CN112894800A - Method for workpiece grabbing and blanking guide - Google Patents
Method for workpiece grabbing and blanking guide Download PDFInfo
- Publication number
- CN112894800A CN112894800A CN202011573297.2A CN202011573297A CN112894800A CN 112894800 A CN112894800 A CN 112894800A CN 202011573297 A CN202011573297 A CN 202011573297A CN 112894800 A CN112894800 A CN 112894800A
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- CN
- China
- Prior art keywords
- robot
- workpiece
- joint
- grabbing
- blanking guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
-
- 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
Abstract
The invention discloses a method for workpiece grabbing and blanking guide, which specifically comprises the following steps: s1: a robot is arranged, and a placing table for placing a workpiece is arranged at the front part of the robot; s2: a visual detection system is arranged at the front part of a grabbing arm of the robot and is used for extracting the characteristics of the workpiece; s3: extracting the image characteristics of the current target workpiece after calculation by using a vision system and using the current image characteristics as visual feedback; s4: obtaining the position of the expected robot in a Cartesian space by the tail end differential quantity of the robot and calculating the position setting of a joint space by utilizing the inverse kinematics of the robot; s5: controlling the movement of the robot by a joint controller of the robot according to the expected position of each joint; s6: the robot has the advantages that the grabbing mechanism at the tail end of the robot moves according to the expected position and posture through the movement of each joint of the robot, and the workpiece is placed on the placing table.
Description
Technical Field
The invention relates to the technical field of vision equipment, in particular to a method for workpiece grabbing and blanking guide.
Background
In recent years, the robot industry is greatly developed by the country, the robot technology is developed vigorously, and the requirement of people on the automation of a production line is continuously improved, so that the robot is widely applied to various industrial production links.
The existing robot is used for grabbing workpieces, the positions of the existing robot cannot be accurately placed, so that corresponding technical functions cannot be realized, even though a plurality of existing visual guide methods exist, the effect still cannot meet ideal requirements, and therefore a method for workpiece grabbing and blanking guide is needed to be provided.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the defects in the background technology, the invention discloses a method for workpiece grabbing and blanking guide.
The technical scheme is as follows: a method for workpiece grabbing and blanking guide specifically comprises the following steps:
s1: a robot is arranged, and a placing table for placing a workpiece is arranged at the front part of the robot;
s2: a visual detection system is arranged at the front part of a grabbing arm of the robot and is used for extracting the characteristics of the workpiece;
s3: extracting the image characteristics of the current target workpiece after calculation by using a vision system and using the current image characteristics as visual feedback;
s4: obtaining the position of the expected robot in a Cartesian space by the tail end differential quantity of the robot and calculating the position setting of a joint space by utilizing the inverse kinematics of the robot;
s5: controlling the movement of the robot by a joint controller of the robot according to the expected position of each joint;
s6: the grasping mechanism at the end of the robot is moved in accordance with a desired position and posture by the movement of each joint of the robot and the workpiece is placed on the placing table.
In a preferred embodiment of the present invention, the placing table is provided with a clamping device for clamping the workpiece.
In a preferred embodiment of the present invention, the clamping device is a pneumatic chuck.
In a preferred embodiment of the present invention, the visual inspection system specifically includes a CCD industrial camera.
In a preferred embodiment of the present invention, the robot, the vision system and the air chuck are all connected to an external controller.
The invention realizes the following beneficial effects:
the workpiece grabbing guide device can accurately grab and guide the workpiece, the working efficiency is greatly improved compared with the prior art, and the production cost of an enterprise can be reduced.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
A method for workpiece grabbing and blanking guide specifically comprises the following steps:
s1: a robot is arranged, and a placing table for placing a workpiece is arranged at the front part of the robot;
s2: a visual detection system is arranged at the front part of a grabbing arm of the robot and is used for extracting the characteristics of the workpiece;
s3: extracting the image characteristics of the current target workpiece after calculation by using a vision system and using the current image characteristics as visual feedback;
s4: obtaining the position of the expected robot in a Cartesian space by the tail end differential quantity of the robot and calculating the position setting of a joint space by utilizing the inverse kinematics of the robot;
s5: controlling the movement of the robot by a joint controller of the robot according to the expected position of each joint;
s6: the grasping mechanism at the end of the robot is moved in accordance with a desired position and posture by the movement of each joint of the robot and the workpiece is placed on the placing table.
In this embodiment, a clamping device for clamping the workpiece is arranged on the placing table.
In this embodiment, the clamping device is specifically a pneumatic chuck.
In this embodiment, the visual inspection system specifically includes a CCD industrial camera.
In this embodiment, the robot, the vision system and the air chuck are all connected with an external controller.
Through the implementation of the embodiment, the workpiece can be accurately grabbed, guided and placed, the working efficiency is greatly improved compared with the prior art, and the production cost of an enterprise can be reduced.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (5)
1. A method for workpiece grabbing and blanking guide is characterized by comprising the following steps:
s1: a robot is arranged, and a placing table for placing a workpiece is arranged at the front part of the robot;
s2: a visual detection system is arranged at the front part of a grabbing arm of the robot and is used for extracting the characteristics of the workpiece;
s3: extracting the image characteristics of the current target workpiece after calculation by using a vision system and using the current image characteristics as visual feedback;
s4: obtaining the position of the expected robot in a Cartesian space by the tail end differential quantity of the robot and calculating the position setting of a joint space by utilizing the inverse kinematics of the robot;
s5: controlling the movement of the robot by a joint controller of the robot according to the expected position of each joint;
s6: the grasping mechanism at the end of the robot is moved in accordance with a desired position and posture by the movement of each joint of the robot and the workpiece is placed on the placing table.
2. The method for workpiece grabbing and blanking guide according to claim 1, wherein a clamping device for clamping the workpiece is arranged on the placing table.
3. The method for workpiece grabbing and blanking guide according to claim 2, wherein the clamping device is a pneumatic chuck.
4. The method as claimed in claim 1, wherein the vision inspection system comprises a CCD industrial camera.
5. The method for workpiece grabbing and blanking guide according to claim 1, wherein an external controller is connected to the robot, the vision system and the air chuck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011573297.2A CN112894800A (en) | 2020-12-24 | 2020-12-24 | Method for workpiece grabbing and blanking guide |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011573297.2A CN112894800A (en) | 2020-12-24 | 2020-12-24 | Method for workpiece grabbing and blanking guide |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112894800A true CN112894800A (en) | 2021-06-04 |
Family
ID=76111748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011573297.2A Pending CN112894800A (en) | 2020-12-24 | 2020-12-24 | Method for workpiece grabbing and blanking guide |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112894800A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0260984A2 (en) * | 1986-09-19 | 1988-03-23 | Texas Instruments Incorporated | Mobile robot on-board vision system |
| US5959425A (en) * | 1998-10-15 | 1999-09-28 | Fanuc Robotics North America, Inc. | Vision guided automatic robotic path teaching method |
| CN105014677A (en) * | 2015-07-07 | 2015-11-04 | 西安交通大学 | Visual mechanical arm control device and method based on Camshift visual tracking and D-H modeling algorithms |
| CN106934813A (en) * | 2015-12-31 | 2017-07-07 | 沈阳高精数控智能技术股份有限公司 | A kind of industrial robot workpiece grabbing implementation method of view-based access control model positioning |
| CN107053173A (en) * | 2016-12-29 | 2017-08-18 | 芜湖哈特机器人产业技术研究院有限公司 | The method of robot grasping system and grabbing workpiece |
| CN107627303A (en) * | 2017-09-22 | 2018-01-26 | 哈尔滨工程大学 | A kind of PD SMC control methods based on vision servo system of the eye in structure on hand |
| CN110315505A (en) * | 2018-03-29 | 2019-10-11 | 发那科株式会社 | Machine learning device and method, robot controller, robotic vision system |
| CN110900581A (en) * | 2019-12-27 | 2020-03-24 | 福州大学 | Four-degree-of-freedom mechanical arm vision servo control method and device based on RealSense camera |
| CN111923053A (en) * | 2020-04-21 | 2020-11-13 | 广州里工实业有限公司 | Industrial robot object grabbing teaching system and method based on depth vision |
| CN112109074A (en) * | 2020-02-21 | 2020-12-22 | 深圳市三宝创新智能有限公司 | Robot target image capturing method |
-
2020
- 2020-12-24 CN CN202011573297.2A patent/CN112894800A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0260984A2 (en) * | 1986-09-19 | 1988-03-23 | Texas Instruments Incorporated | Mobile robot on-board vision system |
| US5959425A (en) * | 1998-10-15 | 1999-09-28 | Fanuc Robotics North America, Inc. | Vision guided automatic robotic path teaching method |
| CN105014677A (en) * | 2015-07-07 | 2015-11-04 | 西安交通大学 | Visual mechanical arm control device and method based on Camshift visual tracking and D-H modeling algorithms |
| CN106934813A (en) * | 2015-12-31 | 2017-07-07 | 沈阳高精数控智能技术股份有限公司 | A kind of industrial robot workpiece grabbing implementation method of view-based access control model positioning |
| CN107053173A (en) * | 2016-12-29 | 2017-08-18 | 芜湖哈特机器人产业技术研究院有限公司 | The method of robot grasping system and grabbing workpiece |
| CN107627303A (en) * | 2017-09-22 | 2018-01-26 | 哈尔滨工程大学 | A kind of PD SMC control methods based on vision servo system of the eye in structure on hand |
| CN110315505A (en) * | 2018-03-29 | 2019-10-11 | 发那科株式会社 | Machine learning device and method, robot controller, robotic vision system |
| CN110900581A (en) * | 2019-12-27 | 2020-03-24 | 福州大学 | Four-degree-of-freedom mechanical arm vision servo control method and device based on RealSense camera |
| CN112109074A (en) * | 2020-02-21 | 2020-12-22 | 深圳市三宝创新智能有限公司 | Robot target image capturing method |
| CN111923053A (en) * | 2020-04-21 | 2020-11-13 | 广州里工实业有限公司 | Industrial robot object grabbing teaching system and method based on depth vision |
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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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210604 |