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Moving object robust clamping method and clamping system based on speed modulation

A moving object and speed modulation technology, which is applied in chucks, manufacturing tools, program-controlled manipulators, etc., can solve problems such as poor applicability, and achieve the effect of improving clamping accuracy and high clamping success rate

Pending Publication Date: 2022-02-08
FOSHAN NANHAI GUANGDONG TECH UNIV CNC EQUIP COOP INNOVATION INST
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a method for robust gripping of moving objects based on velocity modulation, to solve the problem of poor applicability of the prior art proposed in the above-mentioned background technology, which is only applicable to the gripping of objects with regular moving paths, etc.

Method used

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  • Moving object robust clamping method and clamping system based on speed modulation
  • Moving object robust clamping method and clamping system based on speed modulation
  • Moving object robust clamping method and clamping system based on speed modulation

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Embodiment approach

[0042] refer to Figures 2 to 3 , as a preferred embodiment of the present invention, the step S1 specifically includes:

[0043] S11. The clamped workpiece 2 at the end of the robot 1 predicts the tracking path according to the trajectory 8 of the moving object 7;

[0044] S12. The robot 1 performs active motion and controls the clamped workpiece 2 to approach the moving object 7 at high speed.

[0045] refer to figure 2 and Figure 4 , as a preferred embodiment of the present invention, the step S2 specifically includes:

[0046] S21. Start the local vision 3 of the clamped workpiece 2 when the clamped workpiece 2 at the end of the robot 1 successfully tracks the moving object 7;

[0047] S22, clamping the workpiece 2 to collect images of the moving object 7;

[0048] S23. Calculate the geometric center of the moving object 7 according to the collected images;

[0049] S24. Determine the clamping position for clamping the workpiece 2, and fine-tune the position for cl...

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Abstract

The invention discloses a moving object robust clamping method based on speed modulation. The method comprises the following steps: controlling a clamping workpiece at the tail end of a robot to track a moving object based on a global RGB-D visual sensor; determining the workpiece clamping position of the tail end of the robot; starting a distance sensor on the clamped workpiece to sense the clamping unbalance; and modulating the clamping speed of a clamped workpiece, and modulating the clamping speed to be 0 when the clamped workpiece makes contact with the surface of a moving object so as to achieve stable clamping. Meanwhile, the invention discloses a corresponding clamping system. The system has the characteristics of high clamping success rate, visual feedback function and speed modulation function, and is very suitable for robust clamping of a moving object by a robot.

Description

technical field [0001] The invention relates to the technical field of gripping tools at the end of a robot, in particular to a speed modulation-based robust gripping method for a moving object and a speed modulation-based robust gripping system for a moving object. Background technique [0002] Automation equipment is a sharp weapon for manufacturing a powerful country. It must move towards high speed and intelligence. However, it is extremely difficult to robustly grip some moving objects, or the movement path is disturbed during the gripping process, which improves robot gripping. An important means to obtain stability is to detect the speed of the gripper approaching the object, and to realize the robust gripping of the moving object by modulating the speeds of the two grippers respectively. At present, there are many methods for gripping objects, but for the gripping of moving objects, there is a common problem that the gripping stability is not high, and it is easy to ...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J15/00B25J19/00
CPCB25J9/00B25J15/00B25J19/0095
Inventor 刁世普杨海东
Owner FOSHAN NANHAI GUANGDONG TECH UNIV CNC EQUIP COOP INNOVATION INST
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