WO2020119237A1 - 基于视觉定位系统的多自由度圆桶体危险工件抓取机构 - Google Patents

基于视觉定位系统的多自由度圆桶体危险工件抓取机构 Download PDF

Info

Publication number
WO2020119237A1
WO2020119237A1 PCT/CN2019/110928 CN2019110928W WO2020119237A1 WO 2020119237 A1 WO2020119237 A1 WO 2020119237A1 CN 2019110928 W CN2019110928 W CN 2019110928W WO 2020119237 A1 WO2020119237 A1 WO 2020119237A1
Authority
WO
WIPO (PCT)
Prior art keywords
degree
positioning system
freedom
visual positioning
visual
Prior art date
Application number
PCT/CN2019/110928
Other languages
English (en)
French (fr)
Inventor
沈伟民
周岳松
袁潇
吴战武
陆韡
Original Assignee
上海航天化工应用研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海航天化工应用研究所 filed Critical 上海航天化工应用研究所
Publication of WO2020119237A1 publication Critical patent/WO2020119237A1/zh

Links

Images

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the invention is used in the field of machinery industry, and particularly relates to a multi-degree-of-freedom drum body dangerous workpiece grasping mechanism based on a visual positioning system with a compact structure, a high degree of intelligence, and a high positioning accuracy.
  • a visual positioning system is added to the traditional industrial multi-degree-of-freedom drum workpiece gripping device.
  • the visual positioning system is integrated with the control system and connected with the visual sensor signal for real-time Target to be crawled. Realize the grabbing of the dangerous workpieces of the barrel body.
  • the invention is a multi-degree-of-freedom drum body dangerous workpiece grasping mechanism based on a visual positioning system, in particular to a mechanism in which a visual positioning system and a drum body dangerous workpiece grasping movement mechanism are integrated. In the field of machinery manufacturing, it can improve processing accuracy and work efficiency, and improve the level of automation.
  • a multi-degree-of-freedom drum body hazardous workpiece grasping mechanism based on a visual positioning system, which includes a visual positioning system, a motion unit, and a mechanical gripper.
  • the visual sensor of the visual positioning system is provided at the end of the mechanical claw hand; the visual positioning system is used to identify and capture the target of the image transmitted by the visual sensor based on image processing technology; the visual positioning system will capture The target positioning information is transmitted to the control system, which will control the multi-degree-of-freedom motion unit and the mechanical gripper to grab the dangerous workpiece of the drum body.
  • the visual positioning system of the present invention is based on image processing technology, which can quickly identify and accurately locate the dangerous workpieces of the barrel body to be grabbed, effectively improving the degree of automation and working efficiency.
  • the invention automatically controls the grabbing of the dangerous parts of the drum body of the multi-degree-of-freedom motion unit or the mechanical gripper by the control system according to the positioning information of the dangerous parts of the drum body of the visual positioning system, and the degree of intelligence is improved.
  • FIG. 1 is a schematic structural diagram of a multi-degree-of-freedom drum body hazardous workpiece grasping mechanism based on a visual positioning system of the present invention
  • FIG. 2 is a schematic view of the structure of the multi-degree-of-freedom motion unit of the present invention.
  • FIG. 3 is a schematic structural view of the mechanical gripper of the present invention.
  • Figure 4 is a front view of Figure 1;
  • Fig. 5 is a left side view of Fig. 1.
  • 1 is a multi-degree-of-freedom motion unit
  • 2 is a mechanical gripper
  • 3 is a visual positioning system
  • 4 is a beam support
  • 5 is an X-axis drive motor a
  • 6 is a Z-axis drive Motors a
  • 7 are Y-direction drive motors
  • 8 are X-direction drive motors b
  • 9 are Z-direction drive motors b
  • 10 are drive mechanical gripper rotation motors
  • 11 are connecting flanges
  • 12 are grippers
  • 13 are visual sensors Device
  • 14 is a bracket
  • 15 is a cylinder a
  • 16 is a cylinder b.
  • the mechanism includes a multi-degree-of-freedom motion unit 1, a mechanical gripper 2, and a visual positioning system 3.
  • the visual sensor 13 of the visual positioning system 3 is arranged at the end of the mechanical gripper 2.
  • the visual positioning system is used for positioning and recognizing the grabbing target of the image transmitted by the visual sensor 13 based on the image processing technology.
  • the visual positioning system transmits the grasping target positioning information to the control system, and the control system will control the multi-degree-of-freedom motion unit 1 and the mechanical gripper 2 to grasp the dangerous workpiece of the drum body.
  • the visual sensor 13 of the visual positioning system is provided at the end of the mechanical claw hand and supported by the bracket 14; the mechanical claw hand 2 is a multi-degree-of-freedom motion structure, the rotating pair is driven by the servo motor drive 10, and the moving pair of the grasping action are respectively The cylinder 15 and the cylinder 16 are driven.
  • the multi-degree-of-freedom motion unit 1 is driven by a servo motor, wherein the motors 5 and 8 drive the multi-degree-of-freedom motion unit 1 to move along the X axis, the motors 6 and 9 drive the multi-degree of freedom motion unit 1 to move along the Y axis, and the motor 7 drives multiple
  • the DOF motion unit 1 moves along the Z axis and controls the spatial position of the mechanical gripper.
  • the visual sensor 13 installed at the end of the mechanical gripper takes an image and transmits it to the visual positioning system, and the visual positioning system recognizes and locates the grab target according to the transmitted image. Obtain the positioning information of the dangerous workpiece of the drum body and send it to the control system.
  • the control system controls the multi-degree-of-freedom motion unit 1 to move to the specified position, where the motors 5 and 8 drive the multi-degree-of-freedom motion unit 1 to move along the X axis, and the motor 6, 9 drives the multi-degree-of-freedom motion unit 1 to move along the Y axis, and the motor 7 drives the multi-degree-of-freedom motion unit 1 to move along the Z axis to perform displacement compensation and automatically move to the specified position, and then the control system controls the mechanical claw 2 Carry out the grabbing work of the dangerous parts of the drum body, in which the cylinder a15 drives the front and rear extension of the gripper, and the cylinder b16 drives the opening and closing of the gripper to complete the picking and placing of the dangerous parts of the drum body.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

一种基于视觉定位系统的多自由度圆桶体危险工件抓取机构，包括视觉定位系统（3）、多自由度运动单元（1）、机械抓手（2）。其中视觉定位系统（3）的视觉传感器（13）设置在机械抓手（2）部端。视觉定位系统（3）用于基于图像处理技术对视觉传感器（13）传出来的图像进行抓取目标定位识别，并传递给控制系统，然后控制系统控制多自由度运动单元（1）和机械抓手（2）进行圆桶体危险工件的抓取工作。该机构具有结构紧凑，智能化程度高，定位精度高的特点。

Description

基于视觉定位系统的多自由度圆桶体危险工件抓取机构
本申请要求于2018年12月11日提交中国专利局、申请号为201811507740.9、发明名称为“一种基于视觉定位系统的多自由度圆桶体危险工件抓取机构”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明用于机械工业领域，具体涉及一种结构紧凑，智能化程度高，定位精度高的基于视觉定位系统的多自由度圆桶体危险工件抓取机构。
背景技术
针对现有技术的不足，在传统工业多自由度圆桶体危险工件抓取装置基础上，增加了视觉定位系统，把视觉定位系统与控制系统集成一体并与视觉传感器信号连接，用于实时对要抓取的目标进行定位。实现对圆桶体危险工件抓取工作。
目前没有发现同本发明类似技术的说明或报道，也尚未收集到国内外类似的资料。
发明内容
本发明是一种基于视觉定位系统的多自由度圆桶体危险工件抓 取机构，具体是一种视觉定位系统与圆桶体危险工件抓取运动机构集成的机构。在机械制造领域中，能提高加工精度和工作效率，提高自动化水平。
为了实现上述目的，本发明采用以下技术方案：一种基于视觉定位系统的多自由度圆桶体危险工件抓取机构，所述机构包括视觉定位系统，运动单元，机械爪手。所述视觉定位系统的视觉传感器设置在机械爪手的端部；所述视觉定位系统用于基于图像处理技术对视觉传感器传出来的图像进行抓取目标定位识别；所述视觉定位系统将抓取目标定位信息传递给控制系统，控制系统将控制多自由度运动单元和机械抓手进行圆桶体危险工件的抓取。
本发明的优点及有益效果：
1.本发明的视觉定位系统基于图像处理技术，可以对所要抓取圆桶体危险工件快速识别并精确定位，有效的提高自动化程度，提高了工作效率。
2.本发明通过控制系统根据视觉定位系统的圆桶体危险工件定位信息，自动控制多自由度运动单元或机械爪手的圆桶体危险工件抓取，智能化程度提高。
附图说明
图1是本发明的基于视觉定位系统的多自由度圆桶体危险工件抓取机构结构示意图；
图2是本发明的多自由度运动单元结构示意图；
图3是本发明的机械抓手的结构示意图。
图4是图1正视图；
图5是图1的左视图。
具体实施方式
下面结合附图对本发明作进一步说明：
如1-5图所示，其中，1为多自由度运动单元，2为机械抓手，3为视觉定位系统，4为梁支架，5为X轴向驱动电机a，6为Z轴向驱动电机a，7为Y向驱动电机，8为X向驱动电机b，9为Z向驱动电机b，10为驱动机械抓手转动电机，11为连接法兰，12为抓手，13为视觉感应器，14为支架，15为气缸a，16为气缸b.
所述机构包括多自由度运动单元1，机械爪手2，视觉定位系统3。其中视觉定位系统3的视觉传感器13设置在机械爪手2的端部。所述视觉定位系统用于基于图像处理技术对视觉传感器13传出来的图像进行抓取目标定位识别。所述视觉定位系统将抓取目标定位信息传递给控制系统，控制系统将控制多自由度运动单元1和机械抓手2进行圆桶体危险工件的抓取。视觉定位系统的视觉传感器13设置在机械爪手的端部，有支架14支撑；机械爪手2为多自由度的运动结构，转动副由伺服电机驱动10驱动，抓取动作的移动副分别由气缸15，气缸16驱动。多自由度运动单元1由伺服电机驱动，其中电机5、8驱动多自由度运动单元1沿X轴向移动，电机6、9驱动多自由度运动单元1沿Y轴向移动，电机7驱动多自由度运动单元1沿Z轴向移动，控制着机械爪手的空间位置变化。
本发明工作原理，安装在机械抓手端部的视觉感应器13拍摄图 像并传送到视觉定位系统，视觉定位系统根据传送来的图像进行抓取目标的识别、位置定位。获得圆桶体危险工件定位信息并传送给控制系统，控制系统根据定位信息控制多自由度运动单元1运动到指定位置，其中电机5、8驱动多自由度运动单元1沿X轴向移动，电机6、9驱动多自由度运动单元1沿Y轴向移动，电机7驱动多自由度运动单元1沿Z轴向移动，进行位移补偿，自动运动到指定位置点为止，然后控制系统控制机械爪手2进行圆桶体危险工件的抓取工作，其中气缸a15驱动抓手的前后伸缩，气缸b16驱动抓手的张合，完成圆桶体危险工件的取放动作。

Claims (4)

  1. 一种基于视觉定位系统的多自由度圆桶体危险工件抓取机构，其特征在于，包括多自由度运动单元(1)，机械爪手(2)，视觉定位系统(3)；
    所述视觉定位系统(3)的视觉传感器(13)设置在机械爪手(2)的端部；所述视觉定位系统(3)用于基于图像处理技术对视觉传感器(13)传出来的图像进行抓取目标定位识别；所述视觉定位系统(3)将抓取目标定位信息传递给控制系统，控制系统将控制多自由度运动单元(1)和机械抓手(2)进行圆桶体危险工件的抓取。
  2. 根据权利要求1所述的基于视觉定位系统的多自由度圆桶体危险工件抓取机构，其特征在于，所述机械爪手(2)为多自由度的运动结构，转动动作的转动副由伺服电机驱动(10)驱动，抓取动作的移动副分别由气缸(15)、气缸(16)驱动。
  3. 根据权利要求1所述的基于视觉定位系统的多自由度圆桶体危险工件抓取机构，其特征在于，所述多自由度运动单元(1)由伺服电机驱动，所述伺服电机(5)、(8)驱动多自由度运动单元(1)沿X轴向移动，所述伺服电机(6)、(9)驱动多自由度运动单元1沿Y轴向移动，所述伺服电机(7)驱动多自由度运动单元(1)沿Z轴向移动，控制着机械机械爪手的空间位置变化。
  4. 根据权利要求1所述的基于视觉定位系统的多自由度圆桶体危险工件抓取机构，其特征在于，所述视觉定位系统的视觉传感器(13) 设置在机械爪手(2)的端部，由支架(14)支撑。
PCT/CN2019/110928 2018-12-11 2019-10-14 基于视觉定位系统的多自由度圆桶体危险工件抓取机构 WO2020119237A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811507740.9A CN109748096A (zh) 2018-12-11 2018-12-11 基于视觉定位系统的多自由度圆桶体危险工件抓取机构
CN201811507740.9 2018-12-11

Publications (1)

Publication Number Publication Date
WO2020119237A1 true WO2020119237A1 (zh) 2020-06-18

Family

ID=66403682

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/110928 WO2020119237A1 (zh) 2018-12-11 2019-10-14 基于视觉定位系统的多自由度圆桶体危险工件抓取机构

Country Status (2)

Country Link
CN (1) CN109748096A (zh)
WO (1) WO2020119237A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109748096A (zh) * 2018-12-11 2019-05-14 上海航天化工应用研究所 基于视觉定位系统的多自由度圆桶体危险工件抓取机构

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62203681A (ja) * 1986-03-04 1987-09-08 Nissan Motor Co Ltd ハンドリングロボツトの運転方法
CN2869887Y (zh) * 2005-06-23 2007-02-14 中国科学院自动化研究所 密封放射源泄漏自动检测平台的视觉伺服装置
CN105467425A (zh) * 2014-09-05 2016-04-06 中国辐射防护研究院 一种可用于井形电离室标准装置的放射源遥控拾取装置
CN205852805U (zh) * 2016-07-29 2017-01-04 浙江优傲智能科技有限公司 基于机器视觉的机器人运动控制系统
CN205870513U (zh) * 2016-07-19 2017-01-11 广州明珞汽车装备有限公司 一种智能移动机械手
CN206764767U (zh) * 2017-03-12 2017-12-19 广东大唐永恒智能科技有限公司 一种基于视觉自动抓取的机械手
CN109748096A (zh) * 2018-12-11 2019-05-14 上海航天化工应用研究所 基于视觉定位系统的多自由度圆桶体危险工件抓取机构

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5316563B2 (ja) * 2011-02-15 2013-10-16 オムロン株式会社 画像処理装置および画像処理システム

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62203681A (ja) * 1986-03-04 1987-09-08 Nissan Motor Co Ltd ハンドリングロボツトの運転方法
CN2869887Y (zh) * 2005-06-23 2007-02-14 中国科学院自动化研究所 密封放射源泄漏自动检测平台的视觉伺服装置
CN105467425A (zh) * 2014-09-05 2016-04-06 中国辐射防护研究院 一种可用于井形电离室标准装置的放射源遥控拾取装置
CN205870513U (zh) * 2016-07-19 2017-01-11 广州明珞汽车装备有限公司 一种智能移动机械手
CN205852805U (zh) * 2016-07-29 2017-01-04 浙江优傲智能科技有限公司 基于机器视觉的机器人运动控制系统
CN206764767U (zh) * 2017-03-12 2017-12-19 广东大唐永恒智能科技有限公司 一种基于视觉自动抓取的机械手
CN109748096A (zh) * 2018-12-11 2019-05-14 上海航天化工应用研究所 基于视觉定位系统的多自由度圆桶体危险工件抓取机构

Also Published As

Publication number Publication date
CN109748096A (zh) 2019-05-14

Similar Documents

Publication Publication Date Title
CN109465840B (zh) 一种吸盘-手爪复合抓取装置
CN104354157B (zh) 一种轮胎搬运机器人及其控制方法
CN203003902U (zh) 万能机械手爪
CN110497378A (zh) 一种用于零件加工的自动上下料机器人
CN105328697A (zh) 一种模块化六自由度机械手及其控制方法
JP2009039809A (ja) 産業用ロボット
CN111175770B (zh) 一种基于点激光测距的货箱自动抓取装置及方法
CN109570948A (zh) 一种测温探头与测温枪自动对接装置
WO2018139574A1 (ja) 搬送システム及びその運転方法
CN105598476A (zh) 机器人辅助数控全自动生产线
CN105291103A (zh) 一种电动夹具
WO2020119237A1 (zh) 基于视觉定位系统的多自由度圆桶体危险工件抓取机构
CN205363936U (zh) 钢筋和管件共用型机械抓手
CN110900637A (zh) 一种智能机械制造抓取设备
CN205386836U (zh) 辅助工业机器人自动抓取的料仓系统
CN110216707B (zh) 一种机器人定位夹爪
SU841962A1 (ru) Захват промышленного робота
CN217942663U (zh) 一种刀具机器人抓手装置
CN214870620U (zh) 一种自动化医用机器人夹持装置及自动化医用机器人
CN211761616U (zh) 简易型双臂协同机械手
CN205414425U (zh) 机器人辅助数控全自动生产线
CN107984469A (zh) 一种工业机器人机械抓取臂
CN211220691U (zh) 一种灵活多用途机械手
CN221092749U (zh) 抓取装置及中模清洗机
CN110977587B (zh) 一种数控机床用机械臂

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19895339

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19895339

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205 DATED 03/08/2021)

122 Ep: pct application non-entry in european phase

Ref document number: 19895339

Country of ref document: EP

Kind code of ref document: A1