WO2022246949A1 - 一种工业机器人软物抓取识别装置及识别方法 - Google Patents

一种工业机器人软物抓取识别装置及识别方法 Download PDF

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Publication number
WO2022246949A1
WO2022246949A1 PCT/CN2021/103473 CN2021103473W WO2022246949A1 WO 2022246949 A1 WO2022246949 A1 WO 2022246949A1 CN 2021103473 W CN2021103473 W CN 2021103473W WO 2022246949 A1 WO2022246949 A1 WO 2022246949A1
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WIPO (PCT)
Prior art keywords
soft object
angle
hinged
fixedly installed
adjustment
Prior art date
Application number
PCT/CN2021/103473
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English (en)
French (fr)
Inventor
王东
雷玲
Original Assignee
南京轩世琪源软件科技有限公司
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Application filed by 南京轩世琪源软件科技有限公司 filed Critical 南京轩世琪源软件科技有限公司
Publication of WO2022246949A1 publication Critical patent/WO2022246949A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

Definitions

  • the invention relates to the technical field of industrial robots, in particular to an industrial robot soft object grasping recognition device and a recognition method.
  • An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans or run according to pre-programmed programs. Modern industrial robots can also act according to the principles and programs formulated by artificial intelligence technology.
  • the present invention proposes an industrial robot soft object grasping identification device and identification method.
  • An industrial robot soft object grasping recognition device and recognition method proposed by the present invention include a bracket, and also include a conveyor belt, an adjustment component, a direction adjustment device and a grabbing fixture component, and the lower surface of the conveyor belt is fixedly installed on the bracket. the upper surface of the support plate;
  • the adjusting part is located on one side of the outer surface of the support and adjusts the position of the grabbing jig part according to the position of the soft object on the conveyor belt;
  • the direction adjustment device is located on the outer surface of the adjustment component and detects the deflection angle of the soft object on the conveyor belt to adjust the deflection angle for driving the grasping jig component;
  • the grasping fixture part is located on the lower surface of the steering device and can accurately and effectively grasp the soft objects on the conveyor belt.
  • the adjustment component is composed of a horizontal adjustment mechanism and a precise adjustment mechanism
  • the horizontal adjustment mechanism includes a support plate, one side outer surface of the support plate is fixedly mounted on one side outer surface of the support, the A horizontal moving platform is fixedly installed on the upper surface of the support plate, and a vertical moving platform is fixedly installed inside the horizontal moving platform through a slider.
  • the piston rod of the horizontal hydraulic cylinder is fixedly installed with a vertical hydraulic cylinder;
  • the horizontal adjustment mechanism is driven by the cooperation of the motor and the threaded rod, and the upper surface of the conveyor belt is used as the origin plane.
  • the position of the object is adjusted accordingly.
  • the horizontal hydraulic cylinder in the precise adjustment mechanism can adjust the position of the Y-axis direction of the grabbing fixture parts, and the vertical hydraulic cylinder can adjust the position of the Z-axis direction of the grabbing fixture parts.
  • the precise adjustment mechanism is assisted
  • the horizontal adjustment mechanism more precisely adjusts the position of the gripper parts.
  • the steering device is composed of a steering mechanism and a detection mechanism
  • the steering mechanism includes a steering groove
  • the upper surface of the steering groove is fixedly installed on one end of the piston rod of the vertical hydraulic cylinder, so
  • a steering motor is fixedly installed on the outer surface of the steering groove.
  • One end of the output shaft of the steering motor penetrates the inner wall of the steering groove and a worm is fixedly installed.
  • the inner bottom wall of the steering groove is fixed by a bearing.
  • a worm wheel is installed, the outer surface of the worm wheel meshes with the outer surface of the worm;
  • the cooperation between the worm and the worm wheel can make the rotation direction of the steering rod more accurate, and the thread of the worm is denser, which increases the accuracy of the adjustment angle.
  • the detection mechanism includes a steering rod, the outer surface of the steering rod is fixedly installed on the inner wall of the worm wheel, and one end of the steering rod penetrates the lower surface of the steering groove and is fixedly installed with an adjusting rod.
  • a camera is fixedly installed in the center of the lower surface of the redirecting connecting plate, and a cursor is arranged on the outer surface of the lens center of the camera;
  • the position of the camera is adjusted through the adjusting part, so that the center of the cross cursor at the center of the camera lens is located at both ends of the soft object
  • the cursor is a plane Cartesian coordinate system to observe the position of the soft object, which can facilitate the judgment of the deflection angle of the soft object, adjust the direction of the acute angle, and grab the fixture parts to deflect at the same angle.
  • the clamp part is parallel to the axis line of the soft object, which is convenient for grasping.
  • the grabbing jig part includes a driving mechanism and a clamping mechanism
  • the driving mechanism includes a device board
  • the outer surfaces of the two device boards are respectively fixedly installed on the outer surfaces of both sides of the adjustment connecting plate
  • the device The outer surface of the plate is in a rectangular array and fixedly installed with a limit frame
  • the upper surface of the limit frame is fixedly installed with a micro motor
  • the output shaft of the micro motor passes through the upper and lower surface of the limit frame and is fixedly installed with a threaded rod
  • the other end of the threaded rod is fixedly mounted on the upper surface of the lower end of the limit frame
  • the outer surface of the threaded rod is threadedly connected with a slider
  • the rotation of the threaded rod driven by the micro motor drives the movement of the threaded sleeve on the threaded rod to control the deflection of the clamping mechanism.
  • Each clamping mechanism has a separate driving mechanism for control, which can The shape of the outer surface is gripped accordingly.
  • the clamp mechanism includes brake levers, one ends of the two brake levers are hinged to the outer surfaces on both sides of the slider through pin shafts, and the outer surfaces on both sides of the lower end of the limit frame are hinged to the outer surfaces on both sides of the slider through pin shafts. Both are hinged with push rods, and the hinges at one ends of the two push rods are hinged with triangular brake plates through pin shafts, and one end of the two brake rods is respectively connected with one end of the two described triangular brake plates through pins.
  • the other end of the triangular brake plate is hinged with a first hinged link through a pin, the other end of the push rod is hinged with the middle end of the first hinged link through a pin, and the push rod
  • One end of the first hinged link is hinged with a second hinged link through a pin shaft, the other end of the first hinged link is hinged with the middle end of the second hinged link through a pin shaft, and the outer surface of the push rod and the first hinged link are hinged.
  • Silicone contact blocks are fixedly installed on the outer surfaces of the two hinged connecting rods, and pressure sensors are fixedly installed inside a plurality of the silicone contact blocks;
  • the two sets of fixture mechanisms are mirror-image symmetrical, and can also be distributed in a staggered manner according to the characteristics of the outer surface of the grasped object.
  • the push of the brake lever can drive the triangular brake plate to deflect, thereby driving the first hinge
  • the connecting rod and the second hinged rod are deflected to different degrees, which is similar to the bending of fingers, which is convenient for fixing soft objects.
  • the first hinged rod and the second hinged rod are both connected by the opposite ends of the two rods through the pin Hinged, wherein the silicone contact block is elastic and can prevent damage to the outer surface of the soft object.
  • the pressure sensor detects that the pressure value between the silicone contact block and the outer surface of the soft object reaches the set value, it can control the micro motor to stop rotating to prevent Excessive force can cause damage to soft materials.
  • the identification method of the soft object is;
  • Step 1 When the soft object passes through the bottom of the camera, the camera performs shape recognition on the shape of the soft object through the shape recognition module, and forms a virtual rectangle after recognition.
  • An adjusted grabbing frame where the edge of the grabbing frame is where the device board grabs the soft object;
  • Step 2 taking the center point formed by the intersection of the midlines of adjacent two sides of the rectangle as the center of the circle, draw a circle to form a pick-up circle, and the radius of the pick-up circle is adjustable;
  • Step 3 Align the center point of the cursor with the center of the pick-up circle and then measure the angle. According to the measured angle, control the steering motor to start and drive the grabbing fixture parts to turn to the rectangle in step 1. The midline coincides, and then the grasping action is performed;
  • the shape recognition module is composed of any one or both of a shape recognition sensor or a contour sensor;
  • the shape of the soft object can be quickly measured and limited.
  • the shape recognition module can be pre-installed in front of the grabbing fixture components to achieve Give the whole device a calculation time, when the shape recognition module defines the shape of the soft object in advance, the soft object is just under the grasping fixture part, and the grasping action is realized.
  • angles measured in the step 3 are measured in the order from the first quadrant to the fourth quadrant, and the measured angles are divided into angle A and angle B, and the angle A and the angle The sum of said angles B is ninety degrees;
  • the angle at which the steering motor is started is controlled by taking the minimum angle between the angle A and the angle B as the reference angle, and when the angle A is equal to the angle B, proceed in the order from the first quadrant to the fourth quadrant Sure;
  • the minimum angle is used as the starting angle of the steering motor, which can reduce the rotation angle and time, and facilitate grasping.
  • the midline of the long side of the rectangle is taken in the step 3, and when the long side of the rectangle is equal to the short side, the angle is measured in the order from the first quadrant to the fourth quadrant;
  • the position of the clamp jaw can be adjusted according to the position of the soft object on the conveyor belt.
  • the cursor in the camera is used as a plane coordinate system to judge the deflection angle of the soft object. Start to drive the grabbing fixture parts to deflect at the same angle, so that the axis lines of the grabbing fixture parts and soft objects can be parallel, which can facilitate the contact and grabbing of the rubber contact blocks of the grabbing fixture parts and soft objects, so that Grab the irregularly distributed soft objects on the conveyor belt, which solves the problem that when the existing industrial robots are aiming at grabbing soft objects, because the soft objects are distributed irregularly on the transmission mechanism, they cannot accurately The technical problem of grabbing in the appropriate direction for the location.
  • each fixture mechanism is carried out by the cooperation of a separate micro motor and a threaded rod Control, can carry out separate control clamping according to the irregular outer surface of the soft object, so that targeted clamping can be carried out for the irregular outer surface of the soft object, which can effectively clamp the soft object without damaging the soft object object, which solves the technical problem that the existing industrial robots cannot adjust the corresponding strength to grasp the soft object because of the irregular shape of the soft object.
  • the silicone contact block on the first hinged connecting rod and the second hinged rod contacts the outer surface of the soft object, which can prevent the outer surface of the soft object from being damaged.
  • the pressure sensor can set the pressure value, and can detect the pressure of the silicone contact block pressing the soft object when the silicone contact block and the soft object are grasped.
  • the micro motor is controlled to stop running, which can prevent
  • the excessive clamping force of the silicone contact block causes damage to the outer surface of the soft object, thereby reducing the damage to the outer surface of the soft object by the clamping mechanism, and solving the problem of the existing industrial robot when grasping the soft object.
  • the irregular shape of the soft object makes it impossible to adjust the corresponding strength to grasp the technical problem.
  • Fig. 1 is a schematic diagram of an industrial robot soft object grasping recognition device and a recognition method proposed by the present invention
  • Fig. 2 is a perspective view of a support plate structure of an industrial robot soft object grasping recognition device and recognition method proposed by the present invention
  • FIG. 3 is a perspective view of a horizontal hydraulic cylinder structure of an industrial robot soft object grasping recognition device and recognition method proposed by the present invention
  • Fig. 4 is a perspective view of a steering motor of an industrial robot soft object grasping recognition device and recognition method proposed by the present invention
  • FIG. 5 is a perspective view of a camera structure of an industrial robot soft object grasping recognition device and recognition method proposed by the present invention
  • FIG. 6 is a perspective view of a clamp mechanism of an industrial robot soft object grasping recognition device and recognition method proposed by the present invention
  • Fig. 7 is a top view of a camera identifying a soft object in an industrial robot soft object grasping identification device and identification method proposed by the present invention
  • FIG. 8 is a schematic diagram of a method for recognizing soft objects with a camera for identifying a soft object grasping and recognizing device and method for an industrial robot proposed by the present invention.
  • an industrial robot soft object grasping recognition device includes a bracket 1, and also includes a conveyor belt 11, an adjustment component, a direction adjustment device and a grabbing fixture component.
  • the lower surface of the conveyor belt 11 is fixedly installed on the support of the bracket 1
  • the conveyor belt 11 is a transmission part commonly used in industrial production, and it is arranged in this embodiment, which can increase the applicability of this embodiment.
  • the adjustment part is located on the outer surface of one side of the support 1 and adjusts the position of the grabbing fixture part according to the position of the soft object on the conveyor belt 11.
  • the adjustment part is composed of a horizontal adjustment mechanism and a precise adjustment mechanism. constitute.
  • a horizontal adjustment mechanism is provided in this embodiment.
  • the horizontal adjustment mechanism is installed on the position of the outer surface of one side of the bracket 1.
  • the support plate 2 is fixedly installed on the outer surface of the side, in order to adjust the position in the horizontal direction according to the soft object on the conveyor belt 11, and the horizontal mobile platform 21 is fixedly installed on the upper surface of the support plate 2, in order to adjust the vertical direction according to the soft object on the conveyor belt 11
  • the vertical moving platform 22 is fixedly installed inside the horizontal moving platform 21 through a slider. In order to facilitate the adjustment of the grabbing fixture parts, the vertical moving platform 22 is distributed perpendicular to the horizontal moving platform 21.
  • the precise adjustment mechanism is slidingly installed on the vertical On the outer side of the mobile platform 22, in order to adjust the corresponding horizontal direction according to the position of the soft object more accurately, a horizontal hydraulic cylinder 23 is fixedly installed on the outer side of the vertical mobile platform 22 through a slider, in order to more accurately adjust the soft object according to the position of the soft object.
  • the corresponding adjustment of the vertical direction is carried out at the position of the horizontal hydraulic cylinder 23.
  • a vertical hydraulic cylinder 24 is fixedly installed at one end of the piston rod of the horizontal hydraulic cylinder 23. In order to prevent the horizontal movement of the grasping fixture parts, the vertical hydraulic cylinder 24 is distributed vertically to the horizontal hydraulic cylinder 23.
  • the direction adjustment device is located on the outer surface of the adjustment component and detects the deflection angle of the soft object on the conveyor belt 11 to adjust the angle of the same deflection of the driving and grabbing fixture components.
  • the direction adjustment device is composed of Composition of direction organization and testing organization;
  • a steering mechanism is provided in this embodiment, and the steering mechanism is installed on the lower surface of the vertical hydraulic cylinder 24.
  • Carry out corresponding adjustment according to the deflection direction of the soft object fixedly install the direction adjustment groove 3 at one end of the piston rod of the vertical hydraulic cylinder 24, in order to carry out automatic direction adjustment, fixedly install the direction adjustment motor 31 on the outer surface of the direction adjustment groove 3 , in order to carry out direction adjustment accurately, the worm 32 is fixedly installed after the output shaft of the direction adjustment motor 31 passes through the inner side wall of the direction adjustment groove 3, and then the worm wheel 33 is fixedly installed on the inner bottom wall of the direction adjustment groove 3 through a bearing, and further the worm gear
  • the outer surface of 33 is meshed with the outer surface of worm 32, and the rotation of worm 32 can drive worm wheel 33 to rotate, so as to adjust the angle of grabbing fixture parts more accurately, and setting worm wheel 33 and worm 32, in addition to achieving the effect of precise adjustment, At
  • a detection mechanism is provided in this embodiment, and the detection mechanism is installed on the position of the inner wall of the worm wheel 33, so that the rotation of the worm wheel 33 drives
  • the detection mechanism is fixedly installing the steering rod 34 on the inner wall of the worm wheel 33, and then one end of the steering rod 34 penetrates the lower surface of the steering groove 3 and then fixedly installs the steering connecting plate 35.
  • the A camera 36 is fixedly installed at the center of the lower surface of the connecting plate 35.
  • a cursor 37 is set at the lens center of the camera 36. 36 is electrically connected with the steering motor 31;
  • Step 1 when the soft object passes the bottom of the camera 36, the camera 36 performs shape recognition on the shape of the soft object through the shape recognition module 361, and forms a virtual rectangle after recognition, and an adjustable grip is also provided outside the virtual rectangle.
  • the edge of the frame is the position where the device board 4 grabs the soft object;
  • the shape recognition module 361 is composed of any one or both of the shape recognition sensor 3611 or the contour sensor 3612; it can quickly measure and limit the shape of the soft object, and at the same time, for better application in the dynamic In the case of transmission, the shape recognition module 361 can be pre-installed in front of the grasping fixture parts to realize a calculation time for the whole device.
  • the shape recognition module 361 defines the shape of the soft object in advance, the soft object is just located Grab just below the gripper part for a grabbing action.
  • Step 2 Take the center point formed by the intersection of the midlines of adjacent two sides of the rectangle as the center, draw a circle to form a pick-up circle, and the radius of the pick-up circle can be adjusted;
  • the grabbing fixture part is located on the lower surface of the steering device and accurately and effectively grabs the soft objects on the conveyor belt 11.
  • the grabbing fixture part is composed of a driving mechanism and a clamping mechanism.
  • the main motor on the conveyor belt 11 can be electrically connected to the grabbing fixture parts, and can realize the linkage relationship with the grabbing fixture parts, so as to facilitate the grabbing to the greatest extent.
  • make full use of the time when the conveyor belt 11 is transported to the right below the grabbing and give the calculation time in the system to facilitate the seamless grabbing action.
  • an adjustable pick-up circle is set, which can not only limit the jumping of the cursor 37
  • the scope of the pick-up ring can also be adjusted according to the actual precision requirements to meet different production needs.
  • a driving mechanism is provided in this embodiment, and the driving mechanism is installed on the positions of the outer surfaces of both sides of the connecting plate 35.
  • the driving mechanism is installed on the positions of the outer surfaces of both sides of the connecting plate 35.
  • Frame 41 is made of square plate and circular plate, and square plate is positioned at the top of circular plate, is convenient to install drive mechanism, and in order to automatically drive fixture mechanism, micromotor 42 is fixedly installed on the upper surface of the top of limit frame 41, in order to control the movement of fixture mechanism Deflection, fixedly install threaded rod 43 on the output shaft of micromotor 42, threaded rod 43 is a thin threaded rod, then the other end of threaded rod 43 is fixedly installed on the bottom upper surface of limit frame 41 by bearing, then on threaded rod 43
  • the outer surface of the threaded pipe sleeve 44 is used to drive the clamp mechanism to deflect, and the threaded rod 43 and the threaded pipe sleeve 44 can make the movement adjustment of the threaded pipe sleeve 44 more accurate;
  • a clamp mechanism is provided in this embodiment, and the clamp mechanism is installed on the outer surface of the threaded sleeve 44, so that the threaded sleeve 44 can drive the clamp mechanism to perform clamping
  • both sides of the outer surface of the threaded sleeve 44 are hinged to the brake lever 5 through a pin, in order to better grab soft objects, the outer surfaces of both sides of the lower end of the limit frame 41 are hinged through a pin
  • Push rod 51 is arranged, in order to control the deflection of push rod 51, all through pin hinge triangular brake plate 52 at the hinged place of one end of two push rods 51, in order to control push rod 51 by the deflection of brake rod 5, two braking rods
  • One end of the moving rod 5 is respectively hinged on the other end of the triangular brake plate 52 by a pin, in order to firmly grasp the soft object, the other end of the triangular brake 52 is hinged to the first
  • the first hinged rod 53 is made of a hinged rod and a T-shaped hinged rod.
  • One end of the push rod 51 is hinged on the T-shaped hinged rod.
  • One end is deflected through the triangular brake plate 52 to be hinged at the hinge point of the push rod 51, and the first hinged link 53 is driven to deflect, and one end of the push rod 51 is further hinged to the second hinged link 54 through a pin shaft, and then the second The other end of a articulated link 53 is hinged with the middle end of the second articulated link 54 by a pin, in order to prevent the outer surface of grabbing the soft object from being damaged during the grabbing process, the outer surface of the push rod 51 and
  • the outer surface of the second hinged rod is fixedly equipped with a silicone contact block 55, and the outer surface of the silicone contact block 55 is in the shape of a fingertip, which can fix soft objects and simulate hands to grab soft objects, and can stably grab the outer surface Irregular soft objects, the silicone contact
  • a pressure sensor 56 is fixedly installed inside a plurality of silicone contact blocks 55, so that the pressure sensor 56 can detect the pressure exerted by the soft object by the silicone contact block, preventing clamping
  • the mechanism continues to grab and cause the soft object to be damaged due to excessive extrusion force, and the pressure sensor 56 is electrically connected to the micro-motor 42 .
  • Step 3 Align the center point of the cursor with the center of the pick-up circle and measure the angle. According to the measured angle, control the steering motor 31 to start driving the grabbing fixture parts to coincide with the center line of the rectangle in step 1, and then grab action.
  • step 3 the angle measured in step 3 is measured according to the order from the first quadrant to the fourth quadrant, and the measured angle is divided into angle A and angle B, and the sum of angle A and angle B is 90 degrees;
  • the minimum angle among angle A and angle B is taken as the reference angle for controlling the starting angle of the steering motor, and when the angle A is equal to the angle B, it is determined in the order from the first quadrant to the fourth quadrant; the minimum angle is used as the steering motor 31
  • the starting angle can reduce the angle and time of rotation, which is convenient for grabbing.
  • step 3 take the center line of the long side of the rectangle.
  • the long side of the rectangle is equal to the short side, measure the angle according to the order from the first quadrant to the fourth quadrant; it can realize the grasping of soft objects of various shapes Based on this, the recognition and grasping of soft objects can be realized.
  • an adjustable pick-up frame can be set outside the virtual rectangle. This pick-up frame is based on the virtual rectangle.
  • the micro motor After 42 starts, control the silica gel contact block 55 along the edge of the pick-up frame, do preparatory actions before grabbing, control the distance before grabbing, and keep a moderate state.
  • the decline of the vertical hydraulic cylinder 24 can drive the device plate 4 to be located on both sides of the soft object, control the start of the micro motor 42, and drive the threaded rod 43 of the limit frame 41 to rotate, so that the threaded pipe sleeve 44 can move upwards and pull the brake.
  • one end of the brake lever 5 pulls the triangular brake plate 52 to deflect, and drives the first hinged link 53 and the second hinged link 54 to rotate at the hinge point where the triangular brake plate 52 is hinged on the push rod 51,
  • the threaded sleeve 44 continues to rise, driving the triangular braking plate 52 to continue to deflect, so that the first hinged connecting rod 53 deflects at the hinge point on the triangular braking plate 52, driving the second hinged connecting rod 54 to approach the soft object
  • the silicone contact blocks 55 on both sides of the soft object can move relatively, and can grasp the soft object.
  • the pressure sensor 56 in the silicone contact block 55 can detect that the soft object is subjected to the pressure of the silicone contact block 55. When the pressure reaches the set pressure value, the micro motor 42 is controlled to stop running, the silicone contact block 55 stops relative movement, and the movement of the vertical hydraulic cylinder 24 is controlled to transport soft objects.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
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Abstract

属于工业机器人技术领域，尤其是一种工业机器人软物抓取识别装置及识别方法，包括支架(1)，还包括传送带(11)、调节部件、调向装置和抓取夹具部件，所述传送带(11)的下表面固定安装在所述支架(1)的支板的上表面。该工业机器人软物抓取识别装置及识别方法，通过设置抓取夹具部件，通过第一铰接连杆(53)与第二铰接连杆(54)上的硅胶接触块(55)与软物物体的外表面接触，能够防止造成软物物体的外表面破损，硅胶接触块(55)块内的压力传感器能够设定压力数值，在硅胶接触块(55)与软物物体抓取时能够检测硅胶接触块(55)按压软物物体的压力，在压力到达设定的值时，控制微型电机停止运行，能够防止硅胶接触块(55)夹持力过大造成软物物体的外表面损坏。

Description

一种工业机器人软物抓取识别装置及识别方法 技术领域
本发明涉及工业机器人技术领域，尤其涉及一种工业机器人软物抓取识别装置及识别方法。
 背景技术
工业机器人是面向工业领域的多关节机械手或多自由度的机器装置，它能自动执行工作，是靠自身动力和控制能力来实现各种功能的一种机器。它可以接受人类指挥，也可以按照预先编排的程序运行，现代的工业机器人还可以根据人工智能技术制定的原则纲领行动。
现有的工业机器人在生产软物的物体的工厂使用时，因软物物体的特性会使得在传送机构上分布没有规律，同时软物的形状不规则，在工业机械人抓取时，容易造成软物物体出现受力不均匀，出现损坏的现象，同时软物物体在传送机构的放置没有规律，工业机械人不能够很好的根据软物物体的形状进行调整抓取的方向，造成工业机器人不能够在针对软物物体进行抓取时得到很好的应用。
 技术问题
基于现有的工业机器人在针对抓取软物物体时，因软物物体在传送机构上分布不规律，无法准确的根据每一个软物物体的位置进行合适方向的抓取，同时因为软物物体的不规则的外形，无法进行相应的力度调整进行抓取的技术问题，本发明提出了一种工业机器人软物抓取识别装置及识别方法。
 技术解决方案
本发明提出的一种工业机器人软物抓取识别装置及识别方法，包括支架，还包括传送带、调节部件、调向装置和抓取夹具部件，所述传送带的下表面固定安装在所述支架的支板的上表面；
所述调节部件位于在所述支架的一侧外表面并根据所述传送带上的软物物体的位置相应调节所述抓取夹具部件的位置；
所述调向装置位于在所述调节部件的外表面并检测所述传送带上的软物物体偏转的角度后对驱动所述抓取夹具部件进行同偏转的角度的调整；
所述抓取夹具部件位于所述调向装置的下表面并对所述传送带上的软物物体进行精准有效地抓取。
优选地，所述调节部件是由水平调节机构和精准调节机构构成，所述水平调节机构包括支撑板，所述支撑板的一侧外表面固定安装在所述支架的一侧外表面，所述支撑板的上表面固定安装有水平移动平台，所述水平移动平台的内部通过滑块固定安装有垂直移动平台，所述精准调节机构包括水平液压缸，所述水平液压缸的外侧面通过滑块固定安装在垂直移动平台的外表面，所述水平液压缸的活塞杆固定安装有垂直液压缸；
通过上述技术方案，其中水平调节机构通过电机与螺纹杆的配合进行驱动，以传送带上表面为原点平面，水平调节机构能够调整抓取夹具部件的X轴和Z轴方向的移动，能够快速根据软物物体的位置进行相应的调整，精准调节机构中的水平液压缸能够调整抓取夹具部件的Y轴方向的位置，垂直液压缸能够调整抓取夹具部件的Z轴方向的位置，精准调节机构辅助水平调节机构更加精准的调节抓取夹具部件的位置。
优选地，所述调向装置是由调向机构和检测机构构成，所述调向机构包括调向槽，所述调向槽的上表面固定安装在所述垂直液压缸的活塞杆一端，所述调向槽的外侧面固定安装有调向电机，所述调向电机的输出轴一端贯穿所述调向槽的内侧壁后固定安装有蜗杆，所述调向槽的内底壁通过轴承固定安装有蜗轮，所述蜗轮的外表面与所述蜗杆的外表面啮合；
通过上述技术方案，其中通过蜗杆与蜗轮的配合能够使得调向杆的转动方向更加精准，蜗杆的螺纹较密，增加调节角度的精准性。
优选地，所述检测机构包括调向杆，所述调向杆的外表面固定安装在所述蜗轮的内壁，所述调向杆的一端贯穿所述调向槽的下表面后固定安装有调向连板，所述调向连板的下表面中心固定安装有摄像机，所述摄像机的镜头中心外表面设置有光标；
通过上述技术方案，其中摄像机为工业摄像机，通过摄像机对传送带上的软物物体进行捕捉后，通过调节部件调节摄像机的位置，使得摄像机镜头的中心处的十字光标中心处位于软物物体两端端面中心点连接的直线中心处，以光标作为平面直角坐标系观察软物物体的位置，能够便于判断软物物体偏转的角度，以锐角的方向进行调整抓取夹具部件进行同角度进行偏转，抓取夹具部件与软物物体的轴线线平行，便于进行抓取。
优选地，所述抓取夹具部件包括驱动机构和夹具机构，所述驱动机构包括装置板，两个装置板的外侧面分别固定安装在所述调向连板的两侧外表面，所述装置板的外表面呈矩形阵列固定安装有限位架，所述限位架的上表面固定安装有微型电机，所述微型电机的输出轴贯穿所述限位架的上端下表面后固定安装有螺纹杆，所述螺纹杆的另一端固定安装在所述限位架的下端上表面，所述螺纹杆的外表面螺纹连接有滑块；
通过上述技术方案，通过微型电机带动螺纹杆的转动带动螺纹管套在螺纹杆上的移动用来控制夹具机构的偏转，每个夹具机构都有单独的驱动机构进行控制，能够根据软物物体的外表面的形状进行相应的抓取。
优选地，所述夹具机构包括制动杆，两个所述制动杆的一端通过销轴铰接在所述滑块的两侧外表面，所述限位架的下端两侧外表面通过销轴均铰接有推动杆，两个所述推动杆的一端铰接处均通过销轴铰接有三角制动板，两个所述制动杆的一端分别与两个所述三角制动板的一端通过销轴铰接，所述三角制动板的另一端通过销轴铰接有第一铰接连杆，所述推动杆的另一端与所述第一铰接连杆的中间端通过销轴铰接，所述推动杆的一端通过销轴铰接有第二铰接连杆，所述第一铰接连杆的另一端通过销轴与所述第二铰接连杆的中间端铰接，所述推动杆的外侧面和所述第二铰接连杆的外侧面均固定安装有硅胶接触块，多个所述硅胶接触块的内部均固定安装有压力传感器；
通过上述技术方案，两组夹具机构呈镜像对称，也可根据抓取物体的外表面特性能够进行交错分布，通过制动杆的推动，能够带动三角制动板发生偏转，从而能够带动第一铰接连杆与第二铰接连杆发生不同程度的偏转，类似手指进行弯曲，便于固定软性物体，第一铰接连杆与第二铰接连杆均是由两个连杆的相对端通过销轴进行铰接，其中硅胶接触块具有弹性能够防止破坏软性物体的外表面，通过压力传感器检测到硅胶接触块与软性物体外表面的压力值到达设定的值时，能够控制微型电机停止转动，防止力度过大造成软性物料损坏。
优选地，所述软物物体的识别方法为；
步骤一、软物物体经过所述摄像机底部的时候，所述摄像机通过形状识别模块对软物物体的形状进行形状识别，识别后形成虚拟的矩形，在虚拟的所述矩形的外部还设有可调节的抓取框，所述抓取框的边线处为所述装置板抓取所述软物物体所处的位置；
步骤二、以矩形相邻两边中线交叉构成的中心点为圆心，画圆，形成拾取圈，所述拾取圈的半径可调节；
步骤三、所述光标的中心点对准所述拾取圈的圆心后量取角度，根据量取的角度控制所述调向电机启动驱动所述抓取夹具部件转向至与所述步骤一中矩形的中线重合，之后再进行抓取动作；
通过上述技术方案，能够通过上述步骤，针对软物物体的不同形状实现快速精确的抓取，更好的解决软物物体落到传送带上时所铺开的形状不一而难以抓取的问题。
优选地，所述形状识别模块由形状识别传感器或轮廓传感器中的任意一种或两种组成；
通过上述技术方案，能够快速的针对软物物体的形状进行衡量限定，同时为了更好的运用在软物物体动态传输的情况，可将形状识别模块预先安装在抓取夹具部件的前方，以实现给整个装置一个计算的时间，当形状识别模块预先对软物物体形状的限定时，软物物体刚好位于抓取夹具部件的正下方，实现抓取动作。
优选地，所述步骤三中量取的所述角度依照第一象限至第四象限的顺序进行进行量取，量取后的所述角度分为角度A和角度B，所述角度A和所述角度B 的和为九十度；
控制所述调向电机启动的角度取所述角度A和所述角度B中的最小角度为参照角度，当所述角度A等于所述角度B时，按照第一象限至第四象限的顺序进行确定；
通过上述技术方案，以最小角度作为调向电机启动的角度，可降低转动的角度跟时间，方便抓取。
优选地，所述步骤三中取所述矩形的长边中线，当所述矩形的长边与短边相等时，依照第一象限至第四象限的顺序进行量取角度；
通过上述技术方案，可实现针对各种不同形状的软物物体进行抓取的动作。
 有益效果
1、通过设置调向装置，能够根据传送带上的软物物体的位置调整夹具夹口的位置，通过摄像机中的光标作为平面坐标系，用来判断软物物体的偏转角度，通过调向电机的启动，带动抓取夹具部件以同角度进行偏转，使得抓取夹具部件与软物物体的轴心线能够平行，能够便于抓取夹具部件的橡胶接触块与软物物体进行接触抓取，从而能够抓取传送带上的不规律分布的软物物体，解决了现有的工业机器人在针对抓取软物物体时，因软物物体在传送机构上分布不规律，无法准确的根据每一个软物物体的位置进行合适方向的抓取的技术问题。
2、通过设置抓取夹具部件，能够根据物体的不规则的外表面进行抓取，通过两个装置板上的多个夹具机构，每个夹具机构是由单独的微型电机与螺纹杆的配合进行控制，能够根据软物物体的不规则外表面进行单独的控制夹取，从而能够针对软物物体的不规则外表面进行针对性的夹取，能够使得有效地夹取软物物体同时不损坏软物物体，解决了现有的工业机器人在针对抓取软物物体时，因为软物物体的不规则的外形，无法进行相应的力度调整进行抓取的技术问题。
3、通过设置抓取夹具部件，通过第一铰接连杆与第二铰接连杆上的硅胶接触块与软物物体的外表面接触，能够防止造成软物物体的外表面破损，硅胶接触块内的压力传感器能够设定压力数值，能够在硅胶接触块与软物物体抓取时能够检测硅胶接触块按压软物物体的压力，在压力到达设定的值时，控制微型电机停止运行，能够防止硅胶接触块夹持力过大造成软物物体的外表面损坏，从而能够减小夹持机构对软物物体的外表面破坏，解决了现有的工业机器人在针对抓取软物物体时，因为软物物体的不规则的外形，无法进行相应的力度调整进行抓取的技术问题。
 附图说明
图1为本发明提出的一种工业机器人软物抓取识别装置及识别方法的示意图；
图2为本发明提出的一种工业机器人软物抓取识别装置及识别方法的支撑板结构的立体图图；
图3为本发明提出的一种工业机器人软物抓取识别装置及识别方法的水平液压缸结构的立体图；
图4为本发明提出的一种工业机器人软物抓取识别装置及识别方法的调向电机的立体图；
图5为本发明提出的一种工业机器人软物抓取识别装置及识别方法的摄像机结构的立体图；
图6为本发明提出的一种工业机器人软物抓取识别装置及识别方法的夹具机构的立体图；
图7为本发明提出的一种工业机器人软物抓取识别装置及识别方法的摄像机识别软物物体的俯视图；
图8为本发明提出的一种工业机器人软物抓取识别装置及识别方法的摄像机识别软物物体识别方法的原理图。
图中：1、支架；11、传送带；2、支撑板；21、水平移动平台；22、垂直移动平台；23、水平液压缸；24、垂直液压缸；3、调向槽；31、调向电机；32、蜗杆；33、蜗轮；34、调向杆；35、调向连板；36、摄像机；361、形状识别模块；3611、形状识别传感器；3612、轮廓传感器；37、光标；4、装置板；41、限位架；42、微型电机；43、螺纹杆；44、螺纹管套；5、制动杆；51、推动杆；52、三角制动板；53、第一铰接连杆；54、第二铰接连杆；55、硅胶接触块；56、压力传感器。
 本发明的实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。
参照图1-8，一种工业机器人软物抓取识别装置，包括支架1，还包括传送带11、调节部件、调向装置和抓取夹具部件，传送带11的下表面固定安装在支架1的支板的上表面，传送带11是工业生产中常用的传动部件，设置在本实施例中，能够增加本实施例的适用性。
如图1-3所示，调节部件位于在支架1的一侧外表面并根据传送带11上的软物物体的位置相应调节抓取夹具部件的位置，调节部件是由水平调节机构和精准调节机构构成。
为了对抓取夹具部件进行水平方向的调节，在本实施例中设置了水平调节机构，水平调节机构安装在支架1的一侧外侧面的位置上，为了支撑水平调节机构，在支架1的一侧外表面固定安装支撑板2，为了根据传送带11上的软物物体调节水平方向的位置，在支撑板2的上表面固定安装水平移动平台21，为了根据传送带11上的软物物体调节垂直方向的位置，在水平移动平台21的内部通过滑块固定安装垂直移动平台22，为了便于抓取夹具部件的调节，垂直移动平台22垂直于水平移动平台21进行分布，精准调节机构，滑动安装在垂直移动平台22的外侧面，为了更加精准的根据软物物体的位置进行水平方向的相应调节，在垂直移动平台22的外侧面通过滑块固定安装水平液压缸23，为了更加精准的根据软物物体的位置进行垂直方向的相应调节，在水平液压缸23的活塞杆一端固定安装垂直液压缸24，为了防止抓取夹具部件保持水平的移动，垂直液压缸24垂直于水平液压缸23进行分布。
如图4-8所示，调向装置位于在调节部件的外表面并检测传送带11上的软物物体偏转的角度后对驱动抓取夹具部件进行同偏转的角度的调整，调向装置是由调向机构和检测机构构成；
为了根据传送带11上所铺开的形状不一的软物物体进行精准的抓取，在本实施例中设置了调向机构，调向机构安装在垂直液压缸24的下表面的位置上，为了根据软物物体的偏转方向进行相应的调节，在垂直液压缸24的活塞杆的一端固定安装调向槽3，为了进行自动进行调向，在调向槽3的外表面固定安装调向电机31，为了精准的进行调向，在调向电机31的输出轴贯穿调向槽3的内侧壁后固定安装蜗杆32，然后在调向槽3的内底壁通过轴承固定安装蜗轮33，进一步地蜗轮33的外表面与蜗杆32的外表面啮合，能够通过蜗杆32的转动驱动蜗轮33进行转动，更加精准的调节抓取夹具部件的角度，且设置蜗轮33蜗杆32，除了能够实现精准调节的效果，同时充分利用蜗轮33蜗杆32单向的传动特性，使得调向电机31不会受抓取夹具部件抓取动作的影响。
为了对传送带11上所铺开的形状不一的软物物体的形状进行识别捕捉，在本实施例中设置了检测机构，检测机构安装在蜗轮33的内壁的位置上，为了蜗轮33的转动带动检测机构，在蜗轮33的内壁固定安装调向杆34，然后调向杆34的一端贯穿调向槽3的下表面后固定安装调向连板35，为了能够检测软物物体的位置，在调向连板35的下表面中心固定安装摄像机36，为了检测软物物体的偏转角度，在摄像机36的镜头中心设置光标37，为了能够控制抓取夹具部件随着软物物体的形状进行转动，摄像机36与调向电机31电性连接；
步骤一、软物物体经过摄像机36底部的时候，摄像机36通过形状识别模块361对软物物体的形状进行形状识别，识别后形成虚拟的矩形，在虚拟的矩形的外部还设有可调节的抓取框，抓取框的边线处为装置板4抓取软物物体所处的位置；
进一步地，形状识别模块361由形状识别传感器3611或轮廓传感器3612中的任意一种或两种组成；能够快速的针对软物物体的形状进行衡量限定，同时为了更好的运用在软物物体动态传输的情况，可将形状识别模块361预先安装在抓取夹具部件的前方，以实现给整个装置一个计算的时间，当形状识别模块361预先对软物物体形状的限定时，软物物体刚好位于抓取夹具部件的正下方，实现抓取动作。
步骤二、以矩形相邻两边中线交叉构成的中心点为圆心，画圆，形成拾取圈，拾取圈的半径可调节；
如图5-8所示，抓取夹具部件位于调向装置的下表面并对传送带11上的软物物体进行精准有效地抓取，抓取夹具部件是由驱动机构和夹具机构构成，为了更好的进行抓取传送带11上的软物物体，传送带11上的主电机可与抓取夹具部件进行电性连接，能够与抓取夹具部件实现联动关系，最大程度的方便抓取，在识别的过程中，充分利用传送带11传送至抓取正下方的时间，给予系统内的计算时间，便于实现无缝抓取的动作，同时设置可调节的拾取圈，不仅可以以此来限定光标37的跳动范围，还可以根据实际的精度需求，调整拾取圈的范围，以满足不同的生产需求。
为了控制抓取夹具部件能够分别进行夹取传送带11上的软物物体，在本实施例中设置了驱动机构，驱动机构安装在调向连板35的两侧外表面的位置上，为了对软物物体的两侧外表面进行抓取，在调向连板35的两侧外表面分别固定安装装置板4，为了进行限位，在装置板4的外表面固定安装限位架41，限位架41是由正方形板与圆板构成，正方形板位于圆板的上方，便于安装驱动机构，为了自动驱动夹具机构，在限位架41的顶端上表面固定安装微型电机42，为了控制夹具机构的偏转，在微型电机42的输出轴固定安装螺纹杆43，螺纹杆43为细螺纹杆，然后螺纹杆43的另一端通过轴承固定安装在限位架41的底端上表面，然后在螺纹杆43的外表面螺纹连接螺纹管套44用来带动夹具机构进行偏转，螺纹杆43与螺纹管套44通过螺纹连接能够使得螺纹管套44的移动调节更加精准；
为了能够稳定的抓取传送带11上的软物物体，在本实施例中设置了夹具机构，夹具机构安装在螺纹管套44的外表面位置上，为了螺纹管套44能够带动夹具机构进行夹取软物物体，在螺纹管套44的外表面两侧均通过销轴铰接制动杆5，为了更好的抓取软物物体，在限位架41的下端两侧外表面通过销轴均铰接有推动杆51，为了控制推动杆51的偏转，在两个推动杆51的一端铰接处均通过销轴铰接三角制动板52，为了通过制动杆5的偏转控制推动杆51，两个制动杆5的一端分别通过销轴铰接在三角制动板52的另一端，为了牢固的抓取软物物体，在三角制动板52的另一端通过销轴铰接第一铰接连杆53，然后推动杆51的另一端通过销轴铰接在第一铰接连杆53的中间端铰接，第一铰接杆53是由铰接杆和T型铰接杆构成，推动杆51的一端铰接在T型铰接杆的一端，通过三角制动板52以铰接在推动杆51的铰接点进行偏转，带动第一铰接连杆53进行偏转，进一步地推动杆51的一端通过销轴铰接第二铰接连杆54，然后第一铰接连杆53的另一端通过销轴与第二铰接连杆54的中间端铰接，为了防止在抓取软物物体的外表面在抓取过程中受到破坏，在推动杆51的外侧面和第二铰接杆的外侧面均固定安装硅胶接触块55，硅胶接触块55外表面呈指腹形状，能够固定软物物体能够模拟手部进行抓取软物物体，能够稳定的进行抓取外表面不规则的软物物体，硅胶接触块55是由硅胶材料制作而成，具有一定的软度，不会对软物物体的外表面造成损坏，而且能够实现抓取软物物体进行移动，同时为了防止抓取力过大造成软物物体的遭到破坏，在多个硅胶接触块55的内部均固定安装压力传感器56，为了压力传感器56能够检测软物物体受到硅胶接触块施加的压力，防止夹具机构继续抓取造成软物物体受到挤压力过大造成损坏，将压力传感器56与微型电机42电性连接。
步骤三、光标的中心点对准拾取圈的圆心后量取角度，根据量取的角度控制调向电机31启动驱动抓取夹具部件转向至与步骤一中矩形的中线重合，之后再进行抓取动作。
能够通过上述步骤，针对软物物体的不同形状实现快速精确的抓取，更好的解决软物物体落到传送带11上时所铺开的形状不一而难以抓取的问题。
进一步地，步骤三中量取的角度依照第一象限至第四象限的顺序进行进行量取，量取后的角度分为角度A和角度B，角度A和角度B 的和为九十度；
控制调向电机启动的角度取角度A和角度B中的最小角度为参照角度，当角度A等于角度B时，按照第一象限至第四象限的顺序进行确定；以最小角度作为调向电机31启动的角度，可降低转动的角度跟时间，方便抓取。
步骤三中取矩形的长边中线，当矩形的长边与短边相等时，依照第一象限至第四象限的顺序进行量取角度；可实现针对各种不同形状的软物物体进行抓取的动作，据此，来实现软物物体的识别和抓取。
为了适应不同形状大小的软物物体的抓取，可在虚拟的矩形外再设置个可调节的拾取框，此拾取框是基于虚拟矩形的基础上的，当识别完成准备抓取时，微型电机42启动后控制硅胶接触块55沿拾取框边线处，做抓取前的准备动作，控制抓取前的距离，保持适中状态。
工作原理：在需要对传送带11上分布不规律的软物物体进行抓取时，通过水平移动平台21和垂直移动平台22的驱动，控制水平液压缸23的移动，使得摄像机36能够捕捉软物物体，并且软物物体的轴心线的中点与摄像机36光标37上的中点位于同一条直线上，垂直液压缸24的活塞杆的推动，能够使得摄像机36靠近软物物体，以光标37作为平面坐标系对软物物体的偏转角度进行捕捉检测，控制调向电机31的启动，蜗杆32与蜗轮33的配合，能够带动调向杆34进行旋转，使得夹具机构能够与软物物体的轴心线平行；
垂直液压缸24的下降能够带动装置板4位于软物物体的两侧，控制微型电机42的启动，带动限位架41的螺纹杆43进行转动，使得螺纹管套44能够向上移动，拉动制动杆5，制动杆5的一端拉动三角制动板52进行偏转，带动第一铰接连杆53与第二铰接连杆54以三角制动板52铰接在推动杆51上的铰接点进行旋转，螺纹管套44继续上升，带动三角制动板52继续偏转，使得第一铰接连杆53以在三角制动板52上的铰接点发生偏转，带动第二铰接连杆54向软物物体靠近，软物物体两侧的硅胶接触块55能够相对移动，能够抓取软物物体，硅胶接触块55内的压力传感器56能够检测软物物体受到硅胶接触块55的压力，在压力到达设定的压力值时，控制微型电机42停止运行，硅胶接触块55停止相对移动，控制垂直液压缸24的移动，进行运输软物物体。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。

Claims (10)

  1. 一种工业机器人软物抓取识别装置，包括支架（1），其特征在于，还包括传送带（11）、调节部件、调向装置和抓取夹具部件，所述传送带（11）的下表面固定安装在所述支架（1）的支板的上表面；
    所述调节部件位于在所述支架（1）的一侧外表面并根据所述传送带（11）上的软物物体的位置相应调节所述抓取夹具部件的位置；
    所述调向装置位于在所述调节部件的外表面并检测所述传送带（11）上的软物物体偏转的角度后对驱动所述抓取夹具部件进行同偏转的角度的调整；
    所述抓取夹具部件位于所述调向装置的下表面并对所述传送带（11）上的软物物体进行精准有效地抓取。
  2. 根据权利要求1所述的一种工业机器人软物抓取识别装置，其特征在于：所述调节部件是由水平调节机构和精准调节机构构成，所述水平调节机构包括支撑板（2），所述支撑板（2）的一侧外表面固定安装在所述支架（1）的一侧外表面，所述支撑板（2）的上表面固定安装有水平移动平台（21），所述水平移动平台（21）的内部通过滑块固定安装有垂直移动平台（22），所述精准调节机构包括水平液压缸（23），所述水平液压缸（23）的外侧面通过滑块固定安装在垂直移动平台（22）的外表面，所述水平液压缸（23）的活塞杆固定安装有垂直液压缸（24）。
  3. 根据权利要求2所述的一种工业机器人软物抓取识别装置，其特征在于：所述调向装置是由调向机构和检测机构构成，所述调向机构包括调节槽（3），所述调节槽（3）的上表面固定安装在所述垂直液压缸（24）的活塞杆一端，所述调节槽（3）的外侧面固定安装有调向电机（31），所述调向电机（31）的输出轴一端贯穿所述调节槽（3）的内侧壁后固定安装有蜗杆（32），所述调节槽（3）的内底壁通过轴承固定安装有蜗轮（33），所述蜗轮（33）的外表面与所述蜗杆（32）的外表面啮合。
  4. 根据权利要求3所述的一种工业机器人软物抓取识别装置，其特征在于：所述检测机构包括调向杆（34），所述调向杆（34）的外表面固定安装在所述蜗轮（33）的内壁，所述调向杆（34）的一端贯穿所述调节槽（3）的下表面后固定安装有调向连板（35），所述调向连板（35）的下表面中心固定安装有摄像机（36），所述摄像机（36）的镜头中心外表面设置有光标（37）。
  5. 根据权利要求4所述的一种工业机器人软物抓取识别装置，其特征在于：所述抓取夹具部件是由驱动机构和夹具机构构成，所述驱动机构包括装置板（4），两个装置板（4）的外侧面分别固定安装在所述调向连板（35）的两侧外表面，所述装置板（4）的外表面呈矩形阵列固定安装有限位架（41），所述限位架（41）的上表面固定安装有微型电机（42），所述微型电机（42）的输出轴贯穿所述限位架（41）的上端下表面后固定安装有螺纹杆（43），所述螺纹杆（43）的另一端固定安装在所述限位架（41）的下端上表面，所述螺纹杆（43）的外表面螺纹连接有螺纹管套（44）。
  6. 根据权利要求5所述的一种工业机器人软物抓取识别装置，其特征在于：所述夹具机构包括制动杆（5），两个所述制动杆（5）的一端通过销轴铰接在所述螺纹管套（44）的两侧外表面，所述限位架（41）的下端两侧外表面通过销轴均铰接有推动杆（51），两个所述推动杆（51）的一端铰接处均通过销轴铰接有三角制动板（52），两个所述制动杆（5）的一端分别与两个所述三角制动板（52）的一端通过销轴铰接，所述三角制动板（52）的另一端通过销轴铰接有第一铰接连杆（53），所述推动杆（51）的另一端与所述第一铰接连杆（53）的中间端通过销轴铰接，所述推动杆（51）的一端通过销轴铰接有第二铰接连杆（54），所述第一铰接连杆（53）的另一端通过销轴与所述第二铰接连杆（54）的中间端铰接，所述推动杆（51）的外侧面和所述第二铰接连杆（54）的外侧面均固定安装有硅胶接触块（55），多个所述硅胶接触块（55）的内部均固定安装有压力传感器（56）。
  7. 根据权利要求1-6所述的任意一种工业机器人软物抓取识别装置的识别方法，其特征在于：所述软物物体的识别方法为；
    步骤一、软物物体经过所述摄像机（36）底部的时候，所述摄像机（36）通过形状识别模块（361）对软物物体的形状进行形状识别，识别后形成虚拟的矩形，在虚拟的所述矩形的外部还设有可调节的抓取框，所述抓取框的边线处为所述装置板（4）抓取所述软物物体所处的位置；
    步骤二、以矩形相邻两边中线交叉构成的中心点为圆心，画圆，形成拾取圈，所述拾取圈的半径可调节；
    步骤三、所述光标的中心点对准所述拾取圈的圆心后量取角度，根据量取的角度控制所述调向电机（31）启动驱动所述抓取夹具部件转向至与所述步骤一中矩形的中线重合，之后再进行抓取动作。
  8. 根据权利要求7所述的一种工业机器人软物抓取识别装置的识别方法，其特征在于：所述形状识别模块（361）由形状识别传感器（3611）或轮廓传感器（3612）中的任意一种或两种组成。
  9. 根据权利要求7所述的一种工业机器人软物抓取识别装置的识别方法，其特征在于：所述步骤三中量取的所述角度依照第一象限至第四象限的顺序进行进行量取，量取后的所述角度分为角度A和角度B，所述角度A和所述角度B 的和为九十度；
    控制所述调向电机启动的角度取所述角度A和所述角度B中的最小角度为参照角度，当所述角度A等于所述角度B时，按照第一象限至第四象限的顺序进行确定。
  10. 根据权利要求9所述的一种工业机器人软物抓取识别装置的识别方法，其特征在于：所述步骤三中取所述矩形的长边中线，当所述矩形的长边与短边相等时，依照第一象限至第四象限的顺序进行量取角度。
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