Manipulator grabbing position alignment control method

Abstract

The invention provides a manipulator grabbing position alignment control method. The method comprising the steps that (1) a visual sensor is arranged above a component conveying mechanism, the outputend of the visual sensor is connected with a manipulator control system, and collected component position information is sent to the manipulator control system in real time; (2) a speed sensor is arranged on the component conveying mechanism, the output end of the speed sensor is connected with the manipulator control system, and the collected conveying speed of the component conveying mechanism is sent to the manipulator control system in real time, and the conveying speed of the component conveying mechanism is the movement speed of to-be-grabbed part components; and (3) the manipulator control system calculates the grabbing time and grabbing direction angle of a manipulator according to the component position information and the conveying speed of the component conveying mechanism and controls the manipulator to grab the components at the calculated grabbing direction angle when the gripping time reaches. The method is based on a visual recognition technology, the position of the components can be accurately known, and the grabbing angle of the manipulator is adjusted in real time.

Description

technical field [0001] The invention relates to the field of part processing, in particular to a method for controlling the position alignment of a manipulator grasping position, which is used for the position alignment control when the manipulator grasps the part during the part transmission process. Background technique [0002] In the production process of mechanical parts, sometimes it is necessary to grab the parts by the manipulator to realize the position change of the parts from one machine tool to another machine tool. During the grasping process, the manipulator itself does not have the function of part position recognition, so it is easy to misplace the grasping position during grasping, resulting in the problem of grasping the wrong part, or the grasping is not firm, and the part falls off midway. Therefore, when the manipulator is grasping, it is necessary to manually control the falling direction of the manipulator, that is, manually perform position calibratio...

AI Technical Summary

Problems solved by technology

During the grabbing process, the manipulator itself does not have the function of part position recognition, so it is easy to misplace the grabbing position during grabbing, resulting in the wrong parts being grabbed, or the gripping is not firm, and the parts fall off halfway.

Therefore, when the manipulator is grasping, it is necessary to manually control the falling direction of the manipulator, that is, manually perform position calibration, and the effect of position calibration mainly depends on the subjective experience of the operator, which has poor reliability and low efficiency.