CN114619465B - Grabbing control method of robot clamp - Google Patents
Grabbing control method of robot clamp Download PDFInfo
- Publication number
- CN114619465B CN114619465B CN202210314008.XA CN202210314008A CN114619465B CN 114619465 B CN114619465 B CN 114619465B CN 202210314008 A CN202210314008 A CN 202210314008A CN 114619465 B CN114619465 B CN 114619465B
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- Prior art keywords
- grabbing
- clamping jaw
- clamp
- camera
- clamping
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Abstract
The invention discloses a grabbing control method of a robot clamp, which comprises the following steps: acquiring image information of the grabbing object after the grabbing object is positioned on the positioning device; setting a grabbing radian and a clamping force according to the acquired image information and the centre point of the grabbing object; calculating a distance x1 from the first clamping jaw to the center line position and a distance x2 from the second clamping jaw to the center line position of the clamp; controlling the clamp to clamp the grabbing object, controlling the grabbing speed of the first clamping jaw based on the distance x1 and controlling the grabbing speed of the second clamping jaw based on the distance x2; judging whether the clamp is completely grabbed or not through a pressure sensor and an angular displacement sensor; according to the invention, the image of the grabbing object is acquired, and the grabbing radian setting and the clamping force setting are carried out after the image is processed, so that the clamp can more accurately clamp the object and prevent the object from being broken under the condition of stably clamping the object; and the multi-gear speed regulation is arranged, so that the working efficiency of the clamp is improved.
Description
Technical Field
The invention relates to the technical field of mechanical equipment control, in particular to a grabbing control method of a robot clamp.
Background
The fixture is a device for fixing a machining object in a correct position in a machine manufacturing process to receive construction or detection, and is also called a fixture (qi haj ǜ). In a broad sense, any device used to quickly, conveniently and safely mount a workpiece at any stage in the process may be referred to as a fixture.
The fixture is generally composed of a positioning element (determining the correct position of the workpiece in the fixture), a clamping device, a tool setting guide element (determining the relative position of the tool and the workpiece or guiding the tool direction), an indexing device (enabling the workpiece to finish the machining of a plurality of stations in one installation, including a rotary indexing device and a linear movement indexing device), a connecting element, a fixture body (fixture base) and the like.
And the robot clamp is usually installed on an industrial robot and used in industrial automation equipment, and is one of new technologies of modern industrial automation equipment. The robot is mainly matched with a robot in modern industrial production, and common usage is in automatic unmanned factories such as machine tool loading and unloading, workpiece palletizing, welding, grinding and the like.
However, in the grabbing process of the existing robot clamp, workers are often required to carry out auxiliary clamping of grabbing objects or material breakage is easy to occur in the clamping process, an effective clamp grabbing control method is lacked, and the intelligent degree is low.
For example, chinese patent CN202010773254.2 discloses a robotic gripper grabbing algorithm. Aiming at different lengths, widths and positions of the objects to be grabbed on the platform, various conditions are fully considered, the space coordinates of the grabbing positions of the robot clamp are obtained through accurate calculation, the sucker columns and the sucker numbers to be started are selected, and accurate clamping and stacking of the objects to be grabbed are completed; according to the scheme, the grabbing precision of grabbing the article is improved, but the problem that the article is broken due to the fact that the clamping degree cannot be accurately controlled still cannot be solved.
Disclosure of Invention
The invention mainly solves the problem that the clamping degree cannot be accurately controlled to cause the cracking of the grabbing object in the prior art; the grabbing control method of the robot clamp is capable of improving grabbing accuracy and grabbing stability of grabbing objects and preventing grabbing objects from being broken.
The technical problems of the invention are mainly solved by the following technical proposal: the grabbing control method of the robot clamp comprises the following steps of: acquiring image information of the grabbing object after the grabbing object is positioned on the positioning device; setting a grabbing radian and a clamping force according to the acquired image information and the centre point of the grabbing object; calculating a distance x1 from the first clamping jaw to the center line position and a distance x2 from the second clamping jaw to the center line position of the clamp; controlling the clamp to clamp the grabbing object, controlling the grabbing speed of the first clamping jaw based on the distance x1 and controlling the grabbing speed of the second clamping jaw based on the distance x2; and judging whether the clamp is completely grabbed or not through the pressure sensor and the angular displacement sensor. Through obtaining the image of snatching the object, carry out after handling the image and snatch radian setting and clamping force setting for the anchor clamps more accurate clamp get article and prevent that the article from breaking under the circumstances of stably clamping the article.
Preferably, the method for acquiring the image information of the grabbing object comprises the following steps: the device comprises a first camera, a second camera and a third camera, wherein the first camera is installed on a base of the clamp, the second camera is installed on the first clamping jaw, the third camera is installed on the second clamping jaw, the first camera is used for acquiring a picture A, the second camera is used for acquiring a picture B, and the third camera is used for acquiring a picture C. The cameras with different angles are used for acquiring pictures, so that required image information can be acquired more clearly.
Preferably, a point Z of the grabbing object closest to the first clamping jaw and a point Y of the grabbing object closest to the second clamping jaw are obtained according to the picture A, the grabbing radian of the first clamping jaw is calculated through the point Z, and the grabbing radian of the second clamping jaw is calculated through the point Y. Connecting a point Z of the grabbing object closest to the first clamping jaw with a center point of the grabbing object, connecting the center point of the grabbing object with an intersection point of the clamping jaw on the base to form a triangle, calculating an angle V based on a triangle theorem according to the known three sides, acquiring an angle Q of the first clamping jaw according to the hovering position of the current first clamping jaw, subtracting the angle V from the angle Q to acquire an angle between the first clamping jaw and the point Z of the grabbing object closest to the first clamping jaw, wherein the angle is a grabbing radian of the first clamping jaw, and similarly calculating a grabbing radian of the second clamping jaw.
Preferably, a material characteristic K1 of the grabbing object facing the first clamping jaw side is obtained according to the picture B, a material characteristic K2 of the grabbing object facing the second clamping jaw side is obtained according to the picture C, the material characteristic K1 and the material characteristic K2 are compared, a material characteristic with a small material characteristic is selected for calculating the clamping force, and the clamping force is set according to the calculated clamping force. When the clamping force is calculated, a plurality of experiments are performed in advance, a relation curve of the material characteristic and the clamping force is obtained, and the clamping force can be rapidly calculated according to the obtained material characteristic according to the relation curve.
Preferably, the grabbing speed is divided into three stages of fast fine adjustment, uniform adjustment and slow fine adjustment. The multi-gear speed regulation can quickly grasp the articles and prevent the articles from being damaged, and the speed and the efficiency are both considered.
Preferably, the pressure sensor is two piezoresistors mounted on the first jaw and the second jaw.
Preferably, a light source module is further arranged on the base of the fixture and used for supplementing light when the picture is acquired. And the definition of image acquisition is improved.
The beneficial effects of the invention are as follows: the image of the grabbing object is acquired, and then the grabbing radian setting and the clamping force setting are carried out after the image is processed, so that the clamp can more accurately clamp the object and prevent the object from being broken under the condition of stably clamping the object; and the multi-gear speed regulation is arranged, so that the working efficiency of the clamp is improved.
Drawings
Fig. 1 is a flow chart of a grab control method according to an embodiment of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
In order to make the objects, technical solutions and advantages of the present invention more apparent, further detailed description of the technical solutions in the embodiments of the present invention will be given by the following examples with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Examples: the grabbing control method of the robot clamp, as shown in fig. 1, comprises the following steps:
s1: acquiring image information of the grabbing object after the grabbing object is positioned on the positioning device; the method for acquiring the image information of the grabbing object comprises the following steps: the device comprises a first camera, a second camera and a third camera, wherein the first camera is arranged on a base of the clamp, the second camera is arranged on the first clamping jaw, the third camera is arranged on the second clamping jaw, the first camera is used for acquiring a picture A, the second camera is used for acquiring a picture B, the third camera is used for acquiring a picture C, and a light source module is further arranged on the base of the clamp and used for supplementing light when acquiring the picture.
S2: setting a grabbing radian and a clamping force according to the acquired image information and the centre point of the grabbing object; obtaining a point Z of the grabbing object closest to the first clamping jaw and a point Y of the grabbing object closest to the second clamping jaw according to the picture A, calculating the grabbing radian of the first clamping jaw through the point Z, and calculating the grabbing radian of the second clamping jaw through the point Y; connecting a point Z of the grabbing object closest to the first clamping jaw with a center point of the grabbing object, connecting the center point of the grabbing object with an intersection point of the clamping jaw on the base to form a triangle, calculating an angle V based on a triangle theorem according to the known three sides, acquiring an angle Q of the first clamping jaw according to the current hovering position of the first clamping jaw, subtracting the angle V from the angle Q to acquire an angle between the first clamping jaw and the point Z of the grabbing object closest to the first clamping jaw, wherein the angle is a grabbing radian of the first clamping jaw, and similarly calculating a grabbing radian of the second clamping jaw; obtaining a material characteristic K1 of the grabbing object facing the first clamping jaw side according to the picture B, obtaining a material characteristic K2 of the grabbing object facing the second clamping jaw side according to the picture C, comparing the material characteristic K1 with the material characteristic K2, selecting a material characteristic with a small material characteristic, calculating a clamping force, and setting the clamping force according to the calculated clamping force; when the clamping force is calculated, a plurality of experiments are performed in advance, a relation curve of the material characteristic and the clamping force is obtained, and the clamping force can be rapidly calculated according to the obtained material characteristic according to the relation curve.
S3: calculating a distance x1 from the first clamping jaw to the center line position and a distance x2 from the second clamping jaw to the center line position of the clamp; the midline position may be obtained from a positioning device.
S4: controlling the clamp to clamp the grabbing object, controlling the grabbing speed of the first clamping jaw based on the distance x1 and controlling the grabbing speed of the second clamping jaw based on the distance x2; the grabbing speed is divided into three gears of quick fine adjustment, uniform adjustment and slow fine adjustment, speed adjusting distances H1, H2 and H3 are set, the distances x1 and x2 are calculated in real time according to the rotating radian of the clamping jaw, when the distances x1 and x2 are larger than H1, grabbing is performed in a quick gear, when the distances x1 and x2 are larger than H2 and smaller than H1, grabbing is performed in a uniform speed gear, when the distances x1 and x2 are larger than H3 and smaller than H2, grabbing is performed in a slow fine adjustment gear, wherein the acceleration gear is used for accelerating grabbing in acceleration a speed of V, and if the current speed is larger than the speed of V, grabbing is performed in a uniform speed after the current speed is reduced to the speed of V.
S5: whether the clamp is grabbed is judged to be finished through the pressure sensor and the angular displacement sensor, the pressure sensor is two piezoresistors arranged on the first clamping jaw and the second clamping jaw, when the detected angular displacement information is consistent with the set grabbing radian and the detected pressure information is corresponding to the set clamping force, the clamp is used for stably grabbing the article, and the article cannot be damaged.
The above-described embodiment is only a preferred embodiment of the present invention, and is not limited in any way, and other variations and modifications may be made without departing from the technical aspects set forth in the claims.
Claims (5)
1. The grabbing control method of the robot clamp is characterized by comprising the following steps of:
acquiring image information of the grabbing object after the grabbing object is positioned on the positioning device;
setting a grabbing radian and a clamping force according to the acquired image information and the centre point of the grabbing object;
calculating a distance x1 from the first clamping jaw to the center line position and a distance x2 from the second clamping jaw to the center line position of the clamp;
controlling the clamp to clamp the grabbing object, controlling the grabbing speed of the first clamping jaw based on the distance x1 and controlling the grabbing speed of the second clamping jaw based on the distance x2;
judging whether the clamp is completely grabbed or not through a pressure sensor and an angular displacement sensor;
the method for acquiring the image information of the grabbing object comprises the following steps: the device comprises a first camera, a second camera and a third camera, wherein the first camera is arranged on a base of the clamp, the second camera is arranged on the first clamping jaw, the third camera is arranged on the second clamping jaw, the first camera is used for acquiring a picture A, the second camera is used for acquiring a picture B, and the third camera is used for acquiring a picture C;
and obtaining a point Z of the grabbing object closest to the first clamping jaw and a point Y of the grabbing object closest to the second clamping jaw according to the picture A, calculating the grabbing radian of the first clamping jaw through the point Z, and calculating the grabbing radian of the second clamping jaw through the point Y.
2. The method for controlling gripping of a robot gripper according to claim 1, wherein,
according to the picture B, the material characteristic K1 of the grabbing object facing the first clamping jaw side is obtained, the material characteristic K2 of the grabbing object facing the second clamping jaw side is obtained according to the picture C, the material characteristic K1 and the material characteristic K2 are compared according to a relation curve of the material characteristic and the clamping force, the material characteristic with small material characteristic is selected for calculating the clamping force, and the clamping force is set according to the calculated clamping force.
3. The method for controlling gripping of a robot gripper according to claim 1, wherein,
the grabbing speed is divided into three stages of fast fine adjustment, uniform adjustment and slow fine adjustment.
4. The method for controlling gripping of a robot gripper according to claim 1, wherein,
the pressure sensor is two piezoresistors respectively arranged on the first clamping jaw and the second clamping jaw.
5. The method for controlling gripping of a robot gripper according to claim 1, wherein,
and a light source module is further arranged on the base of the clamp and used for supplementing light when the picture is acquired.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210314008.XA CN114619465B (en) | 2022-03-28 | 2022-03-28 | Grabbing control method of robot clamp |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210314008.XA CN114619465B (en) | 2022-03-28 | 2022-03-28 | Grabbing control method of robot clamp |
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| Publication Number | Publication Date |
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| CN114619465A CN114619465A (en) | 2022-06-14 |
| CN114619465B true CN114619465B (en) | 2023-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210314008.XA Active CN114619465B (en) | 2022-03-28 | 2022-03-28 | Grabbing control method of robot clamp |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08323678A (en) * | 1995-05-25 | 1996-12-10 | Sanyo Electric Co Ltd | Soft object grip device |
| CN105522584A (en) * | 2016-01-28 | 2016-04-27 | 先驱智能机械（深圳）有限公司 | Control method, control device and flexible manipulator system |
| CN106002995A (en) * | 2016-05-28 | 2016-10-12 | 上海大学 | Grabbing control system for five-finger anthropomorphic manipulator |
| CN208246843U (en) * | 2018-04-17 | 2018-12-18 | 武汉德科达自动化有限公司 | A kind of compound clamp device of industrial robot |
| CN112757334A (en) * | 2020-12-28 | 2021-05-07 | 清华大学 | Robot gripper and control method thereof |
| CN112775967A (en) * | 2020-12-30 | 2021-05-11 | 中南民族大学 | Mechanical arm grabbing method, device and equipment based on machine vision |
| KR20210084818A (en) * | 2019-12-30 | 2021-07-08 | 한국산업기술대학교산학협력단 | Method for Estimation of Grasping Point based on Geometric Features using Vision Sensor |
| CN114012706A (en) * | 2021-11-12 | 2022-02-08 | 佛山市南海区广工大数控装备协同创新研究院 | Moving object robust clamping method and system based on speed modulation |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210023714A1 (en) * | 2019-07-24 | 2021-01-28 | Abb Schweiz Ag | Illuminated Surface as Light Source for In-Hand Object Location System |
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- 2022-03-28 CN CN202210314008.XA patent/CN114619465B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08323678A (en) * | 1995-05-25 | 1996-12-10 | Sanyo Electric Co Ltd | Soft object grip device |
| CN105522584A (en) * | 2016-01-28 | 2016-04-27 | 先驱智能机械（深圳）有限公司 | Control method, control device and flexible manipulator system |
| CN106002995A (en) * | 2016-05-28 | 2016-10-12 | 上海大学 | Grabbing control system for five-finger anthropomorphic manipulator |
| CN208246843U (en) * | 2018-04-17 | 2018-12-18 | 武汉德科达自动化有限公司 | A kind of compound clamp device of industrial robot |
| KR20210084818A (en) * | 2019-12-30 | 2021-07-08 | 한국산업기술대학교산학협력단 | Method for Estimation of Grasping Point based on Geometric Features using Vision Sensor |
| CN112757334A (en) * | 2020-12-28 | 2021-05-07 | 清华大学 | Robot gripper and control method thereof |
| CN112775967A (en) * | 2020-12-30 | 2021-05-11 | 中南民族大学 | Mechanical arm grabbing method, device and equipment based on machine vision |
| CN114012706A (en) * | 2021-11-12 | 2022-02-08 | 佛山市南海区广工大数控装备协同创新研究院 | Moving object robust clamping method and system based on speed modulation |
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| CN114619465A (en) | 2022-06-14 |
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