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Multi-mode force control lossless grabbing device for intelligent production line

A grasping device and multi-modal technology, applied in the direction of program-controlled manipulators, manipulators, chucks, etc., can solve the problem of being unable to adapt to grasping of various objects and easily deformable objects, unable to directly judge whether the grasping action is successful, and unable to know Object information and other issues, to achieve the effect of simple structure, low cost, and avoid damage to objects

Pending Publication Date: 2021-11-09
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] However, grasping only through the information of contact force cannot directly judge whether the grasping action is successful; before touching the object, it is also impossible to know any object information, and the target force value can only be set as a fixed value, which cannot adapt to multiple Grasping of various objects and deformable objects

Method used

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  • Multi-mode force control lossless grabbing device for intelligent production line
  • Multi-mode force control lossless grabbing device for intelligent production line
  • Multi-mode force control lossless grabbing device for intelligent production line

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Embodiment Construction

[0062] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be noted that the following examples are intended to facilitate the understanding of the present invention, but not to limit it in any way.

[0063] A kind of preferred embodiment of the present invention is:

[0064] The multi-modal non-destructive force control grasping device includes an initial setting force detection subsystem, an output force control subsystem, and a force control gripper mechanical component. The modal information sources of the initial setting force detection subsystem include cameras and film pressure sensors. The modal information sources of the output force control subsystem include thin-film pressure sensors and infrared detection modules;

[0065] The force control gripper is a two-finger mechanical claw, and the mechanical components of the gripper include a main bracket, a screw slide, toothed fingers and ten...

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Abstract

The invention discloses a multi-mode force control lossless grabbing device for an intelligent production line. The multi-mode force control lossless grabbing device comprises a binocular image collector, a force control grabbing hand mechanical assembly and a control system, wherein an ultrasonic sensor, an infrared detection module and a thin film pressure sensor are arranged on the force control grabbing hand mechanical assembly, the binocular image collector is used for collecting binocular two-dimensional color image information of a target object, the ultrasonic sensor collects the distance between a mechanical claw and a tabletop, the infrared detection module collects gray information and is used for judging whether the two-finger mechanical claw grasps a target object or not, the thin film pressure sensor collects pressure information between the two-finger mechanical claw and the target object, and the control system controls a force control grabbing hand mechanical assembly to grab the target object in a lossless mode according to information collected by the binocular image collector, the ultrasonic sensor, the infrared detection module and the thin film pressure sensor. According to the multi-mode force control lossless grabbing device, visual information, force feedback information and infrared detection information are integrated, multi-stage force control is achieved, and lossless grabbing can be achieved in cooperation with a mechanical arm.

Description

technical field [0001] The present invention relates to the technical field of non-destructive grabbing, in particular to a multi-mode force-controlled non-destructive grabbing device for intelligent production lines. Background technique [0002] In recent years, with the development of the manufacturing industry towards automation, diversification and precision, robots have been widely used in production lines. As the front end of the robot, the grasping performance of the manipulator is an important item in the application research of the robot assembly industry. The purpose of the research is to eliminate the freedom of movement of the grasped object through a series of reasonable contact constraints, so that the object can reach a state of force balance and realize the desired movement. [0003] As the application fields of industrial automation become more and more extensive, and the grasping operation objects become more and more diverse, it is difficult for traditio...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J15/12B25J19/02B25J19/04B25J9/16
CPCB25J9/00B25J15/12B25J19/02B25J19/021B25J19/04B25J9/1633Y02P90/02
Inventor 戴雨欣俞一帆胡茂新冯毅萍
Owner ZHEJIANG UNIV
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