CN113246115B - Industrial manipulator based on machine vision technology and control method thereof - Google Patents
Industrial manipulator based on machine vision technology and control method thereof Download PDFInfo
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- CN113246115B CN113246115B CN202110715750.7A CN202110715750A CN113246115B CN 113246115 B CN113246115 B CN 113246115B CN 202110715750 A CN202110715750 A CN 202110715750A CN 113246115 B CN113246115 B CN 113246115B
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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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
- B25J9/1656—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
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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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Abstract
The invention relates to an industrial manipulator based on a machine vision technology and a control method thereof, wherein the method comprises the following steps: the movable component comprises a rotating mechanism, the top of the rotating mechanism is provided with a support frame, one side of the support frame is fixedly connected with a sliding frame, one side of the sliding frame is movably connected with a first sliding mechanism, one side of the first sliding mechanism is movably connected with a second sliding mechanism, the bottom of one end of the second sliding mechanism is matched and connected with the suction plate, the middle position of the bottom of the suction plate is provided with a first probe, the bottom of the suction plate is provided with a plurality of suckers in an array manner, at least one sucker is provided with a grabbing component, the wide-angle movement of the grabbing component is realized through the matching of the rotating mechanism, the first sliding mechanism and the second sliding mechanism, simultaneously, the first sliding mechanism and the second sliding mechanism slide in the vertical direction to control the grabbing height of the manipulator, so that the manipulator can grab and move, pile up, and the like, and is high in use flexibility.
Description
Technical Field
The invention relates to the fields of industry, intelligent manipulators and machine vision, in particular to an industrial manipulator based on a machine vision technology and a control method thereof.
Background
Machine vision is a branch of the rapid development of artificial intelligence. In brief, machine vision is to use a machine to replace human eyes for measurement and judgment. The machine vision system converts the shot target into image signal through machine vision product (i.e. image shooting device, which is divided into CMOS and CCD), and transmits it to special image processing system, so as to obtain the form information of shot target, and according to the information of pixel distribution, brightness and colour, the form information is converted into digital signal, and the image system can make various operations on these signals to extract the characteristics of target, and further can control the on-site equipment action according to the judged result. Industrial robots are high-tech automated production equipment developed in recent decades.
The industrial manipulator is an important branch of industrial robots and is characterized in that various expected operation tasks can be completed through programming, and the advantages of both human and machine in construction and performance are combined, so that the intelligent and adaptive functions of the human are particularly embodied. The accuracy of manipulator operation and the ability of accomplishing the operation in various environment, the manipulator is a novel device that develops in mechanization, automated production process. In modern production processes, manipulators are widely used in automatic production lines, which can imitate certain motion functions of human hands and arms for gripping, carrying objects or operating automatic operating devices of tools according to a fixed program. The manipulator is the earliest occurring industrial robot and the earliest occurring modern robot, which can replace the heavy labor of human to realize the mechanization and automation of production.
Traditional manipulator does not cooperate the use with machine vision in the application, is difficult to carry out the monitoring of the action state and the clamping-force of real-time supervision arm and jack catch in manipulator working process, causes the manipulator to snatch the in-process easily and causes the uneven damage of object atress, and in addition, current manipulator is difficult to realize rotatory and remove and carries out wide angle operation, only the manipulator is held the action flexibility or the arm is flexible, causes the range of application narrower, and the practicality is not strong.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides the industrial manipulator based on the machine vision technology and the control method thereof.
In order to achieve the purpose, the invention adopts the technical scheme that: an industrial robot based on machine vision technology, comprising: a movable component, a suction plate and a plurality of grabbing components,
the movable assembly comprises a rotating mechanism, a support frame is arranged at the top of the rotating mechanism, a sliding frame is fixedly connected to one side of the support frame, a first sliding mechanism is movably connected to one side of the sliding frame and can slide along the vertical direction, a second sliding mechanism is movably connected to one side of the first sliding mechanism and can slide along the vertical direction;
second slide mechanism one end bottom cooperation is connected with the suction plate, the intermediate position in suction plate bottom is provided with first probe, suction plate bottom array is provided with a plurality of sucking disc, is provided with on at least one sucking disc and snatchs the subassembly, snatch first centre gripping arm and the second centre gripping arm that the subassembly symmetry set up, first centre gripping arm one end articulates there is first jack catch, second centre gripping arm one end articulates there is the second jack catch, first centre gripping arm with second centre gripping arm inboard is provided with the second probe.
In a preferred embodiment of the present invention, the cross section of the carriage is a convex structure, a first slide way is disposed on one side of the carriage, the carriage is connected to a first sliding mechanism through the first slide way, the first sliding mechanism moves along the first slide way, and a first limiting member is disposed on the top of the carriage.
In a preferred embodiment of the present invention, a second slide way is disposed on one side of the first sliding mechanism, the first sliding mechanism is connected to the second sliding mechanism through the second slide way in a matching manner, the second sliding mechanism is capable of moving along the second sliding direction, and a second limiting member is disposed on the top of the first sliding mechanism.
In a preferred embodiment of the present invention, a first position sensor is disposed on one side of the first sliding mechanism, the first position sensor is used for monitoring the position and displacement of the first sliding mechanism, and a second position sensor is disposed on one side of the second sliding mechanism, the second position sensor is used for monitoring the position and displacement of the second sliding mechanism.
In a preferred embodiment of the invention, an angle sensor is arranged at the top of the rotating mechanism and used for monitoring the rotating angle of the rotating mechanism.
In a preferred embodiment of the invention, a coupler is arranged at the bottom of the rotating mechanism, one end of the coupler is connected with a motor, the motor can drive the rotating mechanism to rotate, a clamping seat is sleeved outside the coupler, the clamping seat is of a double-layer structure, and the double-layer structure is fixed through bolts.
In a preferred embodiment of the present invention, a fixing member is disposed at the bottom of the second sliding mechanism, the fixing member is hinged to the suction plate, and the suction plate is capable of rotating.
In order to achieve the purpose, the invention adopts another technical scheme as follows: a control method is applied to an industrial manipulator based on a machine vision technology, and comprises the following steps:
acquiring position information of a target object, and generating rotation information of a rotating mechanism, sliding information of a first sliding mechanism and sliding information of a second sliding mechanism according to the position information of the target object;
controlling the rotating mechanism, the first sliding mechanism and the second sliding mechanism to act according to a preset mode according to the rotating information of the rotating mechanism, the sliding information of the first sliding mechanism and the sliding information of the second sliding mechanism,
acquiring the state information of the grabbing components, comparing the state information of the grabbing components with preset information to obtain a deviation ratio,
judging whether the deviation rate is larger than a preset deviation rate threshold value or not,
and if so, generating a control instruction, and controlling the first clamping jaw and the second clamping jaw to grab the target object according to the control instruction.
In a preferred embodiment of the present invention, the method further comprises: acquiring image information of the bottom of the suction plate through a first probe to obtain position information of a suction disc connecting and grabbing assembly;
generating a plurality of grabbing component matching modes according to the grabbing component position information,
and controlling a plurality of grabbing components to grab a target object in a matching mode according to the matching mode.
In a preferred embodiment of the present invention, the method further comprises: acquiring image information of the inner sides of the first clamping arm and the second clamping arm through a second probe;
obtaining the state information of the first clamping arm and the second clamping arm according to the image information,
acquiring displacement of the first clamping arm and the second clamping arm according to the state information of the first clamping arm and the state information of the second clamping arm;
comparing the displacement of the first clamping arm with the displacement of the second clamping arm to obtain a displacement difference value;
comparing the displacement difference with a preset displacement difference to obtain a difference deviation;
adjusting initial parameters of the first clamping arm and the second clamping arm according to the difference deviation;
acquiring first jaw state information and second jaw state information according to the image information;
the clamping force of the first clamping jaw and the clamping force of the second clamping jaw are obtained,
comparing the clamping force of the first clamping jaw with the clamping force of the second clamping jaw to obtain a clamping force difference value;
and adjusting initial parameters of the first clamping jaw and the second clamping jaw according to the clamping force difference.
The invention solves the defects in the background technology, and has the following beneficial effects:
(1) realize snatching the wide angle of subassembly through slewing mechanism and first slide mechanism, the cooperation of second slide mechanism and remove, realize promptly that the mechanism of snatching carries out 360 degrees rotations along slewing mechanism, carries out the slip of vertical direction through first slide mechanism and second slide mechanism simultaneously, controls the height that snatchs of manipulator to realize that the manipulator snatchs multi-functionally such as removal, pile up neatly, use the flexibility higher.
(2) Gather the number and the position of the subassembly that snatchs of inhaling plywood bottom through first probe, control a plurality of subassemblies that snatch and mutually support and realize a plurality of subassemblies that snatch and carry out the different positions that accurately snatch large-scale object to the realization snatchs the balance.
(3) Gather the inboard image information of manipulator through the second probe, carry out analysis first centre gripping arm and second centre gripping arm, the status information of first jack catch and second jack catch, carry out real-time supervision manipulator status information, guarantee that manipulator safety is accurate snatchs, in addition carry out the symmetry of monitoring the manipulator through comparing first centre gripping arm and second centre gripping arm displacement volume, guarantee to snatch the balance of object, through comparing the clamping-force deviation between first jack catch and the second jack catch, monitor the atress condition of snatching the different positions department of object, guarantee to snatch the object atress even, can not cause the damage and the landing of object.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 illustrates a perspective view of an industrial robot of the present invention;
FIG. 2 is a schematic view of the first sliding mechanism and the second sliding mechanism in a preferred embodiment of the present invention;
FIG. 3 shows a schematic view of a grasping assembly according to a preferred embodiment of the present invention;
FIG. 4 shows a schematic view of a second probe position in a preferred embodiment of the invention;
FIG. 5 is a flow chart of an industrial robot control method based on machine vision technology in a preferred embodiment of the present invention;
FIG. 6 is a flow chart illustrating a method for precise gripping by a robot according to a preferred embodiment of the present invention;
in the figure: 1. the device comprises a sliding frame, 101, a first slide way, 102, a first position sensor, 2, a support frame, 3, a rotating mechanism, 4, a clamping seat, 5, a coupling, 6, a motor, 7, a suction cup, 8, a grabbing component, 801, a first clamping arm, 802, a first claw, 803, a second clamping arm, 804, a second claw, 805, a second probe, 9, an attraction plate, 901, a first probe, 10, a fixing piece, 11, a second sliding mechanism, 1101, a second position sensor, 12, a first sliding mechanism, 1201, a second slide way, 13 and an angle sensor.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict. 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.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
Fig. 1 shows a schematic perspective structure of an industrial manipulator based on a machine vision technology.
As shown in fig. 1, a first aspect of the present invention provides an industrial robot based on machine vision technology, including: the device comprises a movable component, a suction plate 9 and a plurality of grabbing components 8;
the movable assembly comprises a rotating mechanism 3, a support frame 2 is arranged at the top of the rotating mechanism 3, a sliding frame 1 is fixedly connected to one side of the support frame 2, a first sliding mechanism 12 is movably connected to one side of the sliding frame 1, the first sliding mechanism 12 can slide along the vertical direction, a second sliding mechanism 11 is movably connected to one side of the first sliding mechanism 12, and the second sliding mechanism 11 can slide along the vertical direction;
as shown in fig. 3, the present invention discloses a schematic view of the grasping assembly.
The bottom of one end of the second sliding mechanism 11 is connected with a suction plate 9 in a matching manner, a first probe 901 is arranged at the middle position of the bottom of the suction plate 9, and a plurality of suckers 7 are arranged at the bottom of the suction plate 9 in an array manner.
As shown in fig. 4, a second probe position schematic is disclosed.
At least one sucking disc 7 is provided with a grabbing component 8, a first clamping arm 801 and a second clamping arm 803 which are symmetrically arranged on the grabbing component 8, one end of the first clamping arm 801 is hinged with a first claw 802, one end of the second clamping arm 803 is hinged with a second claw 804, and the inner sides of the first clamping arm 801 and the second clamping arm 803 are provided with a second probe 805.
It should be noted that, the number and the position of the grabbing components 8 at the bottom of the suction plate 9 are collected by the first probe 901, the grabbing components 8 are controlled to cooperate with each other to realize the grabbing components 8 accurately grab different positions of a large object and realize grabbing balance, the second probe 805 is used to collect image information of the inner side of the manipulator, analyze the state information of the first clamping arm 801 and the second clamping arm 803, and the first claw 802 and the second claw 804, monitor the state information of the manipulator in real time, ensure the manipulator to grab safely and accurately, monitor the symmetry of the manipulator by comparing the displacement of the first clamping arm 801 and the second clamping arm 803, ensure the balance of the grabbed object, monitor the stress conditions of the grabbed object at different positions by comparing the clamping force deviation between the first claw 802 and the second claw 804, guarantee to snatch the object atress even, can not cause the damage and the landing of object, all be provided with the spout on first centre gripping arm 801 and the second centre gripping arm 803, the spout fit in is provided with the cardboard, first centre gripping arm 801 and the relative action in-process of second centre gripping arm 803, the cardboard slides along the spout, the cardboard can also be spacing to the biggest angle that opens between first centre gripping arm 801 and the second centre gripping arm 803.
As shown in fig. 2, the invention discloses a schematic diagram of the matching connection of a first sliding mechanism and a second sliding mechanism.
According to the embodiment of the present invention, the cross section of the carriage 1 is a convex structure, a first slide way 101 is disposed on one side of the carriage 1, the carriage 1 is connected to a first slide mechanism 12 through the first slide way 101 in a matching manner, the first slide mechanism 12 moves along the first slide way 101, and a first limiting member is disposed on the top of the carriage 1.
It should be noted that, balladeur train 1 is the tripod structure, guarantee the stability of first mechanism and second mechanism, cassette 4 is two square boards, there is certain distance between two square boards, two square boards all overlap in the 5 outsides of shaft coupling, pass through the bolt fastening between two square boards, the distance between two square boards can be adjusted to the bolt, can be better fix the manipulator, first slide mechanism 12 is the cuboid structure, 11 tip of second slide mechanism are the tripod structure, improve second slide mechanism 11's bearing capacity.
According to the embodiment of the present invention, a second slide 1201 is disposed on one side of the first sliding mechanism 12, the first sliding mechanism 12 is connected to the second sliding mechanism 11 through the second slide 1201 in a matching manner, the second sliding mechanism 11 can move along the second sliding manner, and a second limiting member is disposed on the top of the first sliding mechanism 12.
According to the embodiment of the present invention, the first position sensor 102 is disposed on the first sliding mechanism 12 side, the first position sensor 102 is used for monitoring the position and displacement of the first sliding mechanism 12, the second position sensor 1101 is disposed on the second sliding mechanism 11 side, and the second position sensor 1101 is used for monitoring the position and displacement of the second sliding mechanism 11.
According to the embodiment of the invention, an angle sensor 13 is arranged at the top of the rotating mechanism 3, and the angle sensor 13 is used for monitoring the rotating angle of the rotating mechanism 3.
According to the embodiment of the invention, the bottom of the rotating mechanism 3 is provided with the coupler 5, one end of the coupler 5 is connected with the motor 6, the motor 6 can drive the rotating mechanism 3 to rotate, the clamping seat 4 is sleeved on the outer side of the coupler 5, the clamping seat 4 is of a double-layer structure, and the double-layer structure is fixed through bolts.
According to the embodiment of the invention, the fixing piece 10 is arranged at the bottom of the second sliding mechanism 11, the fixing piece 10 is hinged with the suction plate 9, and the suction plate 9 can rotate.
It should be noted that a rotating shaft is arranged at the bottom of the fixing member 10, the suction plate 9 is driven to rotate through the rotating shaft, a pneumatic mechanism for controlling the suction disc 7 is further arranged on the suction plate 9, the pneumatic mechanism can control the suction force of the suction disc 7, and the manipulator can be flexibly replaced or adjusted to be located at the bottom of the suction plate 9 in the manner of the suction disc 7.
As shown in fig. 5, the present invention discloses a flow chart of an industrial robot control method based on a machine vision technology.
In order to achieve the purpose, the invention adopts another technical scheme as follows: a control method is applied to an industrial manipulator based on a machine vision technology, and comprises the following steps:
s502, acquiring position information of a target object, and generating rotation information of a rotating mechanism, sliding information of a first sliding mechanism and sliding information of a second sliding mechanism according to the position information of the target object;
s504, controlling the rotating mechanism, the first sliding mechanism and the second sliding mechanism to act according to a preset mode according to the rotating information of the rotating mechanism, the sliding information of the first sliding mechanism and the sliding information of the second sliding mechanism;
s506, acquiring the state information of the grabbing component, and comparing the state information of the grabbing component with preset information to obtain a deviation rate;
s508, judging whether the deviation rate is larger than a preset deviation rate threshold value,
and S510, if the size of the object is larger than the first size, generating a control instruction, and controlling the first clamping jaw and the second clamping jaw to grab the object according to the control instruction.
It should be noted that the rotation information includes the rotation speed, the rotation angle or the rotation bearing capacity of the rotation mechanism 3, the rotation bearing capacity is the torque of the rotation mechanism 3 during rotation, the weight of the gripped object borne by the robot can be adjusted by changing the rotation speed of the rotation mechanism, so as to extract and move the heavy object to the maximum extent, the predetermined manner of movement includes the sliding speed of the first sliding mechanism 12, or the sliding displacement of the first sliding mechanism 12, the sliding speed of the second sliding mechanism 11, or the sliding displacement of the second sliding mechanism 11, the fitting displacement of the first sliding mechanism 12 and the second sliding mechanism 11, the relative speed of the first sliding mechanism 12 and the second sliding mechanism 11, the state information of the gripping assembly 8 includes the relative movement displacement of the first clamping arm 801 and the second clamping arm 803, or the rotation radians of the first clamping jaw 802 and the second clamping jaw 804, the first claw 802 is hinged with the first clamping arm 801 through a rotating shaft, the second claw 804 is hinged with the second clamping arm 803 through a rotating shaft, the first claw 802 and the second claw 804 rotate relatively, a plurality of grooves are formed in the inner sides of the first claw 802 and the second claw 804, and the grooves are used for increasing the friction force between a grabbed object and the first claw 802 and the second claw 804.
According to the embodiment of the invention, the method further comprises the following steps: acquiring image information of the bottom of the suction plate 9 through a first probe 901 to obtain position information of a sucking disc 7 connected with a grabbing component 8;
a plurality of grabbing component 8 matching modes are generated according to the grabbing component 8 position information,
and controlling a plurality of grabbing components 8 to grab a target object in a matched mode according to the matched mode.
As shown in fig. 6, the invention discloses a flow chart of a manipulator precise grabbing method.
According to the embodiment of the invention, the method further comprises the following steps: s602, acquiring image information of the inner sides of the first clamping arm and the second clamping arm through the second probe, and obtaining state information of the first clamping arm and the second clamping arm according to the image information;
s604, acquiring displacement amounts of the first clamping arm and the second clamping arm according to the state information of the first clamping arm and the state information of the second clamping arm;
s606, comparing the displacement of the first clamping arm with the displacement of the second clamping arm to obtain a displacement difference value, and comparing the displacement difference value with a preset displacement difference value to obtain a difference value deviation;
s608, adjusting initial parameters of the first clamping arm and the second clamping arm according to the difference deviation;
s610, acquiring first jaw state information and second jaw state information according to the image information, acquiring first jaw clamping force and second jaw clamping force, and comparing the first jaw clamping force with the second jaw clamping force to obtain a clamping force difference value;
and S612, adjusting initial parameters of the first jaw and the second jaw according to the clamping force difference.
It should be noted that the initial parameter of the first clamping arm and the second clamping arm includes a distance between the first clamping arm and the second clamping arm in the initial state, and the initial parameter of the first jaw and the second jaw includes a distance between the first jaw and the second jaw in the initial state. The number and the position of the grabbing components 8 at the bottom of the suction plate 9 are collected through the first probe 901, the grabbing components 8 are controlled to be mutually matched to realize that the grabbing components 8 accurately grab different positions of a large object and realize grabbing balance, the second probe 805 is used for collecting image information of the inner side of a manipulator, the state information of the first clamping arm 801 and the second clamping arm 803, the first claw 802 and the second claw 804 is analyzed, the state information of the manipulator is monitored in real time, the manipulator is guaranteed to be grabbed safely and accurately, the symmetry of the manipulator is monitored by comparing the displacement of the first clamping arm 801 and the second clamping arm 803, the balance of the grabbed object is guaranteed, the stress conditions of different positions of the grabbed object are monitored by comparing the clamping force deviation between the first claw 802 and the second claw 804, and the uniform stress of the grabbed object is guaranteed, the damage and the slip of an object cannot be caused, a second slide way 1201 is arranged on one side of the first sliding mechanism 12, the first sliding mechanism 12 is connected with the second sliding mechanism 11 in a matched mode through the second slide way 1201, the second sliding mechanism 11 can slide and move along the second direction, a second limiting part is arranged on the top of the first sliding mechanism 12, a first position sensor 102 is arranged on one side of the first sliding mechanism 12, the first position sensor 102 is used for monitoring the position and the displacement of the first sliding mechanism 12, a second position sensor 1101 is arranged on one side of the second sliding mechanism 11, and the second position sensor 1101 is used for monitoring the position and the displacement of the second sliding mechanism 11.
To sum up, the rotation mechanism 3 is matched with the first sliding mechanism 12 and the second sliding mechanism 11 to realize wide-angle movement of the grabbing component 8, that is, the grabbing mechanism rotates 360 degrees along the rotation mechanism 3, and the first sliding mechanism 12 and the second sliding mechanism 11 slide in the vertical direction to control the grabbing height of the manipulator, so as to realize multiple functions of grabbing movement and stacking of the manipulator, the flexibility of use is high, the number and the position of the grabbing components 8 at the bottom of the suction plate 9 are collected by the first probe 901, the plurality of grabbing components 8 are controlled to be matched with each other to realize accurate grabbing of different positions of large objects by the plurality of grabbing components 8, grabbing balance is realized, image information of the inner side of the manipulator is collected by the second probe 805, and the state information of the first clamping arm 801, the second clamping arm 803, the first clamping jaw 802 and the second clamping jaw 804 is analyzed, and the state information of the manipulator is monitored in real time, so that the manipulator can be safely and accurately grabbed.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of a unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A control method is applied to an industrial manipulator based on a machine vision technology and is characterized by comprising the following steps;
acquiring position information of a target object, and generating rotation information of a rotating mechanism, sliding information of a first sliding mechanism and sliding information of a second sliding mechanism according to the position information of the target object;
controlling the rotating mechanism, the first sliding mechanism and the second sliding mechanism to act according to a preset mode according to the rotating information of the rotating mechanism, the sliding information of the first sliding mechanism and the sliding information of the second sliding mechanism;
acquiring state information of a grabbing component, and comparing the state information of the grabbing component with preset information to obtain a deviation rate;
judging whether the deviation rate is greater than a preset deviation rate threshold value or not;
if the number of the first clamping jaws is larger than the number of the second clamping jaws, generating a control instruction, and controlling the first clamping jaws and the second clamping jaws to grab the target object according to the control instruction;
further comprising: acquiring image information of the inner sides of the first clamping arm and the second clamping arm through a second probe;
acquiring state information of the first clamping arm and the second clamping arm according to the image information;
acquiring displacement of the first clamping arm and the second clamping arm according to the state information of the first clamping arm and the state information of the second clamping arm;
comparing the displacement of the first clamping arm with the displacement of the second clamping arm to obtain a displacement difference value;
comparing the displacement difference with a preset displacement difference to obtain a difference deviation;
adjusting initial parameters of the first clamping arm and the second clamping arm according to the difference deviation;
acquiring first jaw state information and second jaw state information according to the image information;
acquiring a first clamping jaw clamping force and a second clamping jaw clamping force;
comparing the clamping force of the first clamping jaw with the clamping force of the second clamping jaw to obtain a clamping force difference value;
adjusting initial parameters of the first clamping jaw and the second clamping jaw according to the clamping force difference;
the industrial manipulator based on the machine vision technology comprises: the movable component comprises a rotating mechanism, a support frame is arranged at the top of the rotating mechanism, a sliding frame is fixedly connected to one side of the support frame, a first sliding mechanism is movably connected to one side of the sliding frame and can slide in the vertical direction, a second sliding mechanism is movably connected to one side of the first sliding mechanism and can slide in the vertical direction;
second slide mechanism one end bottom cooperation is connected with the suction plate, the intermediate position in suction plate bottom is provided with first probe, suction plate bottom array is provided with a plurality of sucking disc, is provided with on at least one sucking disc and snatchs the subassembly, snatch first centre gripping arm and the second centre gripping arm that the subassembly symmetry set up, first centre gripping arm one end articulates there is first jack catch, second centre gripping arm one end articulates there is the second jack catch, first centre gripping arm with second centre gripping arm inboard is provided with the second probe.
2. The control method according to claim 1, wherein the cross section of the carriage is a convex structure, a first slide way is arranged on one side of the carriage, the carriage is connected with a first sliding mechanism in a matching manner through the first slide way, the first sliding mechanism is displaced along the first slide way, and a first limiting member is arranged on the top of the carriage.
3. The control method according to claim 2, wherein a second slide way is arranged on one side of the first sliding mechanism, the first sliding mechanism is connected with a second sliding mechanism in a matching manner through the second slide way, the second sliding mechanism can slide and move along a second direction, and a second limiting member is arranged on the top of the first sliding mechanism.
4. A control method according to claim 1, wherein a first position sensor is provided on a side of the first slide mechanism, the first position sensor being used for monitoring a position and a displacement of the first slide mechanism, and a second position sensor is provided on a side of the second slide mechanism, the second position sensor being used for monitoring a position and a displacement of the second slide mechanism.
5. A control method according to claim 1, characterized in that an angle sensor is arranged on the top of the rotating mechanism, and the angle sensor is used for monitoring the rotating angle of the rotating mechanism.
6. The control method according to claim 1, wherein a coupler is arranged at the bottom of the rotating mechanism, a motor is connected to one end of the coupler and can drive the rotating mechanism to rotate, a clamping seat is sleeved on the outer side of the coupler and is of a double-layer structure, and the double-layer structure is fixed through bolts.
7. The control method according to claim 1, wherein a fixing member is provided at a bottom of the second sliding mechanism, the fixing member is hinged to the suction plate, and the suction plate is capable of rotating.
8. A control method according to claim 1, further comprising: acquiring image information of the bottom of the suction plate through a first probe to obtain position information of a suction disc connecting and grabbing assembly;
generating a plurality of grabbing component matching modes according to the grabbing component position information;
and controlling a plurality of grabbing components to grab a target object in a matching mode according to the matching mode.
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