RU2804513C1 - Gripper - Google Patents

Abstract

FIELD: mechanical engineering and instrumentation.

SUBSTANCE: invention relates to gripping devices of manipulators for mechanical sorting of municipal solid waste. The gripping device comprises a control unit and a gripping head located on a mechanical drive. The gripping head comprises at least two movable gripping fingers with an anti-friction coating, a microphone located at the base of the gripping head, a metal rod equipped with a movement mechanism, an induction proximity sensor located on at least one of the gripping fingers, and an optical proximity sensor.

EFFECT: increased accuracy of determining the material of sorted objects.

4 cl, 2 dwg

Description

The invention relates to mechanical engineering and instrument making, namely to gripping devices for manipulators, namely for mechanical sorting of solid municipal waste.

Prior Art

Known from the prior art is a manipulator grip (SU863332 A1, publ. 12/21/1979), jaws on which tactile sensors are installed, connected through an amplifier to the manipulator control system, characterized in that, in order to expand functionality and increase reliability, tactile sensors are made in the form of two thermocouple junctions, with one junction placed on the working surface and the other on the non-working surface of the jaws, and the thermocouples are connected in a bridge circuit to two adjacent arms, and an amplifier is included in one diagonal of the bridge circuit, and an additionally introduced power source is included in the other , and a differentiating link is additionally introduced between the amplifier and the control system. The material of the transferred object is determined by the nature of the signal taken from the differentiating link through the amplifier.

Also known from the prior art is a manipulator gripper (SU1360981 A1, publ. 07/16/1986), containing two jaws with a drive for their movement, each of which has a prismatic working surface, and two vibrators connected to the working surfaces of the jaws, forming one of the faces of the prism, characterized in that, in order to expand functionality by ensuring recognition of captured parts with a given nomenclature, it is equipped with a force sensor located on one of the jaws, and each vibrator is made in the form of a piezoceramic plate connected to a source of alternating electrical voltage of adjustable frequency. The signal from the strain gauge and the frequency value f at which the resonance phenomenon occurs are sent to the control unit, in the memory of which the values of the natural vibration frequencies of the manipulated parts are stored. If one of these frequencies coincides with the received frequency value, the part is recognized and a signal is issued to move the gripper with the part to a given point in space.

The disadvantages of the above solutions are the low accuracy of determining materials in working conditions with increased contamination of gripping surfaces and transported objects of previously unknown properties and sizes.

The essence of the invention

The problem to be solved by the claimed invention is to improve methods for recognizing municipal solid waste materials during mechanical sorting using artificial computer vision systems.

The technical result of the present invention is to increase the likelihood of accurately determining the material of sorted objects by indirectly measuring the hardness of the material of the objects, as well as reducing the influence on the accuracy of determining materials by various contaminants of transported objects, temperature differences, and the presence of moisture.

The solution to the problem and the technical result are achieved by the fact that a gripping device is proposed, which includes a control unit and a gripping head located on a mechanical drive, while the gripping head itself consists of at least two movable gripping fingers with an anti-friction coating. Moreover, the gripping head also includes a microphone, which is located at the base of the gripping head, a metal rod equipped with a movement mechanism, an inductive proximity sensor, which is located on at least one of the gripper fingers, and an optical proximity sensor.

The mechanical drive on which the gripping head is located, in a particular case, can be a delta type drive.

In most cases, the mechanism for moving the metal rod can be a pneumatic cylinder or an electric drive.

In a particular case, the optical proximity sensor can be located at the base of the gripping head.

The invention is illustrated by drawings that explain the essence of the technical solution:

Fig. 1. Grasping device;

Fig. 2 Enlarged part of the drawing of the gripping device.

In the figures, the following structural elements are indicated by numbers:

1 - control unit;

2 - grip fingers;

3 - optical proximity sensor;

4 - one of the possible portable objects;

5 - microphone;

6 - metal rod;

7 - inductive proximity sensor.

Carrying out the invention

The capture device works as follows:

The control unit (1) receives information from the computer artificial vision system about the location of the sorted object. Moves the gripping device to the received coordinates and starts a cycle of capturing, recognizing, and moving the object. The optical sensor (3) works on the principle of determining the level of the reflected signal from the surface of the object, which allows you to adjust the height of the gripper (2) when lowering down.

After grasping the object, in the process of rising to a certain height, the mechanism for moving the metal rod (6) is triggered. When a metal rod lightly strikes a transported object (4), the rod and the object will vibrate with their own resonant frequencies, depending, among other things, on the shape and material of the objects. Oscillations in the form of a sound wave are captured by a microphone (5) located on the base of the capture head and transmitted to the control unit (1), where analysis is performed. The resulting sound is analyzed by digitizing using microcontrollers using the method, in a particular case, of the fast Fourier transform and determining the resonant frequency of vibrations of the transported object. In this case, the previously known vibration frequency of the metal rod and the vibrations of the entire structure during operation are filtered out from the resulting frequency spectrum. By the vibration frequency of the carried object, visually similar plastic and glass objects can be distinguished from each other, and when the induction sensor (7) is triggered, metal objects can be distinguished.

The control unit (1) adjusts the trajectory of the gripper with the transferred object depending on the received data about the material.

The combination of all elements of the proposed solution can significantly increase the likelihood of accurately determining the material of solid municipal waste during mechanical sorting under conditions of increased pollution, different temperatures, the presence of moisture and different levels and properties of lighting, confirming the achievement of the stated technical result.

Claims (4)

1. A gripping device, including a control unit and a gripping head located on a mechanical drive, wherein said gripping head contains at least two movable gripping fingers with an anti-friction coating, characterized in that the gripping head contains a microphone located at the base of the gripping head , a metal rod equipped with a movement mechanism, an inductive proximity sensor located on at least one of the gripper fingers, and an optical proximity sensor. 2. The gripping device according to claim 1, characterized in that the mechanical drive, in a particular case, is made in the form of a delta type drive. 3. A gripping device according to claim 1 or 2, characterized in that the movement mechanism, in a particular case, is a pneumatic cylinder or an electric drive. 4. A gripping device according to any one of claims 1-3, characterized in that the optical proximity sensor is located at the base of the gripping head.