CN111015659A - Multifunctional recognizable classifying manipulator - Google Patents
Multifunctional recognizable classifying manipulator Download PDFInfo
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- CN111015659A CN111015659A CN201911329547.5A CN201911329547A CN111015659A CN 111015659 A CN111015659 A CN 111015659A CN 201911329547 A CN201911329547 A CN 201911329547A CN 111015659 A CN111015659 A CN 111015659A
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- main controller
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- servo motor
- rotating part
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multifunctional recognizable and classifiable manipulator which comprises a robot arm, a fixed seat, an alternating-current servo motor, a laser radar, an absolute encoder, a camera, a rotating part, a clamp holder and a main controller, wherein the robot arm is connected with the fixed seat through the alternating-current servo motor; the fixed seat is arranged on the movable end of the robot arm; the alternating current servo motor, the laser radar, the absolute encoder and the camera are all fixed with the fixed seat; the rotating part is arranged below the fixed seat and is connected with a driving shaft of the alternating current servo motor; the grippers are arranged on the rotating part around the rotating axis of the rotating part; the main controller is electrically connected with the alternating current servo motor, the laser radar, the absolute encoder, the camera and the clamper; the absolute encoder records the current rotation angle of the absolute value encoder and transmits the rotation angle information to the main controller. The clamp has a smart structure, can clamp a plurality of goods in sequence by arranging a plurality of clamps, effectively avoids the mutual interference between the goods and greatly improves the working efficiency.
Description
Technical Field
The invention relates to the field of robots, in particular to a multifunctional recognizable classifying manipulator.
Background
The industrial robot is an electromechanical integrated automatic production equipment which is humanoid in operation, automatically controlled, repeatedly programmable and capable of completing various operations in three-dimensional space. The manipulator is an automatic mechanical device which imitates partial actions of human hands and realizes automatic grabbing, carrying or operation according to given programs, tracks and requirements. A robot arm used in industrial production is called an "industrial robot arm". The manipulator mainly comprises an actuating mechanism, a driving system, a control system, a position detection device and the like. At present, in the prior art, the manipulator can only singly recognize and then clamp and convey goods during carrying, and the efficiency is extremely low.
Disclosure of Invention
The invention aims to provide a multifunctional recognizable classifying manipulator which is efficient and can recognize and convey a plurality of objects at one time.
The technical scheme for realizing the purpose of the invention is as follows: a multifunctional recognizable and classifiable manipulator comprises a robot arm, a fixed seat, an alternating current servo motor, a laser radar, an absolute encoder, a camera, a rotating part, a clamp holder and a main controller; the fixed seat is arranged on the movable end of the robot arm; the alternating current servo motor, the laser radar, the absolute encoder and the camera are all fixed with the fixed seat; the rotating part is arranged below the fixed seat and is connected with a driving shaft of the alternating current servo motor; the grippers are arranged on the rotating part around the rotating axis of the rotating part; the main controller is electrically connected with the alternating current servo motor, the laser radar, the absolute encoder, the camera and the clamper; the absolute encoder records the current rotation angle of the absolute value encoder and transmits the rotation angle information to the main controller.
The rotating part is hollow; a plurality of windows which respectively correspond to the vertical positions of the clampers are arranged on the side wall of the rotating part; the camera is positioned in the inner cavity of the rotating part and is fixed with the fixed seat through the extension rod; the camera shoots outwards through any one window.
The camera collects the color information and/or the identification information of the goods in front of the rotating part and transmits the color information and/or the identification information to the main controller for identification.
An input gear is arranged at the input end of the absolute encoder; and a driving shaft of the alternating current servo motor is provided with a synchronous gear meshed with the input gear.
And the laser radar scans surrounding position information to generate a placement map and transmits the placement map to the main controller.
A control method of a multifunctional recognizable sorting manipulator comprises the following steps:
s1, inputting a block conveying instruction to the main controller;
s2, the master controller controls the movable end of the robot arm to move to a working area;
s3, scanning surrounding position information by the laser radar to generate a placement map, and transmitting the placement map to the main controller;
s4, the main controller controls the robot arm to move to the edge of the static platform where goods are placed;
s5, the main controller sends a pulse signal to the alternating current servo motor, and the alternating current servo motor is controlled to drive the rotating part to rotate until any one clamper is aligned with the goods; the main controller controls the gripper to grab goods;
s6, the main controller sends a pulse signal to the alternating current servo motor, and the alternating current servo motor is controlled to drive the rotating part to rotate until the clamp for grabbing the goods is positioned right in front of the camera; the camera shoots front goods color information and/or identification information and transmits the color information and/or the identification information to the main controller for identification; the absolute value encoder records the rotation angle information of the current rotation part and feeds the rotation angle information back to the main control and upper computer
S7, repeating S5 and S6 until each gripper finishes grabbing the goods;
and S8, the main controller performs path planning corresponding to the placement map, and performs one-by-one article placement according to the color information and/or the identification information of the goods grabbed by each gripper, and the rotation angle information of the rotating part when the goods grabbed by the gripper.
The specific content of the S1 is as follows: the user inputs to the master controller the location information to be transported for each color or identified piece.
The specific content of the S3 is as follows: the laser radar scans surrounding position information by a triangular ranging or flight time method, a map is constructed by using a mapping algorithm in an ROS system, after all the scans are finished, the surrounding position information is stored as a placement map, and the placement map is transmitted to the main controller;
the specific steps of S8 include:
①, the main controller sends a pulse signal to the AC servo motor, and controls the AC servo motor to drive the rotating part to rotate until any one gripper which has grabbed the goods is positioned right in front of the camera;
②, the camera carries out secondary recognition on the color information and/or the identification information of the goods in front;
③, planning a shortest route which can place all goods at one time by the main controller corresponding to the placement map by adopting an A-star algorithm in ROS according to the color information and/or the identification information of the goods grabbed by each gripper, the rotation angle information of the rotating part when the gripper grabs the goods and the information of the goods right in front of the current camera;
④, the master controller controls the movable end of the robot arm to move to the edge of the placing platform;
⑤, the laser radar scans the current surrounding position information, transmits the current surrounding position information to the main controller to be compared with a placement map, and obtains the current position information and the surrounding environment information by using an AMCL algorithm in ROS;
⑥, the main controller controls the robot arm, the AC servo motor and the clamper to work to place the goods one by one.
By adopting the technical scheme, the invention has the following beneficial effects: the automatic clamping device is ingenious in structure, a plurality of goods can be sequentially clamped through the arrangement of the plurality of clamping devices, mutual interference between the goods is effectively avoided, the working efficiency is greatly improved, sequential placement of all the goods after clamping is completed is realized, the defect that a manipulator can only singly recognize and then clamp the goods in the prior art is effectively overcome, the information of each clamped goods can be recorded through the camera and the absolute value encoder by the main controller, and the goods clamping error is avoided.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which
Fig. 1 is a schematic mechanical diagram of the multifunctional recognizable sorting robot of the present invention.
The reference numbers are: the robot comprises a robot arm 1, a fixed seat 2, an alternating current servo motor 3, a synchronous gear 3-1, a laser radar 4, an absolute encoder 5, an input gear 5-1, a camera 6, a rotating part 7, a window 7-1 and a clamp holder 8.
Detailed Description
Example one
Referring to fig. 1, the multifunctional recognizable classifying manipulator of the present embodiment includes a robot arm 1, a fixed base 2, an ac servo motor 3, a laser radar 4, an absolute encoder 5, a camera 6, a rotating part 7, a clamper 8, and a main controller.
The fixed seat 2 is arranged on the movable end of the robot arm 1. Alternating current servo motor 3, laser radar 4, absolute encoder 5 and camera 6 all are fixed with fixing base 2. The rotating part 7 is arranged below the fixed seat 2 and is connected with a driving shaft of the alternating current servo motor 3. The clamper 8 is provided in plurality on the rotation part 7 around the rotation axis of the rotation part 7. The main controller is electrically connected with the alternating current servo motor 3, the laser radar 4, the absolute encoder 5, the camera 6 and the clamper 8. The absolute encoder 5 records the current rotation angle of the absolute value encoder and transmits the rotation angle information to the main controller.
In the present embodiment, the rotating portion 7 is hollow inside. The side wall of the rotating part 7 is provided with a plurality of windows 7-1 corresponding to the vertical positions of each clamper 8. The camera 6 is positioned in the inner cavity of the rotating part 7 and is fixed with the fixed seat 2 through the extension rod. The camera 6 shoots outwards through any one of the windows 7-1.
In this embodiment, the camera 6 collects the color information and/or the identification information of the goods in front of the rotating part 7, and transmits the color information and/or the identification information to the main controller for identification.
In the present embodiment, an input gear 5-1 is provided on the input end of the absolute encoder 5. A synchronous gear 3-1 meshed with the input gear 5-1 is arranged on a driving shaft of the AC servo motor 3.
In the present embodiment, the laser radar 4 scans the surrounding position information to generate a placement map, and transmits the placement map to the main controller.
The control method of the multifunctional recognizable sorting manipulator comprises the following steps:
and S1, inputting an object conveying command to the main controller.
And S2, the master controller controls the movable end of the robot arm 1 to move to the working area.
And S3, scanning the surrounding position information by the laser radar 4 to generate a placement map, and transmitting the placement map to the main controller.
And S4, the main controller controls the robot arm 1 to move to the edge of the static platform on which the goods are placed.
S5, the main controller sends a pulse signal to the AC servo motor 3, and controls the AC servo motor 3 to drive the rotating part 7 to rotate until any one clamper 8 is aligned with the goods. The main controller controls the gripper 8 to grab the goods.
S6, the main controller sends a pulse signal to the AC servo motor 3, and controls the AC servo motor 3 to drive the rotating part 7 to rotate until the gripper 8 which has gripped the goods is positioned right in front of the camera 6. The camera 6 shoots the color information and/or the identification information of the goods in front and transmits the color information and/or the identification information to the main controller for identification. The absolute value encoder 5 records the current rotation angle information of the rotation part 7 and feeds the rotation angle information back to the main control and upper computer
S7, repeating S5 and S6 until each gripper 8 finishes gripping the goods.
S8, the main controller plans the path corresponding to the placing map, and places the objects one by one according to the color information and/or the identification information of the goods grabbed by each clamper 8 and the rotation angle information of the rotating part 7 when the clamper 8 grabs the goods.
In this embodiment, the specific content of S1 is: the user inputs to the master controller the location information to be transported for each color or identified piece.
In this embodiment, the specific content of S3 is: the laser radar 4 scans surrounding position information by a triangular ranging or flight time method, a map is constructed by using a gmapping algorithm in the ROS system, after all scans are finished, the surrounding position information is stored as a placement map, and the placement map is transmitted to the main controller.
In this embodiment, the specific step of S8 includes:
①, the main controller sends a pulse signal to the AC servo motor 3, and controls the AC servo motor 3 to drive the rotating part 7 to rotate until any one gripper 8 which has grabbed the goods is positioned right in front of the camera 6.
②, the camera 6 performs secondary recognition of the color information and/or identification information on the goods in front of the front.
③, according to the color information and/or identification information of the goods grabbed by each clamper 8, the rotation angle information of the rotation part 7 when the clamper 8 grabs the goods and the information of the goods aligned to the front by the current camera 6, the main controller plans a shortest route which can place all the goods once by adopting an A-line algorithm in ROS corresponding to the placement map.
④, the main controller controls the movable end of the robot arm 1 to move to the edge of the placing platform.
⑤, the laser radar 4 scans the current surrounding position information, transmits the current surrounding position information to the main controller to be compared with the placement map, and obtains the current position information and the surrounding environment information by using the AMCL algorithm in the ROS.
⑥, the main controller controls the robot arm 1, the AC servo motor 3 and the clamper 8 to work to place the cargoes one by one.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a multi-functional distinguishable categorised manipulator which characterized in that: the robot comprises a robot arm (1), a fixed seat (2), an alternating current servo motor (3), a laser radar (4), an absolute encoder (5), a camera (6), a rotating part (7), a clamp holder (8) and a main controller; the fixed seat (2) is arranged on the movable end of the robot arm (1); the alternating current servo motor (3), the laser radar (4), the absolute encoder (5) and the camera (6) are all fixed with the fixed seat (2); the rotating part (7) is arranged below the fixed seat (2) and is connected with a driving shaft of the alternating current servo motor (3); the grippers (8) are arranged on the rotating part (7) in a plurality around the rotating axis of the rotating part (7); the main controller is electrically connected with the alternating current servo motor (3), the laser radar (4), the absolute encoder (5), the camera (6) and the clamper (8); the absolute encoder (5) records the current rotation angle of the absolute value encoder and transmits the rotation angle information to the main controller.
2. The multifunctional recognizable sorting manipulator of claim 1, wherein: the rotating part (7) is hollow; a plurality of windows (7-1) which respectively correspond to the vertical positions of the clampers (8) are arranged on the side wall of the rotating part (7); the camera (6) is positioned in the inner cavity of the rotating part (7) and is fixed with the fixed seat (2) through an extension rod; the camera (6) shoots outwards through any one window (7-1).
3. The multifunctional recognizable sorting manipulator of any one of claims 1 or 2, wherein: the camera (6) collects the color information and/or the identification information of the goods in front of the rotating part (7), and transmits the color information and/or the identification information to the main controller for identification.
4. The multifunctional recognizable sorting manipulator of claim 1, wherein: an input gear (5-1) is arranged at the input end of the absolute encoder (5); and a driving shaft of the alternating current servo motor (3) is provided with a synchronous gear (3-1) meshed with the input gear (5-1).
5. The multi-functional identifiable classification robot of claim 1, wherein: and the laser radar (4) scans surrounding position information to generate a placement map and transmits the placement map to the main controller.
6. The control method of the multifunctional recognizable classification manipulator as claimed in claim 1, wherein: the method comprises the following steps:
s1, inputting a block conveying instruction to the main controller;
s2, the master controller controls the movable end of the robot arm (1) to move to a working area;
s3, scanning surrounding position information by the laser radar (4) to generate a placement map, and transmitting the placement map to the main controller;
s4, the main controller controls the robot arm (1) to move to the edge of the static platform where goods are placed;
s5, the main controller sends a pulse signal to the alternating current servo motor (3) and controls the alternating current servo motor (3) to drive the rotating part (7) to rotate until any one clamper (8) is aligned with the goods; the main controller controls the gripper (8) to grab goods;
s6, the main controller sends a pulse signal to the alternating current servo motor (3) and controls the alternating current servo motor (3) to drive the rotating part (7) to rotate until the clamp holder (8) which has grabbed the goods is positioned right in front of the camera (6); the camera (6) shoots the color information and/or the identification information of the front goods and transmits the color information and/or the identification information to the main controller for identification; the absolute value encoder (5) records the rotation angle information of the current rotation part (7) and feeds the rotation angle information back to the main control and upper computer
S7, repeating S5 and S6 until each gripper (8) finishes grabbing the goods;
s8, the main controller carries out path planning corresponding to the placement map, and carries out one-by-one article placement according to the color information and/or the identification information of the goods grabbed by each gripper (8) and the rotation angle information of the rotating part (7) when the gripper (8) grabs the goods.
7. The control method of the multifunctional recognizable sorting robot of claim 7, wherein: the specific content of the S1 is as follows: the user inputs to the master controller the location information to be transported for each color or identified piece.
8. The control method of the multifunctional recognizable sorting robot of claim 7, wherein: the specific content of the S3 is as follows: and the laser radar (4) scans surrounding position information by a triangular ranging or flight time method, a map is constructed by using a mapping algorithm in the ROS system, after all scans are finished, the surrounding position information is stored as a placement map, and the placement map is transmitted to the main controller.
9. The control method of the multifunctional recognizable sorting robot of claim 7, wherein: the specific steps of S8 include:
①, the main controller sends a pulse signal to the AC servo motor (3), and controls the AC servo motor (3) to drive the rotating part (7) to rotate until any gripper (8) which has grabbed the goods is positioned right in front of the camera (6);
②, the camera (6) carries out secondary recognition on the color information and/or the identification information of the goods in front;
③, according to the color information and/or identification information of the goods grabbed by each gripper (8), the rotation angle information of a rotating part (7) when the gripper (8) grabs the goods and the information of the goods aligned to the front by the current camera (6), the main controller plans a shortest route which can place all the goods once by adopting an A-line algorithm in ROS corresponding to the placement map;
④, the master controller controls the movable end of the robot arm (1) to move to the edge of the placing platform;
⑤, the laser radar (4) scans the current surrounding position information, transmits the current surrounding position information to the main controller to be compared with the placement map, and obtains the current position information and the surrounding environment information by using the AMCL algorithm in the ROS;
⑥, the main controller controls the robot arm (1), the AC servo motor (3) and the clamper (8) to work to place the goods one by one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911329547.5A CN111015659A (en) | 2019-12-20 | 2019-12-20 | Multifunctional recognizable classifying manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911329547.5A CN111015659A (en) | 2019-12-20 | 2019-12-20 | Multifunctional recognizable classifying manipulator |
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| CN111015659A true CN111015659A (en) | 2020-04-17 |
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| CN201911329547.5A Pending CN111015659A (en) | 2019-12-20 | 2019-12-20 | Multifunctional recognizable classifying manipulator |
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| CN108127665A (en) * | 2017-12-27 | 2018-06-08 | 上汽通用汽车有限公司 | Different model standardization hopper robot vision scanning grabbing device |
| CN108839035A (en) * | 2018-07-04 | 2018-11-20 | 西北工业大学 | A method of it takes and borrows books |
| CN108942862A (en) * | 2018-07-16 | 2018-12-07 | 汕头大学 | A kind of compound mobile robot |
| CN109311157A (en) * | 2016-06-24 | 2019-02-05 | 川崎重工业株式会社 | The transport method of the connector of robot, carrying device and attached wire |
| CN209349948U (en) * | 2018-12-28 | 2019-09-06 | 中智未来(天津)机器人科技有限公司 | A kind of truss automatic loading and unloading manipulator for lathe |
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2019
- 2019-12-20 CN CN201911329547.5A patent/CN111015659A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104058260A (en) * | 2013-09-27 | 2014-09-24 | 沈阳工业大学 | Robot automatic stacking method based on visual processing |
| CN109311157A (en) * | 2016-06-24 | 2019-02-05 | 川崎重工业株式会社 | The transport method of the connector of robot, carrying device and attached wire |
| CN108127665A (en) * | 2017-12-27 | 2018-06-08 | 上汽通用汽车有限公司 | Different model standardization hopper robot vision scanning grabbing device |
| CN108839035A (en) * | 2018-07-04 | 2018-11-20 | 西北工业大学 | A method of it takes and borrows books |
| CN108942862A (en) * | 2018-07-16 | 2018-12-07 | 汕头大学 | A kind of compound mobile robot |
| CN209349948U (en) * | 2018-12-28 | 2019-09-06 | 中智未来(天津)机器人科技有限公司 | A kind of truss automatic loading and unloading manipulator for lathe |
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Application publication date: 20200417 |