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Material edge detecting method of tooling

An end picker and material grouping technology, applied in the field of robotics, can solve the problems of large amount of calculation, complex calculation, not simple and direct enough, etc., and achieve the effect of high operation accuracy.

Active Publication Date: 2014-02-26
BAOSHAN IRON & STEEL CO LTD +1
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Problems solved by technology

However, for some specific situations, such as when only one parameter needs to be measured, this detection method has a large amount of calculation and complex calculation, and is not simple and direct enough.

Method used

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  • Material edge detecting method of tooling
  • Material edge detecting method of tooling
  • Material edge detecting method of tooling

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Embodiment Construction

[0026] see Figure 1 to Figure 4 , the end picker of the present invention detects the edge of the group of materials, a group of edge sensors are respectively arranged in the X and Y directions of the end picker 1 to detect the edge position of the group material 2, and each group of edge detection The sensor has two sensors 3 to 6, which are installed at the diagonal position of the end picker 1; the edge measuring sensor is a photoelectric sensor, and its measuring direction, transmitting and receiving direction are perpendicular to the measuring side; The two directions of X and Y reciprocate at least once in order to obtain the position of the edge of the assembly 2, and the reciprocating stroke is ±50mm~±100mm; the lower part of the end picker 1 connected to the robot flange is provided with two end pickers for calibration. 1 Two sets of calibration sensors 7 for the positions of edge sensors 3-6.

[0027] After the edge measuring sensors 3 and 4 (X1, X2) reciprocate in...

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Abstract

Provided is a material edge detecting method of a tooling. A group of edge measurement sensors for detecting the edge position of a material is respectively arranged in the X-direction and the Y-direction of the tooling and includes two sensors installed at the diagonal line position of the tooling. The edge measurement sensors are photoelectric sensors, and the measurement directions and the transmitting-receiving directions of the edge measurement sensors are perpendicular to the measured edge. A robot carries the tooling to sequentially perform reciprocating motion in the X-direction and the Y-direction of the material for at least one time so as to obtain the material edge position, and a reciprocating stroke is + / -50mm-+ / -100mm. The lower portion of the connecting position of the tooling and a robot flange is provided with two calibration sensors for calibrating the positions of the two groups of edge measurement sensors of the tooling. The sensors for detecting the material position is installed on the tooling and used for detecting and confirming the position of the material so as to improve the accuracy of carrying and stacking operation of the robot.

Description

technical field [0001] The invention relates to a detection method in the field of robots, in particular to a method for detecting the edge of an assembly by an end picker. Background technique [0002] In the field of robotics, visual sensors or other sensors can be installed on the fingers of the manipulator, the robot end picker or other positions to obtain information such as the position, shape, and spatial distribution of the group materials. When the visual sensor is used to detect the information of the group material, it is necessary to perform data acquisition, analysis and processing operations on the image, which will generate a large amount of calculation and may affect the detection speed. At the same time, when the size of the group is large, the measurement accuracy may be affected due to image distortion and low pixel resolution. [0003] Chinese patent CN1539604 discloses a tactile sensor and its tactile information detection method. Through the "soft cont...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08G01B11/00G01B11/24
Inventor 金成国杨赛丹金文海乔俊良潘胜波吴瑞珉王玉明
Owner BAOSHAN IRON & STEEL CO LTD
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