CN113733140B - Mechanical arm grabbing control method based on binocular vision - Google Patents
Mechanical arm grabbing control method based on binocular vision Download PDFInfo
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- CN113733140B CN113733140B CN202111176524.2A CN202111176524A CN113733140B CN 113733140 B CN113733140 B CN 113733140B CN 202111176524 A CN202111176524 A CN 202111176524A CN 113733140 B CN113733140 B CN 113733140B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000001179 sorption measurement Methods 0.000 claims abstract description 102
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- 238000012545 processing Methods 0.000 claims abstract description 9
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 238000004140 cleaning Methods 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 39
- 238000002347 injection Methods 0.000 claims description 11
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- 238000004891 communication Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 238000003756 stirring Methods 0.000 description 4
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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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- B08B1/12—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The technical scheme of the invention is realized as follows: a mechanical arm grabbing control method based on binocular vision is characterized by comprising the following steps: s1, installation: mounting the mechanical arm on a workbench, adjusting the position and the angle of the mechanical arm, debugging the main control computer and the visual processing unit based on the mechanical arm, and waiting for grabbing after the position debugging is finished; s2, grabbing: after debugging is finished, aligning a grabbing unit of the mechanical arm with the part, and grabbing the part in a mode of simultaneously carrying out clamping and adsorption; s3, toggle cleaning: when the mechanical arm is difficult to grab the part, the state of the part is changed in a blowing mode or a shifting mode so that the part is convenient to grab; after the grabbing is finished, blowing air and a hairbrush to clean the workbench; the invention has the advantages of convenient and stable part grabbing, high working efficiency, low energy consumption and convenient popularization.
Description
Technical Field
The invention relates to the technical field, in particular to a mechanical arm grabbing control method based on binocular vision.
Background
The mechanical arm is a Chinese translation of the word ROBOT. According to national standards, an industrial robot is defined as "its manipulator is automatically controlled, reprogrammable, versatile, and can program more than 3 axes, whether stationary or mobile, for use in industrial automation applications". A manipulator is also defined as "a machine whose mechanism is generally composed of a series of members hinged or sliding with respect to each other. It usually has several degrees of freedom for grasping or moving an object (tool or workpiece) ". So the industrial robot arm may be understood as: a mechatronic device that simulates the functions of an arm, a wrist, and a hand; it can move any object or tool according to the time-varying requirement of space position and attitude, so that it can meet the operation requirement of some industrial production. Such as clamping a welding tongs or a welding gun, and carrying out spot welding or arc welding on the automobile or motorcycle body; carrying die-cast or punch-formed parts or components; performing laser cutting, spraying and assembling mechanical parts and the like.
In the prior art, for example, a mechanical arm disclosed in patent publication No. CN211920128U can stir a part to be grabbed by setting a flat scanning device to meet an identification signal of a visual sensor, so as to perform adsorption grabbing; but owing to need snatch different materials when using, this type of arm only can snatch through single absorption when using, and the phenomenon that the part dropped often can appear grabbing the part often, is difficult to guarantee the stability of snatching, influences work efficiency.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a mechanical arm grabbing control method based on binocular vision, which is used for solving the problems in the background technology.
The technical scheme of the invention is realized as follows: a mechanical arm grabbing control method based on binocular vision is characterized by comprising the following steps:
s1, installation: mounting the mechanical arm on a workbench, adjusting the position and the angle of the mechanical arm, debugging the main control computer and the visual processing unit based on the mechanical arm, and waiting for grabbing after the position debugging is finished;
s2, grabbing: after debugging is finished, aligning a grabbing unit of the mechanical arm with the part, and grabbing the part in a mode of simultaneously carrying out clamping and adsorption;
s3, stirring and cleaning: when the mechanical arm is difficult to grab the part, the state of the part is changed in an air blowing mode or a shifting mode so that the part is convenient to grab; after the grabbing is finished, blowing air and a hairbrush are blown to clean the workbench.
Preferably, the following components are used: the grabbing unit in the step S2 comprises a grabbing box, the tail end of the mechanical arm is provided with an installation cylinder, and the grabbing box is fixed in the installation cylinder; the clamping mechanism is arranged at the bottom of the grabbing box and used for grabbing parts, and comprises a plurality of clamping pieces, each clamping piece is hinged with the bottom of the grabbing box, and the clamping pieces are uniformly arranged around the center of the bottom of the grabbing box in the circumferential direction; the driving mechanism is used for driving the clamping mechanism to grab the part; the driving mechanism comprises a first motor, the first motor is arranged on the inner bottom wall of the grabbing box, a threaded rod is arranged on the output end of the first motor, and the threaded rod is vertically arranged; the screw sleeve is sleeved on the threaded rod and is in threaded connection with the threaded rod; one end of the first connecting rod is hinged with the threaded sleeve; one end of the second connecting rod is hinged with one end of the first connecting rod, which is far away from the threaded sleeve, a movable hole for the second connecting rod to move is formed in the bottom of the grabbing box, and one end of the second connecting rod, which is far away from the first connecting rod, penetrates through the movable hole and is hinged with the clamping piece; when the swivel nut moves up and down, the clamping piece can be driven to rotate around the grabbing box through the transmission of the first connecting rod and the second connecting rod.
Preferably: the clamping piece comprises a hinged plate, the hinged plate is hinged with the bottom of the grabbing box, and the second connecting rod is hinged with the hinged plate; the clamping plate, the clamping plate can be dismantled and connect in the articulated slab lower extreme, be provided with the slot on the articulated slab, be provided with the inserted block on the clamping plate, all be provided with the screw hole on inserted block and the articulated slab, the inserted block inserts in the slot and locks fixedly through locking screw.
Preferably: the clamping piece is provided with a first adsorption mechanism, the first adsorption mechanism comprises an adsorption plate which is arranged on the inner side of the clamping plate, and adsorption holes are uniformly formed in the adsorption plate; the adsorption channel is arranged between the adsorption plate and the clamping plate and is communicated with the adsorption hole; the connector is arranged on the clamping plate, and one end of the connector extends inwards to be communicated with the adsorption channel; one end of the first air suction pipe is connected with the connector, and the other end of the first air suction pipe is connected with an external air exhaust fan.
Preferably, the following components are used: the lower end of the grabbing box is also provided with a clamping mechanism, the clamping mechanism comprises a cylinder seat, the bottom of the grabbing box is provided with a clamping groove, the cylinder seat is connected in the clamping groove in a sliding manner, and a clamping cylinder is arranged on the cylinder seat; the push plate is arranged at the output end of the clamping cylinder and connected with the hinged plate; and the spring is arranged in the clamping groove and is positioned on one side of the cylinder seat far away from the hinged plate, and two ends of the spring are respectively connected with the cylinder seat and the side wall of the clamping groove.
Preferably, the following components are used: a second adsorption mechanism is arranged in the grabbing box, the second adsorption mechanism comprises an adsorption cylinder, the upper end of the adsorption cylinder is opened, and the adsorption cylinder is fixed on the inner side wall of the grabbing box; the piston is arranged in the adsorption cylinder and is connected with the inner wall of the adsorption cylinder in a sealing way, a sealed adsorption cavity is formed by the piston and the lower half part of the adsorption cylinder, an air inlet hole and an air outlet hole which are communicated with the adsorption cavity are formed in the adsorption cylinder, and check valves are arranged in the air inlet hole and the air outlet hole; one end of the lifting rod is fixedly connected with the threaded sleeve, and the other end of the lifting rod penetrates into the adsorption cylinder from the bottom of the adsorption cylinder to be connected with the piston; and one end of the second air suction pipe is communicated with the adsorption cavity, and the other end of the second air suction pipe extends downwards to penetrate through the grabbing box to the position between the clamping pieces.
Preferably: the stirring mechanism comprises a rack and is fixed in the installation cylinder; the electric push rod is fixed at the bottom of the frame; the poke rod is fixed at the lower end of the electric push rod and is controlled by the electric push rod to move up and down, and a brush is installed at the lower end of the electric push rod.
Preferably, the following components are used: the poking mechanism also comprises an air nozzle which is fixed on the poking rod; one end of the air injection pipe is connected with the air injection nozzle, and the other end of the air injection pipe is communicated with the air supply device.
Preferably: the air supply device comprises a rotary disc, the rotary disc is hermetically connected with the outer wall of the residential area box, an air vent and an air supply hole are formed in the rotary disc, and an air outlet hole in the adsorption cylinder is communicated with the air vent or the air supply hole of the rotary disc; the second motor is arranged on the rack and used for controlling the rotating disc to rotate to switch the communication state of the air outlet holes; the gas injection pipe is communicated with the gas supply hole of the turntable.
Preferably, the following components are used: the vision processing unit includes a vision sensor, a vision processor, and a ranging sensor.
The invention has the beneficial effects that: the invention has the advantages of convenient and stable part grabbing, high working efficiency, low energy consumption and convenient popularization.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a mounting barrel according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a clamping mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a clamping plate according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a turntable according to an embodiment of the present invention;
the examples in the figures are: 1 mechanical arm, 2 installation cylinders, 3 grabbing boxes, 4 first motors, 5 threaded rods, 6 threaded sleeves, 7 first connecting rods, 8 second connecting rods, 9 movable holes, 10 vision processing units, 11 hinged plates, 12 clamping plates, 13 locking screws, 14 adsorption plates, 15 adsorption holes, 16 adsorption channels, 17 connectors, 18 first air suction pipes, 19 cylinder seats, 20 clamping cylinders, 21 push plates, 22 springs, 23 adsorption cylinders, 24 pistons, 25 adsorption cavities, 26 air inlet holes, 27 air outlet holes, 28 lifting rods, 29 second air suction pipes, 30 racks, 31 electric push rods, 32 poking rods, 33 hairbrushes, 34 air nozzles, 35 air pipes, 36 turntables, 37 air outlet holes, 38 air supply holes and 39 second motors.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Example 1
The invention discloses a mechanical arm grabbing control method based on binocular vision, which is characterized by comprising the following steps of:
s1, installation: mounting a mechanical arm on a workbench, adjusting the position and the angle of the mechanical arm, debugging the main control computer and the visual processing unit based on the mechanical arm, and waiting for grabbing after the position debugging is finished;
s2, grabbing: after debugging is finished, aligning a grabbing unit of the mechanical arm with the part, and grabbing the part in a mode of simultaneously carrying out clamping and adsorption;
s3, toggle cleaning: when the mechanical arm is difficult to grab the part, the state of the part is changed in a blowing mode or a shifting mode so that the part is convenient to grab; and after the grabbing is finished, blowing air and the brush to clean the workbench.
Example 2
As shown in fig. 1 to 4, in the present embodiment, the grasping unit in embodiment 1 includes a grasping box 3, the end of the robot arm 1 is equipped with a mounting cylinder 2, and the grasping box 3 is fixed in the mounting cylinder 2; the clamping mechanism is arranged at the bottom of the grabbing box 3 and used for grabbing parts, and comprises a plurality of clamping pieces, each clamping piece is hinged with the bottom of the grabbing box 3, and the clamping pieces are uniformly arranged around the center of the bottom of the grabbing box 3 in the circumferential direction; the driving mechanism is used for driving the clamping mechanism to grab the part; the driving mechanism comprises a first motor 4 which is arranged on the inner bottom wall of the grabbing box 3, a threaded rod 5 is arranged on the output end of the first motor 4, and the threaded rod 5 is vertically arranged; the threaded sleeve 6 is sleeved on the threaded rod 5 and is in threaded connection with the threaded rod 5; one end of the first connecting rod 7 is hinged with the threaded sleeve 6; one end of the second connecting rod 8 is hinged to one end, far away from the threaded sleeve 6, of the first connecting rod 7, a movable hole 9 for the second connecting rod 8 to move is formed in the bottom of the grabbing box 3, and one end, far away from the first connecting rod 7, of the second connecting rod 8 penetrates through the movable hole 9 and is hinged to the clamping piece; when the threaded sleeve 6 moves up and down, the clamping piece can be driven to rotate around the grabbing box 3 through the transmission of the first connecting rod 7 and the second connecting rod 8; the vision processing unit 10 is installed on the installation cylinder 2, and the vision processing unit 10 includes a vision sensor, a vision processor, and a distance measuring sensor.
Through above-mentioned technical scheme, by the rotation of first motor control threaded rod, drive the lift of swivel nut, through the transmission of first connecting rod and second connecting rod, realize the holder to the work of snatching of part, it is convenient to snatch, and the transmission is stable.
In the embodiment, the clamping piece comprises a hinged plate 11, the hinged plate 11 is hinged with the bottom of the grabbing box 3, and the second connecting rod 8 is hinged with the hinged plate 11; the clamping plate 12, the clamping plate 12 can be dismantled and connect in articulated slab 11 lower extreme, be provided with the slot on the articulated slab 11, be provided with the inserted block on the clamping plate 12, all be provided with the screw hole on inserted block and the articulated slab 11, the inserted block inserts in the slot and locks fixedly through locking screw 13.
Through above-mentioned technical scheme, through the clamp plate with articulated slab can dismantle being connected, can change different clamp plates according to the part of difference, make the shape of clamp plate with wait to snatch the matching of part, guarantee the stability of snatching, be convenient for maintain and change.
In this embodiment, the clamping member is provided with a first adsorption mechanism, the first adsorption mechanism includes an adsorption plate 14, the adsorption plate 14 is installed inside the clamping plate 12, and the adsorption plate 14 is uniformly provided with adsorption holes 15; the adsorption channel 16 is arranged between the adsorption plate 14 and the clamping plate 12, and the adsorption channel 16 is communicated with the adsorption hole 15; a connector 17 mounted on the clamping plate 12 and having one end extending inward to communicate with the adsorption passage 16; one end of the first air suction pipe 18 is connected with the connector 17, and the other end is connected with an external air exhaust fan.
Through adopting above-mentioned technical scheme, bleed through air exhaust fan, drive and adsorb and form the adsorption affinity on passageway to the absorption hole of adsorption plate, adsorb the part that snatchs from the lateral part, improve the stability of snatching the part, the setting of connector, the first trachea of convenient to install and dismantle.
In this embodiment, the lower end of the grabbing box 3 is further provided with a clamping mechanism, the clamping mechanism comprises a cylinder block 19, the bottom of the grabbing box 3 is provided with a clamping groove, the cylinder block 19 is slidably connected in the clamping groove, and the cylinder block 19 is provided with a clamping cylinder 20; a push plate 21 mounted on an output end of the clamping cylinder 20, the push plate 21 being connected with the hinge plate 11; and the spring 22 is arranged in the clamping groove and is positioned on one side of the cylinder seat 19 away from the hinged plate 11, and two ends of the spring 22 are respectively connected with the cylinder seat 19 and the side wall of the clamping groove.
Through above-mentioned technical scheme, through clamping mechanism's setting, when the holder snatchs the part, the extrusion force through the spring remains the push pedal throughout and gives the holder certain inward thrust, further guarantees to snatch the stability of part, and the clamp force is convenient for adjust in die clamping cylinder's setting.
In this embodiment, a second adsorption mechanism is arranged in the grabbing box 3, the second adsorption mechanism includes an adsorption cylinder 23, the upper end of the adsorption cylinder 23 is open, and the adsorption cylinder 23 is fixed on the inner side wall of the grabbing box 3; the piston 24 is arranged in the adsorption cylinder 23 and is connected with the inner wall of the adsorption cylinder 23 in a sealing manner, a sealed adsorption cavity 25 is formed by the piston 24 and the lower half part of the adsorption cylinder 23, an air inlet hole 26 and an air outlet hole 27 which are communicated with the adsorption cavity 25 are formed in the adsorption cylinder 23, and check valves are arranged in the air inlet hole 26 and the air outlet hole 27; one end of the lifting rod 28 is fixedly connected with the threaded sleeve 6, and the other end of the lifting rod penetrates into the adsorption cylinder 23 from the bottom of the adsorption cylinder 23 to be connected with the piston 24; and one end of the second air suction pipe 29 is communicated with the adsorption cavity 25, and the other end of the second air suction pipe 29 extends downwards to penetrate through the grabbing box 3 to a position between the clamping pieces.
According to the technical scheme, the first motor is started to drive the screw rod to rotate and then the screw sleeve rises through the arrangement of the second adsorption mechanism, the clamping piece is driven to rotate inwards to clamp and grab through the transmission of the first connecting rod and the second connecting rod, the lifting rod drives the piston to rise while clamping and grabbing, at the moment, gas in the adsorption cavity is increased, the internal air pressure is reduced, negative pressure is formed at the upper end of the part through the second air suction pipe, and the part is adsorbed and grabbed from the upper end of the part; similarly, when the part is loosened, the first motor is controlled to rotate reversely to drive the threaded rod to rotate reversely, the threaded sleeve descends, the clamping piece is driven to rotate outwards through the transmission of the first connecting rod and the second connecting rod to loosen the part, the lifting rod drives the piston to descend at the moment, gas is discharged from the gas outlet, the first adsorption pipe does not generate negative pressure any more, and the adsorption force at the upper end of the part disappears; need not set up special adsorption equipment in addition, realize adsorbing the part in the part top through the transmission of self screw rod, when improving and snatch stability, energy-conserving province source.
Example 2
As shown in fig. 2 and 5, in the present embodiment, the present invention further comprises a toggle mechanism, wherein the toggle mechanism comprises a frame 30 fixed inside the installation cylinder 2; the electric push rod 31 is fixed at the bottom of the frame 30; and the poke rod 32 is fixed at the lower end of the electric push rod 31 and is controlled by the electric push rod 31 to move up and down, and a brush 33 is installed at the lower end of the electric push rod 31.
In this embodiment, the toggle mechanism further comprises an air nozzle 34 fixed on the toggle rod 32; one end of the air injection pipe 35 is connected with the air injection nozzle 34, and the other end is communicated with the air supply device; in this embodiment, the air supply device includes a turntable 36, the turntable 36 is hermetically connected to the outer wall of the residential quarter box, the turntable 36 is provided with a vent hole 37 and an air supply hole 38, and the air outlet hole 27 on the adsorption cylinder 23 is communicated with the vent hole 37 or the air supply hole 38 of the turntable 36; the second motor 39 is arranged on the frame 30 and used for controlling the turntable 36 to rotate to switch the communication state of the air outlet hole 27; the gas injection pipe 35 is communicated with a gas supply hole 38 of the rotary table 36; in other embodiments, a fan or other devices may be directly used as the air supply device for supplying air.
Through the technical scheme, through the arrangement of the shifting mechanism, when the part is positioned outside the working range of the mechanical arm or the placing state of the part is not easy to grab, the shifting rod is driven by the electric push rod to descend, the part is shifted through the hairbrush, so that the part is in a grabbing state, meanwhile, when the shifted part is a part with lighter weight, the second motor is started to drive the turntable to rotate, so that the gas outlet is communicated with the gas ejector pipe, when the piston descends, gas in the adsorption cavity enters the adsorption pipe and is ejected from the gas ejector nozzle to blow the part to adjust the position of the part, and when the adjustment is not needed through blowing, the gas outlet is driven by the second motor to be communicated with the vent hole to directly vent the gas; after the grabbing is finished, cleaning and sweeping the workbench by blowing of the air nozzle and brushing of the brush; guarantee to snatch going on smoothly of work, improve work efficiency, blow the mode of stirring through the setting, avoid the scratch part, the while will adsorb the gas recycle of intracavity, reduce the consumption of the energy.
The working principle is as follows: mounting a mechanical arm on a workbench, and adjusting the position and the angle of the mechanical arm to enable a visual sensor to be aligned to the placement position of a part; debugging is carried out by a main control computer based on a mechanical arm, a visual sensor is ensured to collect images of parts and send the images to a visual processor, the purpose of identifying and classifying the objects is ensured to be carried out, the two-dimensional coordinate position of the object of the part is calculated, the vertical height of the grabbed part is debugged, and the grabbing preparation work is completed after the debugging; after debugging is completed, a grabbing unit of the mechanical arm is aligned with a part, a first motor is started to drive a threaded rod to rotate, so that a threaded sleeve is driven to ascend, a clamping piece is driven to rotate inwards to clamp and grab through transmission of a first connecting rod and a second connecting rod, a lifting rod drives a piston to ascend while clamping and grabbing are carried out, gas in an adsorption cavity is increased at the moment, internal air pressure is reduced, negative pressure is formed at the upper end of the part through a second air suction pipe, the part is adsorbed and grabbed from the upper end of the part, an air exhaust fan is started to exhaust air, negative pressure is formed in a first air suction pipe, so that negative pressure is formed at an adsorption channel and an adsorption hole, the part is adsorbed and grabbed from the side part, and meanwhile, the part is grabbed through clamping, upper-end adsorption and side adsorption; after the grabbed part is carried to a designated position through the mechanical arm, the work of the air exhaust fan is stopped, the side wall adsorption force disappears, the first motor is controlled to rotate reversely to drive the threaded rod to rotate reversely, the threaded sleeve descends, the clamping piece is driven to rotate outwards through the transmission of the first connecting rod and the second connecting rod to loosen the part, the lifting rod drives the piston to descend at the moment, gas is exhausted from the gas outlet, the first adsorption pipe does not generate negative pressure any more, the adsorption force at the upper end of the part disappears, and the mechanical arm starts to grab the next part; when the mechanical arm is difficult to grab parts (when the parts are located outside the working range of the mechanical arm or the placement state of the parts is not easy to grab), the poke rod is driven by the electric push rod to descend and poke the parts through the hairbrush, so that the parts are in a grabbing state, meanwhile, when the poked parts are light parts, the second motor is started to drive the turntable to rotate, so that the gas outlet is communicated with the gas ejector pipe, when the piston descends, gas in the adsorption cavity enters the adsorption pipe and is ejected from the gas ejector nozzle to blow the parts to adjust the positions of the parts, and when the adjustment is not needed through blowing, the gas outlet is driven by the second motor to be communicated with the vent hole to directly vent the gas; after grabbing, the air blowing of the air nozzle and the brushing of the brush clean the workbench.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. A mechanical arm grabbing control method based on binocular vision is characterized by comprising the following steps:
s1, installation: mounting a mechanical arm on a workbench, adjusting the position and the angle of the mechanical arm, debugging the main control computer and the visual processing unit based on the mechanical arm, and waiting for grabbing after the position debugging is finished;
s2, grabbing: after debugging is finished, aligning a grabbing unit of the mechanical arm with the part, and grabbing the part in a mode of simultaneously carrying out clamping and adsorption;
s3, toggle cleaning: when the mechanical arm is difficult to grab the part, the state of the part is changed in an air blowing mode or a shifting mode so that the part is convenient to grab; after the grabbing is finished, blowing air and a hairbrush to clean the workbench;
the grasping unit in step S2 includes
The tail end of the mechanical arm is provided with an installation cylinder, and the grabbing box is fixed in the installation cylinder;
the clamping mechanism is arranged at the bottom of the grabbing box and used for grabbing parts, and comprises a plurality of clamping pieces, each clamping piece is hinged with the bottom of the grabbing box, and the clamping pieces are uniformly arranged around the center of the bottom of the grabbing box in the circumferential direction;
the driving mechanism is used for driving the clamping mechanism to grab the part;
the driving mechanism comprises
The first motor is arranged on the inner bottom wall of the grabbing box, a threaded rod is arranged at the output end of the first motor, and the threaded rod is vertically arranged;
the screw sleeve is sleeved on the threaded rod and is in threaded connection with the threaded rod;
one end of the first connecting rod is hinged with the threaded sleeve;
one end of the second connecting rod is hinged with one end of the first connecting rod, which is far away from the threaded sleeve, a movable hole for the second connecting rod to move is formed in the bottom of the grabbing box, and one end of the second connecting rod, which is far away from the first connecting rod, penetrates through the movable hole and is hinged with the clamping piece;
when the threaded sleeve moves up and down, the clamping piece can be driven to rotate around the grabbing box through the transmission of the first connecting rod and the second connecting rod;
snatch incasement and be provided with second adsorption equipment, second adsorption equipment includes
The upper end of the adsorption cylinder is opened, and the adsorption cylinder is fixed on the inner side wall of the grabbing box;
the piston is arranged in the adsorption cylinder and is connected with the inner wall of the adsorption cylinder in a sealing way, a sealed adsorption cavity is formed by the piston and the lower half part of the adsorption cylinder, an air inlet hole and an air outlet hole which are communicated with the adsorption cavity are formed in the adsorption cylinder, and check valves are arranged in the air inlet hole and the air outlet hole;
one end of the lifting rod is fixedly connected with the threaded sleeve, and the other end of the lifting rod penetrates into the adsorption cylinder from the bottom of the adsorption cylinder to be connected with the piston;
one end of the second air suction pipe is communicated with the adsorption cavity, and the other end of the second air suction pipe extends downwards to penetrate through the grabbing box to a position between the clamping pieces;
the device also comprises a toggle mechanism which comprises
The rack is fixed inside the mounting cylinder;
the electric push rod is fixed at the bottom of the frame;
the poke rod is fixed at the lower end of the electric push rod and is controlled by the electric push rod to move up and down, and the lower end of the electric push rod is provided with a brush;
the toggle mechanism also comprises
The air nozzle is fixed on the poke rod;
one end of the air injection pipe is connected with the air injection nozzle, and the other end of the air injection pipe is communicated with the air supply device;
the gas supply device comprises
The rotary table is hermetically connected with the outer wall of the residential area box, vent holes and air supply holes are formed in the rotary table, and air outlet holes in the adsorption cylinder are communicated with the vent holes or the air supply holes of the rotary table;
the second motor is arranged on the rack and used for controlling the rotating disc to rotate to switch the communication state of the air outlet holes;
the air injection pipe is communicated with the air supply hole of the rotary table.
2. The binocular vision based mechanical arm grabbing control method according to claim 1, characterized in that: the clamping piece comprises
The hinged plate is hinged with the bottom of the grabbing box, and the second connecting rod is hinged with the hinged plate;
the clamping plate, the clamping plate can be dismantled and connect in the articulated slab lower extreme, be provided with the slot on the articulated slab, be provided with the inserted block on the clamping plate, all be provided with the screw hole on inserted block and the articulated slab, the inserted block inserts in the slot and locks fixedly through locking screw.
3. The binocular vision based mechanical arm grabbing control method according to claim 2, characterized in that: the clamping piece is provided with a first adsorption mechanism, and the first adsorption mechanism comprises
The adsorption plate is arranged on the inner side of the clamping plate, and adsorption holes are uniformly formed in the adsorption plate;
the adsorption channel is arranged between the adsorption plate and the clamping plate and is communicated with the adsorption hole;
the connector is arranged on the clamping plate, and one end of the connector extends inwards to be communicated with the adsorption channel;
one end of the first air suction pipe is connected with the connector, and the other end of the first air suction pipe is connected with an external air exhaust fan.
4. The binocular vision-based mechanical arm grabbing control method according to claim 2, characterized in that: the lower end of the grabbing box is also provided with a clamping mechanism which comprises
The clamping groove is formed in the bottom of the grabbing box, the cylinder block is connected in the clamping groove in a sliding mode, and a clamping cylinder is mounted on the cylinder block;
the push plate is arranged on the output end of the clamping cylinder and connected with the hinged plate;
and the spring is arranged in the clamping groove and is positioned on one side of the cylinder seat away from the hinged plate, and two ends of the spring are respectively connected with the cylinder seat and the side wall of the clamping groove.
5. The binocular vision based mechanical arm grabbing control method according to claim 1, characterized in that: the vision processing unit includes a vision sensor, a vision processor, and a ranging sensor.
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| CN114472366B (en) * | 2022-01-21 | 2024-02-23 | 怀化市正泰农机装备有限公司 | Full-automatic integrated steel production line |
| CN114433512B (en) * | 2022-02-16 | 2024-03-15 | 武汉诺得佳科技有限公司 | Intelligent robot snatchs mechanism with letter sorting function |
| CN116872186B (en) * | 2023-08-23 | 2024-04-09 | 福州聚丰汽车零部件有限公司 | Industrial robot for intelligent manufacturing workshop |
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