CN114310863A - Modularized robot execution tool - Google Patents
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- CN114310863A CN114310863A CN202011051468.5A CN202011051468A CN114310863A CN 114310863 A CN114310863 A CN 114310863A CN 202011051468 A CN202011051468 A CN 202011051468A CN 114310863 A CN114310863 A CN 114310863A
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- 238000004891 communication Methods 0.000 claims abstract description 6
- 238000010926 purge Methods 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
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- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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Abstract
The invention discloses a modularized robot execution tool in the technical field of automatic procedures, which comprises an industrial robot, a robot flange, a basic module and an executor module arranged on the basic module, wherein the basic module is connected with an execution end of the industrial robot through the robot flange, and the basic module can receive bus communication, a power supply and an air source from the connected robot flange through the industrial robot; the actuator module is used for completing automatic procedures through basic module control, and the actuator disclosed by the invention is widely applicable to various industrial robots, has the characteristics of small volume, high integration level, multiple functions and the like, is low in cost and convenient to install and maintain, and can realize automatic procedures such as material identification, grabbing, carrying, assembling and the like.
Description
Technical Field
The invention relates to the technical field of automatic procedures, in particular to a modular robot executing tool.
Background
A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task being to assist or replace human work, e.g. production, construction, or dangerous work
The existing industrial robot actuator is large in size, single in function, high in cost and inconvenient to detach, install, maintain and maintain in the later period.
Based on this, the invention designs a modular robot executing tool to solve the problems.
Disclosure of Invention
The invention aims to solve the problems that an existing industrial robot actuator is large in size, single in function, high in cost and inconvenient to achieve work such as disassembly, assembly, later-period maintenance and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
a modularized robot execution tool comprises an industrial robot, a robot flange, a basic module and an actuator module arranged on the basic module, wherein the basic module is connected with an execution end of the industrial robot through the robot flange, and the basic module can receive bus communication, a power supply and an air source from the connected robot flange through the industrial robot; and the actuator module is used for completing an automatic process through the control of the basic module.
Preferably, the actuator module comprises an electric control module connected by an actuating electric signal and a pneumatic control module connected by an actuating pneumatic control signal.
Preferably, the electric control module comprises a servo hand-grasping actuator and a screwing actuator.
Preferably, the pneumatic control module comprises an actuating hand grasping actuator and a pneumatic suction actuator.
Preferably, the actuator module further comprises an integrated vision system, wherein the integrated vision system is used for acquiring the monocular image, preprocessing the monocular image, extracting the characteristic points, recording the gray value of the characteristic points, the gray value of the adjacent pixels and the first-order second-order derivative of the corresponding gray change, and forming a unique characteristic representation matrix. And calculating Euler distances among the characteristic point representation matrixes according to the pre-stored comparison images to realize matching and identification.
Preferably, the basic module can control the input of the direct current power supply, the industrial bus and the air source, and can monitor various states through the integrated vision system.
Preferably, the pneumatic control module comprises solenoid valves, a vacuum generator and a pressure sensor, the number of the solenoid valves is at least two, and when the Valve1 is opened and the Valve2 is closed, the air flow passes through the vacuum generator to generate vacuum at the cup; the purge is achieved by creating a positive pressure at the cup when Valve1 is closed and Valve2 is open.
Compared with the prior art, the invention has the following beneficial effects: the actuator of the invention is widely applicable to various industrial robots, has the characteristics of small volume, high integration level, multifunction and the like, is low in cost and convenient to install and maintain, and can realize automatic procedures of material identification, grabbing, carrying, assembling and the like.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a block diagram of a system module according to the present invention;
FIG. 3 is a basic module control diagram of the present invention;
FIG. 4 is a control diagram of the pneumatic control module of the present invention;
FIG. 5 is a block diagram of an integrated vision system of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1 to 5. The invention provides a technical scheme that: a modularized robot execution tool comprises an industrial robot, a robot flange, a basic module and an actuator module arranged on the basic module, wherein the basic module is connected with an execution end of the industrial robot through the robot flange, and the basic module can receive bus communication, a power supply and an air source from the connected robot flange through the industrial robot; the actuator module is used for completing automatic procedures through control of the basic module, transmitting bus communication, a power supply and an air source on the industrial robot, transmitting the signals to the basic module through the robot flange, and controlling each complex automatic work of the actuator module through the basic module.
In a further embodiment, the actuator module comprises an electric control module connected by an actuating electric signal and a pneumatic control module connected by an actuating pneumatic control signal; the classification control of the electric signals and the pneumatic signals is convenient to realize.
In a further embodiment, the electric control module comprises a servo hand-grasping actuator and a screwing actuator; the servo hand-holding actuator and the screw screwing actuator can be controlled through electric signals.
In still further embodiments, the pneumatic control module comprises a starting hand grasping actuator and a pneumatic suction actuator; the hand grasping actuator and the pneumatic suction actuator can be controlled through pneumatic signals.
In a further embodiment, the actuator module further includes an integrated vision system, and the integrated vision system is configured to collect a monocular image, perform preprocessing, extract feature points, and record the gray values of the feature points, the gray values of adjacent pixels, and the first-order and second-order derivatives of corresponding gray changes to form a unique feature representation matrix. Calculating Euler distances among the characteristic point representation matrixes according to pre-stored comparison images to realize matching and identification; as shown in fig. 5, smart camera is used to realize independent visual recognition and operation. The camera only needs power input and bus communication, has independent computing capability, and can be used for configuring and outputting a computing result through the bus. The camera has an integrated lens and a light source, and outputs corresponding object coordinates after successful recognition to guide the robot to perform positioning or other specific operations.
In a further embodiment, the basic module can control the input of only the dc power supply, the industrial bus and the air supply, and can monitor various states through the integrated vision system; as shown in fig. 3, the module has integrated system control, i.e. the inputs are only dc power, industrial bus and gas supply, all processing operations are implemented inside the basic module. The user can control the basic module through the bus, can realize the control of multiple functions, and can monitor various states.
In a further embodiment, the pneumatic control module comprises solenoid valves, vacuum generators and a pneumatic pressure sensor, the number of the solenoid valves is at least two, and when the Valve1 is opened and the Valve2 is closed, the air flow passes through the vacuum generators to generate vacuum at the cup; when Valve1 is closed and Valve2 is opened, positive pressure is formed at the cup, and purging is achieved; as shown in fig. 4, the pneumatic module is composed of a solenoid valve with high integration degree and small volume, a vacuum generator and a pneumatic pressure sensor. The pneumatic module is very small and exquisite, and with the filter and the sucker, the functions of sucking, purging, air pressure detection and the like of an object can be realized. It is worth mentioning that the object is easy to adhere to the sucker when the object is light in weight, and the object can be conveniently separated through the blowing function. The suction and purging functions can be realized through the two electromagnetic valves and the vacuum generator.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (7)
1. A modular robotic implement, characterized by: the system comprises an industrial robot, a robot flange, a basic module and an actuator module arranged on the basic module, wherein the basic module is connected with an execution end of the industrial robot through the robot flange, and the basic module can receive bus communication, a power supply and an air source from the connected robot flange through the industrial robot; and the actuator module is used for completing an automatic process through the control of the basic module.
2. The modular robotic implement of claim 1, wherein: the actuator module comprises an electric control module connected through an execution electric signal and a pneumatic control module connected through an execution pneumatic control signal.
3. The modular robotic implement of claim 2, wherein: the electric control module comprises a servo hand-grasping actuator and a screw screwing actuator.
4. The modular robotic implement of claim 2, wherein: the pneumatic control module comprises a starting hand grasping actuator and a pneumatic suction actuator.
5. A modular robotic implement according to claim 3 or 4, wherein: the actuator module further comprises an integrated visual system, wherein the integrated visual system is used for collecting monocular images, preprocessing the monocular images, extracting characteristic points, recording the gray values of the characteristic points, the gray values of adjacent pixels and first-order second-order derivatives of corresponding gray changes, and forming a unique characteristic representation matrix. And calculating Euler distances among the characteristic point representation matrixes according to the pre-stored comparison images to realize matching and identification.
6. The modular robotic implement of claim 5, wherein: the basic module can control the input of a direct current power supply, an industrial bus and an air source and can monitor various states through the integrated vision system.
7. The modular robotic implement of claim 2, wherein: the pneumatic control module comprises solenoid valves, a vacuum generator and a pneumatic pressure sensor, the number of the solenoid valves is at least two, and when the Valve1 is opened and the Valve2 is closed, the airflow passes through the vacuum generator to generate vacuum at the cup; the purge is achieved by creating a positive pressure at the cup when Valve1 is closed and Valve2 is open.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011051468.5A CN114310863A (en) | 2020-09-29 | 2020-09-29 | Modularized robot execution tool |
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| CN202011051468.5A CN114310863A (en) | 2020-09-29 | 2020-09-29 | Modularized robot execution tool |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105848834A (en) * | 2013-11-28 | 2016-08-10 | Abb高姆技术有限责任公司 | Robot arm comprising input module |
| US20170080579A1 (en) * | 2015-08-26 | 2017-03-23 | Berkshire Grey Inc. | Systems and methods for providing vacuum valve assemblies for end effectors |
| CN106646441A (en) * | 2016-11-16 | 2017-05-10 | 杭州国辰牵星科技有限公司 | Indoor mobile robot positioning system combining environment information and indoor mobile robot positioning method thereof |
| CN108098816A (en) * | 2017-12-20 | 2018-06-01 | 重庆同朋科技有限公司 | A kind of excavator stone clamp device |
| CN208258442U (en) * | 2018-05-08 | 2018-12-21 | 湖州佳创自动化科技有限公司 | A kind of end effector of spheral fruit picking robot |
| CN109702732A (en) * | 2019-01-22 | 2019-05-03 | 福建（泉州）哈工大工程技术研究院 | A kind of seven freedom cooperation robot |
| WO2019176158A1 (en) * | 2018-03-14 | 2019-09-19 | 株式会社 東芝 | Picking system and end effector for robot arm |
| CN110991301A (en) * | 2019-11-27 | 2020-04-10 | 成都超有范儿科技有限公司 | Face recognition method |
-
2020
- 2020-09-29 CN CN202011051468.5A patent/CN114310863A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105848834A (en) * | 2013-11-28 | 2016-08-10 | Abb高姆技术有限责任公司 | Robot arm comprising input module |
| US20170080579A1 (en) * | 2015-08-26 | 2017-03-23 | Berkshire Grey Inc. | Systems and methods for providing vacuum valve assemblies for end effectors |
| CN106646441A (en) * | 2016-11-16 | 2017-05-10 | 杭州国辰牵星科技有限公司 | Indoor mobile robot positioning system combining environment information and indoor mobile robot positioning method thereof |
| CN108098816A (en) * | 2017-12-20 | 2018-06-01 | 重庆同朋科技有限公司 | A kind of excavator stone clamp device |
| WO2019176158A1 (en) * | 2018-03-14 | 2019-09-19 | 株式会社 東芝 | Picking system and end effector for robot arm |
| CN208258442U (en) * | 2018-05-08 | 2018-12-21 | 湖州佳创自动化科技有限公司 | A kind of end effector of spheral fruit picking robot |
| CN109702732A (en) * | 2019-01-22 | 2019-05-03 | 福建（泉州）哈工大工程技术研究院 | A kind of seven freedom cooperation robot |
| CN110991301A (en) * | 2019-11-27 | 2020-04-10 | 成都超有范儿科技有限公司 | Face recognition method |
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