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Robot grabbing system and workpiece grabbing method

A robot and workpiece picking technology, which is applied in the field of robots, can solve the problems of real-time performance that cannot meet the requirements of industrial sites, complex algorithms, and large amount of calculation, and achieve the effects of high real-time performance, reduced imaging quality, and improved positioning accuracy

Inactive Publication Date: 2017-08-18
WUHU HIT ROBOT TECH RES INST
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Problems solved by technology

[0003] The existing vision system for three-dimensional positioning and grasping of workpieces is mainly composed of a binocular camera. The camera collects two-dimensional images, and then extracts the SIFT feature (full name Scale invariant feature transform) of each workpiece, using a template Matching technology is used to identify workpieces. This method has complex algorithms, a large amount of calculation, and real-time performance cannot meet the needs of industrial sites.

Method used

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  • Robot grabbing system and workpiece grabbing method
  • Robot grabbing system and workpiece grabbing method

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Embodiment Construction

[0025] The following describes the specific implementation of the present invention in further detail through the description of the embodiments with reference to the accompanying drawings. The purpose is to help those skilled in the art have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present invention, and Contribute to its implementation.

[0026] Such as figure 1 with figure 2 As shown, the present invention provides a robot grasping system, including a control device, a visual inspection device, and a grasping execution device for grasping a workpiece and connected with the visual inspection device. The visual inspection device includes a visual sensor for capturing images. 5.

[0027] Specifically, such as figure 1 with figure 2 As shown, the grasping execution device includes an industrial robot 1, an actuator support 2 connected to the industrial robot 1, and a clamp 6 arranged on the actuator support 2 and used for g...

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Abstract

The invention discloses a robot grabbing system. The robot grabbing system comprises a visual inspection device and a grabbing execution device which is used for grabbing workpieces and connected with the visual inspection device. The visual inspection device comprises a visual sensor for acquiring images. By the adoption of the robot grabbing system, data acquisition is conducted through the visual sensor, the influence of the ambient light on the imaging quality is lowered, besides, the positioning accuracy of the workpieces is improved, and the instantaneity of workpiece grabbing is higher. The invention further provides a workpiece grabbing method.

Description

Technical field [0001] The invention belongs to the technical field of robots. Specifically, the invention relates to a robot grasping system and a method for grasping a workpiece. Background technique [0002] Robot vision generally refers to an industrial vision system that cooperates with a robot. After the industrial vision system is introduced into the robot, it can greatly expand the performance of the robot and help the robot have greater adaptability in the process of completing the specified task. In recent years, the research on robot vision has become one of the hot spots in the field of robotics at home and abroad. [0003] The existing vision system for three-dimensional positioning and capturing of workpieces is mainly composed of binocular cameras. The camera collects two-dimensional images, and then extracts the SIFT features of each workpiece (the full name is Scale invariant feature transform, scale invariant feature transform), using templates The matching techn...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1697
Inventor 段斌江守生朱威风陈健李超曹雏清高云峰
Owner WUHU HIT ROBOT TECH RES INST
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