CN114310987A - Automatic clamping device for visual recognition of multiple types of casings and control method thereof - Google Patents
Automatic clamping device for visual recognition of multiple types of casings and control method thereof Download PDFInfo
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- CN114310987A CN114310987A CN202210009464.3A CN202210009464A CN114310987A CN 114310987 A CN114310987 A CN 114310987A CN 202210009464 A CN202210009464 A CN 202210009464A CN 114310987 A CN114310987 A CN 114310987A
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Abstract
The invention belongs to the technical field of clamping and positioning, and discloses a visual identification multi-type case automatic clamping device and a control method thereof, wherein the robot side of a quick-change device in the visual identification multi-type case automatic clamping device is fixed with the tail end of a robot, and the robot is arranged on a robot operating platform; the tool side of the quick-change device is connected with the pneumatic clamping hand, and the robot side and the tool side of the quick-change device are connected through pneumatic control. The proximity sensor is used for detecting whether the magnetic metal exists or not, so that whether the casing is placed at the designated position or not in the robot grabbing process is detected, the robot grabbing reliability is realized, and the subsequent work flow is ensured to be safe and reliable. The clamping and placing operation of the casing is realized by controlling the opening and closing of the clamping hands through the air cylinder, and the reliability and the stability of clamping are fully ensured by the design scheme of the symmetrical circular clamping plate.
Description
Technical Field
The invention belongs to the technical field of clamping and positioning, and particularly relates to an automatic clamping device for visual recognition of multiple types of casings and a control method thereof.
Background
At present, the clamping of a workpiece refers to the positioning and clamping of the workpiece, the clamping is that before the workpiece is machined, a batch of parts to be machined in the same procedure can occupy correct positions in a clamp in the positioning task of a workpiece clamp, and the clamping task of the workpiece is to ensure that the workpiece does not leave the occupied correct positions under various external actions of cutting force, centrifugal force and inertia force, so that the normal operation of a mechanical machining process is ensured. In the existing processing and production process, the classified identification of the casing is mainly completed manually, and the manual mode is influenced by the state of workers, so that the phenomenon of classification error is easy to occur; and the manual classification mode aggravates the task of workers, and wastes time and labor. In comparison, the type of the casing is accurately identified by adopting the visual image identification method, and the instruction is transmitted to the executing mechanism to complete the grabbing of the casing, so that the working efficiency and the reliability are greatly improved. Due to the large difference between the outline dimensions of different types of casings, a universal automatic clamping device should include three modules, namely, positioning, clamping and identifying, to meet the requirement of automatic clamping.
Through the above analysis, the problems and defects of the prior art are as follows: in the existing processing and production process, the classified identification of the casing is mainly completed manually, and the manual mode is influenced by the state of workers, so that the phenomenon of classification error is easy to occur; and the manual classification mode aggravates the task of workers, and wastes time and labor.
The difficulty in solving the above problems and defects is:
the clamping problem of the multi-type case is mainly solved by the following difficulties: in the clamping places with more types of casings, how to ensure accurate classification and identification of the casings is difficult. Secondly, the method comprises the following steps: the types of the casings are more, and the design of a universal automatic clamping device is difficult;
the significance of solving the problems and the defects is as follows:
firstly, the method comprises the following steps: aiming at the characteristic of multiple types of casings, a set of accurate identification device for the types of the casings is designed, so that the work task of workers is favorably reduced, and the positioning of the multiple casings in a feeding space is ensured. Secondly, the method comprises the following steps: due to the design of the universal automatic clamp, frequent replacement of a clamping hand at the tail end of the robot is avoided, the working time of clamping is reduced, and the clamping efficiency is improved.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an automatic clamping device for visual recognition of multiple types of casings and a control method thereof. The automatic clamping device for the visual identification of the multiple types of casings comprises two parts, namely clamping positioning and visual identification. The invention realizes the axial and circumferential positioning of the position of the casing through the casing positioning device, realizes the clamping operation of the casing through the tail end clamping mechanism of the robot, and identifies the type of the casing needing to be clamped through the visual image identification technology.
The invention is realized in such a way that the visual identification multi-type case automatic clamping device is provided with a quick-change device;
the robot side of the quick-change device is fixed with the tail end of the robot, and the robot is arranged on a robot operating platform;
the tool side of the quick-change device is connected with the pneumatic clamping hand, and the robot side and the tool side of the quick-change device are connected through pneumatic control.
Further, the pneumatic gripper includes: the clamping device comprises a cylinder, a first clamping hand accessory, a clamping hand reinforcing member, a second clamping hand accessory, a symmetrical round clamping plate and a control unit.
Further, the upper end of the first clamping auxiliary part is connected with an air cylinder, the lower end of the first clamping auxiliary part is connected with one end of the second clamping auxiliary part, and the other end of the second clamping auxiliary part is connected with the symmetrical circular clamping plate.
Furthermore, a clamping hand reinforcing member is arranged among the first clamping hand auxiliary member, the second clamping hand auxiliary member and the symmetrical circular clamping plate, and the four clamping hand reinforcing members are used for reinforcing the first clamping hand auxiliary member, the second clamping hand auxiliary member and the symmetrical circular clamping plate.
Further, install feeding spatial structure on the robot operation platform, feeding spatial structure includes: the robot feeding window, the visual recognition device, the feeding bin, the casing fixing base and the bottom partition plate.
Further, a robot feeding window is arranged on the feeding bin and used for the robot to pass through; the side wall of the feeding bin is fixed with a visual recognition device, the lower side of the feeding bin is fixed with a bottom partition plate, the bottom partition plate is fixed with a casing fixing base, and a casing is fixed on the casing fixing base.
Further, the visual recognition apparatus includes: the system comprises a binocular camera, a binocular camera support piece, square structural steel and corner connectors; the binocular camera support piece is installed to square structural steel upper end, and binocular camera is installed to binocular camera support piece upper end, and the angle sign indicating number is installed to square structural steel lower part both sides.
Further, the casing is connected with casing fixed part, and casing fixed part includes: the connecting piece of the casing is connected to the fixing piece of the casing.
Further, the casing unable adjustment base includes: a base and a proximity sensor; a proximity sensor is fixed on the base, a plurality of annular grooves with different sizes are formed in the base and used for mounting and positioning the various casings, and the proximity sensor is used for detecting whether magnetic metal exists or not.
Another object of the present invention is to provide a method for controlling a visual recognition multi-type magazine automation device of the visual recognition multi-type magazine automation device, the method comprising:
in the process of grabbing and clamping the cartridge receiver by the robot, firstly, corresponding cartridge receiver fixing accessories are installed on the cartridge receiver to be grabbed, the installed cartridge receiver is placed on a cartridge receiver fixing base according to a specified position, whether the cartridge receiver is placed at the specified position is detected through a proximity sensor, so that the positioning of the cartridge receiver is realized, then, the model number of the cartridge receiver in a grabbing area is detected and identified through a visual identification device, the identified model type is input into a controller, a specified robot grabbing program is distributed, and the grabbing operation of the cartridge receiver to be grabbed is realized;
aiming at various types of cartridge receiver grabbing operations, images of a working area are acquired through a binocular camera, the acquired images are transmitted to a computer, and the model of the cartridge receiver to be grabbed is obtained through a related image recognition algorithm, so that the automation degree of the grabbing operations of the various types of cartridge receivers is effectively improved, and the accuracy and the efficiency of the model recognition of the cartridge receiver to be grabbed are ensured.
By combining all the technical schemes, the invention has the advantages and positive effects that:
(1) this technical scheme's direct effect + holistic effect:
according to the invention, the binocular camera is adopted to collect the image of the working area, the collected image is transmitted to the computer, and the model of the receiver to be grabbed is obtained through a related image recognition algorithm, so that the task load of workers can be reduced, and meanwhile, the classification efficiency and the classification accuracy of various types of receivers can be effectively improved.
The invention designs the casing fixing accessories aiming at the contour sizes of different types of casings, ensures the universality of the robot tail end clamping hand, avoids the frequent replacement of the robot tail end and effectively improves the clamping efficiency of the casings.
The universal base is designed aiming at the positioning task of the various types of casings, so that the positioning operation of the various types of casings in an effective feeding space is ensured, and the space utilization rate of the feeding space is improved; and the design of the base sensor further ensures the reliability and the accuracy of the positioning of the casing.
(2) Technical effect or experimental effect of comparison:
compared with the traditional multi-type case clamping equipment, the multi-type case clamping equipment has the advantages that the identification efficiency and accuracy of the multi-type case are effectively improved by adopting a visual identification scheme; the consistency of the clamping hands at the tail end of the robot is ensured by adopting the casing fixing accessories, so that the frequent replacement of the clamping hands is avoided; the design of the universal base realizes the positioning function of the multiple types of casings on the same base. By adopting the technical scheme, the accuracy and the efficiency of the clamping and positioning of the cartridge receiver can be effectively improved, and the clamping and positioning operation of various types of cartridge receivers in one feeding space is realized.
The robot is used for driving a pneumatic clamping hand fixed at the tail end of the robot to move in an operation space so as to realize the change of the space posture of the pneumatic clamping hand and prepare for subsequent grabbing operation; the pneumatic clamping hand is used for grabbing the casing to be grabbed and preparing for realizing subsequent machining operation; the casing positioning base is used for fixing the spatial position of a casing to be grabbed so as to realize circumferential and axial positioning of the casing in the grabbing process of the robot; the proximity sensor is used for detecting whether the casing to be grabbed is placed at a specified position, and the visual recognition device is used for recognizing the type of the casing to be grabbed and realizing the subsequent execution of a specified grabbing instruction. The pneumatic clamping hand takes a German Zimmer GPP5016NC-21-A cylinder as a main body and is matched with a circularly symmetrical clamping hand for clamping and fixing the casing. The proximity sensor is an ohm dragon proximity sensor and is used for detecting whether magnetic metal exists or not. The casing fixing accessory mainly comprises a positioning accessory and a grabbing accessory, wherein the positioning accessory realizes the positioning of the casing on the casing fixing base; in the robot clamping process, the grabbing accessory provides a universal clamping part for the pneumatic clamping hand. The pneumatic gripper further comprises a quick-change device, and the pneumatic gripper is connected to the tail end of the robot through the quick-change device. The vision recognition device fixes the kinect 2 binocular camera in the operation space, realizes the accurate recognition of the type of the receiver through the vision image recognition mode, and ensures the corresponding robot position instruction of the follow-up operation. The casing fixing base is fixed in the robot operation space, so that the casing to be grabbed is positioned, and the reliability of subsequent grabbing operation is ensured.
Meanwhile, the invention also has the following advantages:
1) the proximity sensor is used for detecting whether the magnetic metal exists or not, so that whether the casing is placed at the designated position or not in the robot grabbing process is detected, the robot grabbing reliability is realized, and the subsequent work flow is ensured to be safe and reliable.
2) The pneumatic clamping hand is used for realizing the grabbing and fixing operation of the casing, the symmetrical circular clamping plate is fixed on a German Zimmer GPP5016NC-21-A cylinder, the clamping and placing operation of the casing is realized by controlling the opening and closing of the clamping hand through the cylinder, and the reliability and the stability of the clamping are fully ensured by the design scheme of the symmetrical circular clamping plate.
3) The casing fixing base is used for fixing the positions of various casings, so that the axial positions and the circumferential positions of the casings are fixed in the grabbing preparation stage, the problems that accurate grabbing cannot be achieved due to inaccuracy of the positions of the casings and the like are solved, the casings to be grabbed are accurately positioned through the two annular grooves in the casing fixing base, and therefore the reliability of grabbing operation is guaranteed.
4) The visual identification device is used for detecting the type of the casing to be grabbed so as to realize the correspondence between the casing with the grabber and the grabbing program of the designated robot and avoid the situation that the grabbing program of the robot is not matched with the casing to be grabbed; the image that shoots in operating space through kinect v2 binocular camera carries out image recognition and detects to show the secondary that the discernment result was carried out through operating personnel on the interface and confirm, fully guaranteed that the robot snatchs the procedure and treats that it is corresponding to snatch the quick-witted casket, further guaranteed the reliability of snatching.
5) The casing fixing accessory is used for realizing the fixed positioning of the casings and the universal clamping of various types of casings, and because the difference of the outline sizes of different casings is large, the difficulty in designing the universal clamp only according to the outline sizes of the casings is large, the casing fixing accessory is designed in a targeted manner according to the outline sizes of different casings and the design scheme of symmetrical circular clamping plates, so that the universality of a pneumatic clamping hand is ensured, the time consumed for replacing the clamping hand and the possible equipment errors are avoided, and the working efficiency and the reliability of the working flow are effectively improved.
Drawings
Fig. 1 is a schematic structural diagram of an automatic clamping device for visually recognizing multiple types of casings according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a pneumatic gripper according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a cylinder provided in an embodiment of the present invention.
Fig. 4 is a schematic structural view of a symmetrical circular splint according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a feeding space for housing placement according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a visual recognition device according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a casing fixing base according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a casing fastening fitting according to an embodiment of the present invention.
Fig. 9 is a schematic structural diagram of a casing fixing member according to an embodiment of the present invention.
Fig. 10 is a schematic structural diagram of a casing connector according to an embodiment of the present invention.
In the figure: 1. a robot; 2. a quick-change device; 3. a pneumatic gripper; 4. a cylinder; 5. a first gripper sub-assembly; 6. a grip reinforcement; 7. a second gripper sub-assembly; 8. symmetrical round splints; 9. a robot feed window; 10. a visual recognition device; 11. a feeding bin; 12. a casing fixing base; 13. a bottom partition; 14. a binocular camera; 15. a binocular camera support; 16. square structural steel; 17. corner connectors; 18. a base; 19. a proximity sensor; 20. a case connection member; 21. and a casing fixing piece.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a visual identification multi-type receiver automatic clamping device and a control method thereof, and the invention is described in detail below with reference to the accompanying drawings.
Other steps may be implemented by those skilled in the art of the present invention, and the present invention of fig. 1 is only one embodiment of the present invention.
As shown in fig. 1, in the automatic clamping device for visually recognizing multiple types of casings provided by the embodiment of the present invention, a robot side of a quick change device 2 is fixed to a terminal of a robot 1, and the robot is installed on a robot operating platform; the tool side of the quick-change device 2 is connected with the pneumatic clamping hand 3, and the robot side and the tool side of the quick-change device 2 are connected through pneumatic control.
Wherein the robot 1 is a robot in the family of the pinaceae, the cylinder 4 is a cylinder in the germany Zimmer GPP5016NC-21-a, the binocular camera 14 is a kinect 2 binocular camera, and the proximity sensor 19 is an ohm dragon proximity sensor.
As shown in fig. 2, the pneumatic gripper 3 according to the embodiment of the present invention includes: the clamping device comprises a cylinder 4, a first clamping hand auxiliary part 5, a clamping hand reinforcing part 6, a second clamping hand auxiliary part 7, a symmetrical circular clamping plate 8 and a control unit; the upper end of the first tong auxiliary 5 is connected with the cylinder 4, the lower end of the first tong auxiliary 5 is connected with one end of a second tong auxiliary 7, and the other end of the second tong auxiliary 7 is connected with a symmetrical circular clamping plate 8; and clamping hand reinforcing members 6 are arranged among the first clamping hand auxiliary member 5, the second clamping hand auxiliary member 7 and the symmetrical circular clamping plate 8, and the four clamping hand reinforcing members 6 are used for mutually reinforcing the first clamping hand auxiliary member 5, the second clamping hand auxiliary member 7 and the symmetrical circular clamping plate 8.
As shown in fig. 5, the feeding space structure provided by the embodiment of the present invention is fixed on the robot operating platform, and the feeding space structure includes: the robot comprises a robot feeding window 9, a visual recognition device 10, a feeding bin 11, a casing fixing base 12 and a bottom partition plate 13; a robot feeding window 9 is arranged on the feeding bin 11, and the robot feeding window 9 is used for the passing of the robot; the side wall of the feeding bin 11 is fixed with a visual identification device 10, the lower side of the feeding bin 11 is fixed with a bottom partition plate 13, the bottom partition plate 13 is fixed with a casing fixing base 12, and the casing fixing base 12 is fixed with a casing.
As shown in fig. 6, a visual recognition apparatus 10 according to an embodiment of the present invention includes: a binocular camera 14, a binocular camera support 15, square structural steel 16, and corner braces 17; the binocular camera supporting piece 15 is installed to square structural steel 16 upper end, and binocular camera 14 is installed to binocular camera supporting piece 15 upper end, and angle sign indicating number 17 is installed to square structural steel 16 lower part both sides. The binocular camera 14 is used for shooting live-action images of a working area, the type of the receiver to be grabbed is determined through a related image recognition algorithm, the automation degree of the grabbing process is guaranteed, errors caused by operators are greatly reduced, and grabbing efficiency is improved.
As shown in fig. 7, the casing fixing base 12 according to the embodiment of the present invention includes: a base 18 and a proximity sensor 19; be fixed with proximity sensor 19 on the base 18, be provided with a plurality of not unidimensional ring channels on the base 18 for the installation location of polymorphic type machine casket has guaranteed the certainty of the every clamping position of machine casket, and proximity sensor 19 is used for detecting magnetic metal's existence, guarantees that the machine casket has been placed in the assigned position, has avoided the machine casket to lay the risk that the mistake brought limitedly.
As shown in fig. 8, the casing according to the embodiment of the present invention is connected to a casing fastening fitting, and the casing fastening fitting includes: a casing connecting piece 20 and a casing fixing piece 21. The casing connecting piece 20 is connected to the casing fixing piece 21, wherein the casing connecting piece 20 is used for realizing grabbing matching with the symmetrical circular clamping plates, the situation that casings of different types can have grabbing points with the same outline size is guaranteed, the casing fixing piece 21 is directly fixed with various casings, and an effective bridge is built for connecting and fixing the casing connecting piece 20 and the casings.
The working principle of the invention is as follows: in the process of grabbing a cartridge receiver by the robot 1, firstly, corresponding cartridge receiver fixing accessories are installed on the cartridge receiver to be grabbed, the installed cartridge receiver is placed on the cartridge receiver fixing base 12 according to a specified position, whether the cartridge receiver is placed at the specified position is detected through the proximity sensor 19, so that the cartridge receiver is positioned, then, the model of the cartridge receiver in a grabbing area is detected and identified through the visual identification device 10, the identified model type is input into the controller, a grabbing program of the specified robot is distributed, and grabbing operation of the cartridge receiver to be grabbed is achieved.
The invention discloses a visual identification device based on the multi-type case grabbing and clamping operation. Aiming at the grabbing operation of various types of casings, images of a working area are collected through the binocular camera 14, the collected images are transmitted to the computer, and the models of the casings to be grabbed are obtained through a related image recognition algorithm, so that the automation degree of the grabbing operation of various types of casings is effectively improved, and the accuracy and the efficiency of model recognition of the casings to be grabbed are ensured.
In the process of the multi-type case grabbing and clamping operation, the proximity sensor 19 detects whether the position between the case and the base 18 is set to the designated position in the grabbing and clamping process in real time, and feeds back the signal to the controller, so that the reliability of the case positioning is further ensured, the error grabbing and clamping operation caused by the case not being set to the designated position is avoided, and the reliability and the stability of the grabbing and clamping positioning are improved.
The invention designs automatic clamping equipment for visually identifying a plurality of types of casings aiming at the positioning and clamping operation of the plurality of types of casings. The clamping operation is expanded from a simple one-to-one clamping function to the existing one-to-many clamping function. Through the design of the different locating holes of base 18, realize the accurate positioning of polymorphic type machine casket, through the cooperation of quick-witted casket connecting piece 20 and quick-witted casket mounting 21, realized the commonality of the terminal tong of robot 1, avoided the frequent change of tong, effectively improved clamping efficiency.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A visual recognition multi-type case automatic clamping device is characterized in that the visual recognition multi-type case automatic clamping device is provided with:
a quick-change device;
the robot side of the quick-change device is fixed with the tail end of the robot, and the robot is arranged on a robot operating platform;
the tool side of the quick-change device is connected with the pneumatic clamping hand, and the robot side and the tool side of the quick-change device are connected through pneumatic control.
2. The visual recognition multi-type casing automation device of claim 1, wherein the pneumatic gripper comprises: the clamping device comprises a cylinder, a first clamping hand accessory, a clamping hand reinforcing member, a second clamping hand accessory, a symmetrical round clamping plate and a control unit.
3. The vision recognition multi-type casing automation clamping device as claimed in claim 2, wherein the first gripper sub is connected to the cylinder at an upper end thereof, and the first gripper sub is connected to the second gripper sub at a lower end thereof, and the second gripper sub is connected to the symmetrical circular clamping plate at the other end thereof.
4. The visual recognition multi-type casing automation clamping device as claimed in claim 3, wherein four gripper reinforcements are installed between the first gripper sub-member, the second gripper sub-member and the symmetrical circular clamping plate, and the four gripper reinforcements are used for mutual reinforcement between the first gripper sub-member, the second gripper sub-member and the symmetrical circular clamping plate.
5. The vision recognition multi-type cartridge magazine automation device of claim 1, wherein the robotic manipulation platform has mounted thereon a feeding space structure comprising: the robot feeding window, the visual recognition device, the feeding bin, the casing fixing base and the bottom partition plate.
6. The vision recognition multi-type casing automation clamping device as claimed in claim 5, wherein a robot feeding window is provided on the feeding bin, the robot feeding window is used for the passage of a robot; the side wall of the feeding bin is fixed with a visual recognition device, the lower side of the feeding bin is fixed with a bottom partition plate, the bottom partition plate is fixed with a casing fixing base, and a casing is fixed on the casing fixing base.
7. The visual recognition multi-type casing automation device of claim 6, the visual recognition device comprising: the system comprises a binocular camera, a binocular camera support piece, square structural steel and corner connectors; the binocular camera support piece is installed to square structural steel upper end, and binocular camera is installed to binocular camera support piece upper end, and the angle sign indicating number is installed to square structural steel lower part both sides.
8. The automatic vision recognizing multi-type cartridge receiver clamping device as claimed in claim 6, wherein the cartridge receiver is coupled with a cartridge receiver fixing member, the cartridge receiver fixing member comprising: the connecting piece of the casing is connected to the fixing piece of the casing.
9. The visual recognition multi-type cartridge magazine automation device of claim 5, the cartridge magazine fixing base comprising: a base and a proximity sensor; a proximity sensor is fixed on the base, a plurality of annular grooves with different sizes are formed in the base and used for mounting and positioning the various casings, and the proximity sensor is used for detecting whether magnetic metal exists or not.
10. A method for controlling a visual recognition multi-type magazine automation device of the visual recognition multi-type magazine automation device according to any one of claims 1 to 9, wherein the method for controlling the visual recognition multi-type magazine automation device comprises:
in the process of grabbing and clamping the cartridge receiver by the robot, firstly, corresponding cartridge receiver fixing accessories are installed on the cartridge receiver to be grabbed, the installed cartridge receiver is placed on a cartridge receiver fixing base according to a specified position, whether the cartridge receiver is placed at the specified position is detected through a proximity sensor, so that the positioning of the cartridge receiver is realized, then, the model number of the cartridge receiver in a grabbing area is detected and identified through a visual identification device, the identified model type is input into a controller, a specified robot grabbing program is distributed, and the grabbing operation of the cartridge receiver to be grabbed is realized;
aiming at various types of cartridge receiver grabbing operations, images of a working area are acquired through a binocular camera, the acquired images are transmitted to a computer, and the model of the cartridge receiver to be grabbed is obtained through a related image recognition algorithm, so that the automation degree of the grabbing operations of the various types of cartridge receivers is effectively improved, and the accuracy and the efficiency of the model recognition of the cartridge receiver to be grabbed are ensured.
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| CN202210009464.3A CN114310987B (en) | 2022-01-05 | 2022-01-05 | Automatic clamping device for visual identification of multiple types of cases and control method thereof |
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| CN111702799A (en) * | 2020-06-28 | 2020-09-25 | 浙江金马逊机械有限公司 | Manipulator and clamping device thereof |
| US20210101256A1 (en) * | 2019-10-02 | 2021-04-08 | Sintokogio, Ltd. | Shot treatment apparatus and shot treatment method |
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| US20040162639A1 (en) * | 2003-02-19 | 2004-08-19 | Fanuc Ltd. | Workpiece conveying apparatus |
| CN206982133U (en) * | 2017-06-06 | 2018-02-09 | 内蒙古第一机械集团有限公司 | One kind is used for the pinpoint assembling device of machine vision |
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