout, so that when the driving source drives a supporting beam and reciprocates, order about the arm is rotatory around the articulated shaft, realizes opening and shutting of arm and moves. The robot gripper has a simple structure, is controllable in cost, is convenient for field assembly and maintenance, and is beneficial to popularization and application in the industry.
The device has the following disadvantages when in use: 1. the device can not fix the grabbed tubular material when in use, so that the material is prevented from falling off, and the safety is poor, so that improvement is needed; 2. the device can't realize quick separating inside the tubular product heap when using, picks, and is inconvenient to use, so still need improve.
Disclosure of Invention
The invention provides a grabbing robot and a control method thereof, aiming at installing a grab A, a grab B, a telescopic rod, an electromagnet and an anti-slip pad, firstly, when the existing robot grab grabs a pipe, the grabbing surface is small due to the shape problem of the pipe, the grabbing surface is not convenient to fix, and the pipe is easy to fall off when grabbing, through installing the grab A and the grab B, the grab A and the grab B grab the pipe inside when in use, the grab A and the grab B clamp the pipe, then the rubber anti-slip pad inside the grab A and the grab B ensures that the pipe cannot shake inside the grab A and the grab B to form primary fixation, and the electromagnet below the telescopic rod above the grab A and the grab B is electrified through an external power supply, the electromagnet is tightly adsorbed on the surface of the pipe, the secondary fixation formed by the pipe is ensured, the stability when grabbing the pipe is ensured, and the safety is improved, and present factory environment is complicated, tubular product is piled up in one, it is very slightly abolish to snatch the environment, need select from it, traditional robot tongs end can't move about, bump easily in the material pile, damage tubular product and also damage the tongs, through installing motor C in the inside grab arm of tongs A and tongs B, switch on for motor C through external power source during the use, motor C rotates, drive a plurality of gear rotation of grab arm inside, the gear drives the conveyer belt rotation in the outside, the conveyer belt rotates pivot B and rotates, thereby pivot B drives tongs A and the extreme grip block of tongs B and carries out nimble horizontal hunting, the convenience is picked in accumulational material pile, practicality and result of use have been improved.
The specific technical scheme provided by the invention is as follows:
the invention provides a control method of a grabbing robot, which comprises the following steps:
the method comprises the steps of acquiring position information of a target object by using a camera, converting the position information into grabbing information of a robot paw through operation transformation, calculating a rotating angle of each joint of a group of mechanical arms by using an inverse solution method of industrial robot kinematics, and controlling the rotation of each joint of the robot to enable the paw of the robot to reach the position of the target object in a specific posture and realize accurate grabbing of the target object.
Optionally, the visual control specifically includes:
(1) image drying:
after the camera acquires the image, a neighborhood average method is adopted, namely the average value of the gray scales of a plurality of pixels in adjacent areas replaces the gray scale of each pixel, the original image with N × N pixels is acquired to be g (x, y), and the image after noise removal is h (x, y), and the following formula can be obtained:
wherein x, y is 0,1,2, …, N-1; x is the whole pixel coordinate of the adjacent area image of (x, y);
(2) image segmentation:
if the segmentation threshold value is T, if the gray value of the image exceeds T, the image is a target area; if the image gray value is lower than T, the image gray value is a background area, and the image moisture value is defined as follows:
the probability in the background region is
The probability in the target region is then
Where x ═ T, T +1, …, L, and L refers to the image gray scale pole number.
Optionally, the grabbing robot comprises a robot body and a vision system, the robot body comprises a motor A, a power output end of the motor A is rotatably connected with a power input end of a bearing, a base is rotatably connected below the bearing, a rotating shaft A and a rotating shaft B are fixedly mounted on the left side and the right side of the base respectively, a bearing arm A and a bearing arm B are fixedly connected outside the rotating shaft A and the rotating shaft B respectively, an infrared controller A and an infrared controller B are fixedly mounted inside the bearing arm A and the bearing arm B respectively, a gripper A and a gripper B are rotatably connected below the bearing arm A and the bearing arm B respectively, the gripper B comprises a motor B, a connecting rod, a motor C, a gear, a conveyor belt, a rotating shaft B, a gripper arm and a gripper plate, a power output end of the motor B is rotatably connected with a power input end of the connecting rod, the inside fixed mounting of connecting rod has motor C, motor C's power take off end rotates the power input end who is connected with the gear, and gear demountable installation is in the inside of grabbing the arm, the outside of gear is rotated the one end that is connected with the conveyer belt, the other end of conveyer belt is rotated and is connected with pivot B, pivot B's outside is rotated and is connected with and grabs the board.
Optionally, a telescopic rod is fixedly mounted below the inside of the base, and an electromagnet is fixedly mounted below the telescopic rod.
Optionally, the number of the gears is several, and the structure of the hand grip a is the same as that of the hand grip B.
Optionally, the inner side of the grabbing arm is embedded and connected with a non-slip mat.
Optionally, the power input ends of the motor a, the infrared controller B and the electromagnet are electrically connected with the power output end of the external power supply, and the power input ends of the motor B and the motor C are electrically connected with the power output end of the infrared controller B.
The invention has the following beneficial effects:
1. the invention aims to install the telescopic rod, the electromagnet and the non-slip mat, firstly, when the existing robot gripper grabs a pipe, due to the shape problem of the pipe, the gripping surface is small and is inconvenient to fix, the pipe is easy to fall off during grabbing, the safety is low, when the robot gripper is used, the gripper A and the gripper B grab the pipe inside, the gripper A and the gripper B clamp the pipe, and then the rubber non-slip mat inside the gripper A and the gripper B ensures that the pipe cannot shake inside the gripper A and the gripper B to form primary fixing, and the electromagnet below the telescopic rod above the gripper A and the gripper B is electrified through an external power supply, the electromagnet is tightly adsorbed on the surface of the pipe to fix the pipe secondarily, so that the stability during grabbing the pipe is ensured, and the safety is improved.
The invention aims to install the gripper A, the gripper B and the gripper plate, and as the existing factory environment is complex, pipes are piled up in one place, the gripping environment is very harsh and needs to be selected, the tail ends of the grippers of the traditional robot cannot move, the collision is easy to happen in a stock pile, the damaged pipes also damage the grippers, and the motor C is installed in the gripper arms inside the gripper A and the gripper B, when the gripper is used, the motor C is electrified through an external power supply, the motor C rotates to drive a plurality of gears inside the gripper arms to rotate, the gears drive the conveyor belt on the outer side to rotate, and the conveyor belt rotates the rotating shaft B, so that the rotating shaft B drives the gripper plate at the tail end of the gripper A and the gripper B to flexibly swing left and right, the picking in the piled stock pile is convenient, and the practicability and the using effect are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an overall structure of a grasping robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a gripper B of the gripping robot according to the embodiment of the present invention.
In the figure: 1. a motor A; 2. a bearing; 3. a base; 4. a rotating shaft B; 5. a bearing arm B; 6. an infrared controller B; 7. a hand grip B; 8. a gripper A; 9. an infrared controller A; 10. an electromagnet; 11. a rotating shaft A; 12. a telescopic rod; 13. a rotating shaft B; 14. grabbing a plate; 15. a non-slip mat; 16. a connecting rod; 17. a motor B; 18. a motor C; 19. a gear; 20. a conveyor belt; 21. a bearing arm A; 22. and (4) a grabbing arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A grasping type robot and a control method thereof according to an embodiment of the present invention will be described in detail with reference to fig. 1 to 2.
A method of controlling a grasping robot, comprising:
the method comprises the steps of acquiring position information of a target object by using a camera, converting the position information into grabbing information of a robot paw through operation transformation, calculating a rotating angle of each joint of a group of mechanical arms by using an inverse solution method of industrial robot kinematics, and controlling the rotation of each joint of the robot to enable the paw of the robot to reach the position of the target object in a specific posture and realize accurate grabbing of the target object.
Wherein, visual control specifically includes:
(1) image drying:
after the camera acquires the image, a neighborhood average method is adopted, namely the average value of the gray scales of a plurality of pixels in adjacent areas replaces the gray scale of each pixel, the original image with N × N pixels is acquired to be g (x, y), and the image after noise removal is h (x, y), and the following formula can be obtained:
wherein x, y is 0,1,2, …, N-1; x is the whole pixel coordinate of the adjacent area image of (x, y);
(2) image segmentation:
if the segmentation threshold value is T, if the gray value of the image exceeds T, the image is a target area; if the image gray value is lower than T, the image gray value is a background area, and the image moisture value is defined as follows:
the probability in the background region is
The probability in the target region is then
Where x is T, T +1,…, L, and L refers to the number of image gray levels.
According to the robot control method based on the machine vision detection, the image denoising and the image segmentation are performed, so that the grabbing and identifying stability and operability of the robot are improved, and the realization of high-efficiency grabbing of the robot is promoted.
Referring to fig. 1 and 2, a grasping robot according to an embodiment of the present invention includes a motor a1, a power output end of the motor a1 is rotatably connected to a power input end of a bearing 2, a base 3 is rotatably connected to a lower portion of the bearing 2, a rotating shaft a11 and a rotating shaft B4 are respectively fixedly installed on left and right sides of the base 3, a receiving arm a21 and a receiving arm B5 are respectively fixedly connected to outer portions of the rotating shaft a11 and the rotating shaft B4, an infrared controller a9 and an infrared controller B6 are respectively fixedly installed inside the receiving arm a21 and the receiving arm B5, a grasping arm A8 and a grasping arm B7 are respectively rotatably connected to a lower portion of the receiving arm a21 and the receiving arm B5, the grasping arm B7 includes a motor B17, a connecting rod 16, a motor C18, a gear 19, a conveyor belt 20, a rotating shaft B13, a grasping arm 22 and a grasping plate 14, and a power output end of the motor B17 is rotatably connected to an input end of, a motor C18 is fixedly installed inside the connecting rod 16, a power output end of the motor C18 is rotatably connected with a power input end of a gear 19, the gear 19 is detachably installed inside a gripping arm 22, one end of a conveyor belt 20 is rotatably connected to the outer side of the gear 19, the other end of the conveyor belt 20 is rotatably connected with a rotating shaft B13, a gripping plate 14 is rotatably connected to the outer side of the rotating shaft B13, when the existing robot gripper grips a tubular product, due to the shape problem of the tubular product, the gripping surface is small and is not convenient to fix, and the tubular product is easy to fall off during gripping, by installing a gripper A8 and a gripper B7, the tubular product is gripped inside by the gripper A8 and the gripper B7 during use, the gripper A8 and the gripper B7 are clamped, then an anti-slip pad 15 made of rubber materials inside the gripper A8 and the gripper B7 ensures that the tubular product cannot shake inside the gripper A8 and the gripper B7 to form a primary fixing, and the tubular product is electrified under the telescopic, the electromagnet 10 is tightly adsorbed on the surface of the pipe, the pipe is secondarily fixed, the stability of the pipe during grabbing is ensured, the safety is improved, the current factory environment is complex, the pipe is piled up in one place, the grabbing environment is very harsh and needs to be selected, the tail end of a gripper of a traditional robot gripper cannot move, collision is easy to occur in a material pile, the pipe is damaged, the gripper is also damaged, the motor C18 is installed in the gripper arm 22 inside the gripper A8 and the gripper B7, when the gripper is used, the motor C18 is electrified through an external power supply, the motor C18 rotates to drive a plurality of gears 19 inside the gripper arm 22 to rotate, the gears 19 drive the conveying belt 20 on the outer side to rotate, the conveying belt 20 rotates to drive the rotating shaft B13 to rotate, so that the rotating shaft B13 drives the gripper plate 14 at the tail ends of the gripper A8 and the gripper B7 to flexibly swing left and right, and is convenient to pick in the piled material pile, the practicability and the using effect are improved.
Referring to fig. 1, an expansion link 12 is fixedly installed below the inside of the base 3, and an electromagnet 10 is fixedly installed below the expansion link 12.
Referring to fig. 1, the number of the gears 19 is several, and the structure of the hand grip A8 is the same as that of the hand grip B7.
Referring to fig. 1 and 2, a non-slip mat 15 is embedded and connected to the inner side of the gripping arm 22.
Referring to fig. 1, the power input terminals of the motor a1, the infrared controller a9, the infrared controller B6 and the electromagnet 10 are electrically connected to the power output terminal of the external power source, and the power input terminals of the motor B17 and the motor C17 are electrically connected to the power output terminal of the infrared controller B6.
The embodiment of the invention provides a grabbing robot, when in use, firstly, a motor A1 is electrified through an external power supply, the motor A1 rotates to drive a bearing 2 below to rotate, the bearing 2 rotates to drive a base 3 below to rotate, so as to adjust the grabbing angle and ensure the grabbing complex environment, then, the infrared controller A9 and the infrared controller B6 are remotely controlled, the infrared controller A9 and the infrared controller B6 utilize an internal infrared light emitting diode and use infrared light as a carrier to convert instruction information into a control instruction to switch on the external power supply, after the external power supply is switched on, a motor C18 arranged in a grabbing arm 22 in a grabbing hand A8 and a grabbing hand B device starts to be electrified, the motor C18 rotates to drive a plurality of gears 19 in the grabbing arm 22 to rotate, the gears 19 drive a conveyor belt 20 at the outer side to rotate, the conveyor belt 20 rotates to drive a rotating shaft B13 to rotate, therefore, the rotating shaft B13 drives the gripper plate 14 at the tail end of the gripper A8 and the gripper B7 to swing left and right flexibly, so that the tube can be conveniently picked in a stacked material pile, after the tube is gripped, the gripper plates 14 at two sides move upwards to press the tube into the gripper arms 22 inside the gripper A8 and the gripper B7, the rubber anti-slip pads 15 inside the gripper arms 22 have an anti-slip effect on the tube to prevent the tube from falling off, then an external power supply energizes the motor B17, the motor B17 rotates to drive the connecting rod 16 below to rotate, the connecting rod 16 drives the gripper arms 22 below to clamp each other, so that the tube is gripped and fixed, then the electromagnet 10 is energized through the external power supply, after a coil inside the electromagnet 10 is energized, the iron core and the armature are magnetized to become magnets with opposite polarities, electromagnetic attraction is generated between the two magnets, and the tube is adsorbed, so that the tube is prevented from falling off, the safety is improved.
The motor A1, the motor B17 and the motor C18 are all of the type Y315M-2 commonly available on the market, and the infrared controller A9 and the infrared controller B6 are of the type LX2.440W × 2-FSD commonly available on the market.
The invention is a grabbing robot, comprising a motor A1, a bearing 2, a base 3, a rotating shaft B4, a bearing arm B5, an infrared controller B6, a gripper B7, a gripper A8, an infrared controller A9, an electromagnet 10, a rotating shaft A11, an expansion link 12, a rotating shaft B13, a grabbing plate 14, an anti-skid pad 15, a connecting rod 16, a motor B17, a motor C18, a gear 19, a conveyor belt 20, a bearing arm A21 and a grabbing arm 22, the electrical components are all products in the prior art, the technical personnel in the field select, install and complete the debugging operation of the circuit according to the use requirement to ensure that all the electrical equipment can work normally, the components are all universal standard components or components known by the technical personnel in the field, the structure and principle are known to the skilled person through technical manuals or through routine experimentation, and the applicant is not specifically limited herein.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.
Claims (7)
1. A control method of a gripping robot, characterized in that: the method comprises the following steps:
the method comprises the steps of acquiring position information of a target object by using a camera, converting the position information into grabbing information of a robot paw through operation transformation, calculating a rotating angle of each joint of a group of mechanical arms by using an inverse solution method of industrial robot kinematics, and controlling the rotation of each joint of the robot to enable the paw of the robot to reach the position of the target object in a specific posture and realize accurate grabbing of the target object.
2. The method for controlling a gripping robot according to claim 1, wherein: the visual control specifically includes:
(1) image drying:
after the camera acquires the image, a neighborhood average method is adopted, namely the average value of the gray scales of a plurality of pixels in adjacent areas replaces the gray scale of each pixel, the original image with N × N pixels is acquired to be g (x, y), and the image after noise removal is h (x, y), and the following formula can be obtained:
wherein x, y is 0,1,2, …, N-1; x is the whole pixel coordinate of the adjacent area image of (x, y);
(2) image segmentation:
if the segmentation threshold value is T, if the gray value of the image exceeds T, the image is a target area; if the image gray value is lower than T, the image gray value is a background area, and the image moisture value is defined as follows:
the probability in the background region is
The probability in the target region is then
Where x ═ T, T +1, …, L, and L refers to the image gray scale pole number.
3. The method for controlling a gripping robot according to claim 1 or 2, wherein: snatch type robot include robot and visual system, the robot include motor A (1), the power take off end of motor A (1) rotates the power input end who is connected with bearing (2), the below of bearing (2) is rotated and is connected with base (3), the left and right sides of base (3) is fixed mounting respectively has pivot A (11) and pivot B (4), the outside of pivot A (11) and pivot B (4) is fixedly connected with respectively accepts arm A (21) and accepts arm B (5), the inside of accepting arm A (21) and accepting arm B (5) is fixed mounting respectively has infrared control ware A (9) and infrared control ware B (6), the below of accepting arm A (21) and accepting arm B (5) rotates respectively and is connected with tongs A (8) and tongs B (7), tongs B (7) include motor B (17), Connecting rod (16), motor C (18), gear (19), conveyer belt (20), pivot B (13), grab arm (22) and grab board (14), the power take off end of motor B (17) rotates the power input end who is connected with connecting rod (16), the inside fixed mounting of connecting rod (16) has motor C (18), the power take off end of motor C (18) rotates the power input end who is connected with gear (19), and gear (19) demountable installation is in the inside of grabbing arm (22), the outside of gear (19) is rotated the one end that is connected with conveyer belt (20), the other end of drive belt (20) rotates and is connected with pivot B (13), the outside of pivot B (13) is rotated and is connected with and grabs board (14).
4. The control method of the grabbing robot according to claim 1, wherein an expansion link (12) is fixedly installed below the inside of the base (3), and an electromagnet (10) is fixedly installed below the expansion link (12).
5. The control method of a gripper robot according to claim 1, wherein the number of gears (19) is several, and the structure of the gripper a (8) is the same as that of the gripper B (7).
6. The control method of a grabbing robot according to claim 1, wherein the inner side of the grabbing arm (22) is embedded with a non-slip mat (15).
7. The control method of the grabbing robot as claimed in claim 4, wherein the power input terminals of the motor A (1), the infrared controller A (9), the infrared controller B (6) and the electromagnet (10) are all electrically connected to the power output terminal of the external power source, and the power input terminals of the motor B (17) and the motor C (18) are all electrically connected to the power output terminal of the infrared controller B (6).
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| CN202010599707.4A CN111745672A (en) | 2020-06-28 | 2020-06-28 | Grabbing robot and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114476702A (en) * | 2022-04-18 | 2022-05-13 | 深圳市捷牛智能装备有限公司 | Material unstacking device, equipment and method based on image processing |
| CN116715019A (en) * | 2023-08-10 | 2023-09-08 | 河南省黄海重型装备制造有限公司新乡分公司 | Gripping apparatus for loading and unloading equipment |
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Application publication date: 20201009 |