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Grabbing industrial robot matched with regular-shaped workpiece

A technology of industrial robots and workpieces, applied in the direction of instruments, manipulators, manufacturing tools, etc., to achieve the effect of increasing system stability, reliability, and flexible control

Inactive Publication Date: 2020-01-03
张焕焕
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] There is a lack of grasping industrial robots for shape matching of simple workpieces in the prior art

Method used

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  • Grabbing industrial robot matched with regular-shaped workpiece
  • Grabbing industrial robot matched with regular-shaped workpiece
  • Grabbing industrial robot matched with regular-shaped workpiece

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0034] The present invention will be further described below in conjunction with the accompanying drawings.

[0035] A gripping industrial robot that matches workpieces with regular shapes, including an industrial robot control system, a sensor system, a control system, a network integrated control system, a visual tracking system, and an actuator, the sensor system is connected to the industrial robot control system,

[0036] The control system receives data from the sensor system and the visual tracking system through the network integrated control system and sends control instructions to the industrial robot control system. The industrial robot control system controls the actuator, and the sensor system is installed on the actuator to monitor the position and posture of the actuator in real time. , the sensor system and visual tracking system are also connected with the industrial robot control system for real-time feedback of the working status of the actuator and monitorin...

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Abstract

The invention discloses a grabbing industrial robot matched with a regular-shaped workpiece. The grabbing industrial robot comprises an industrial robot control system, a sensor system, a control system, a network integrated control system, a visual tracking system and an execution mechanism, wherein the sensor system is connected with the industrial robot control system; and the image recognitionprocess of the workpiece comprises the following steps that 1, gray scale transformation is carried out; 2, contrast equalization is carried out; 3, median filtering is carried out on a grayscale image; 4, workpiece positioning is carried out; 5, a Hough transform is adopted to detect an inclination angle in a rectangular area, and interpolation rotation is carried out according to the detected inclination angle, so that the workpiece in the rectangular area is horizontally arranged; and 6, shape identification is carried out.

Description

technical field [0001] The invention belongs to the field of industrial robots, and in particular relates to a grasping industrial robot for matching regular-shaped workpieces. Background technique [0002] As the current level of industrial automation is getting higher and higher, it occupies an increasingly important position in all walks of life. They can perform a variety of complex tasks skillfully and accurately. These tasks may be impossible for humans to complete due to the limitations of the environment or other factors. of. The application scenarios of industrial robots mainly include auto parts manufacturing and assembly, mechanical automation manufacturing, production of toxic chemical products, standard assembly line operations, installation of high-risk environment equipment, nuclear radiation site operations, extreme environment operations, etc. [0003] There is a lack of grasping industrial robots for shape matching of simple workpieces in the prior art C...

Claims

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Application Information

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IPC IPC(8): B25J9/16G06K9/00G06K9/32G06K9/46
CPCB25J9/1602B25J9/1697B25J9/1694G06V20/10G06V10/25G06V10/44
Inventor 孙法君
Owner 张焕焕
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