WO2018195866A1

WO2018195866A1 - Component grabbing method based on robot system, and robot system and clamp

Info

Publication number: WO2018195866A1
Application number: PCT/CN2017/082225
Authority: WO
Inventors: 马明明; 赫少华
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2017-04-27
Filing date: 2017-04-27
Publication date: 2018-11-01
Also published as: CN107690377B; CN107690377A

Abstract

Disclosed is a component grabbing method based on a robot system, the robot system comprising a robot (20) and a clamp (30) driven by the robot, wherein the clamp comprises at least two sucker assemblies (31) spaced apart from each other. The grabbing method comprises: controlling the robot to drive the clamp to approach, in a pre-set initial position and posture, a to-be-grabbed surface of a to-be-grabbed component (40); when it is detected that a first sucker assembly comes into contact with the to-be-grabbed surface, controlling the robot to adjust the posture of the clamp, such that the remaining sucker assembly further comes into contact with the to-be-grabbed surface while the first sucker assembly stays in contact with the to-be-grabbed surface; and controlling the robot to grab the to-be-grabbed component by means of the at least two sucker assemblies. Using the component grabbing method can ensure that components with difference postures are grabbed successfully. A robot system and a clamp are further disclosed.

Description

Part grabbing method based on robot system, robot system, fixture

[Technical Field]

The invention relates to the field of automation technology, in particular to a component grasping method based on a robot system, a robot system and a clamp.

【Background technique】

In the industrial application of robots, it is often necessary to use robots to absorb thin-walled parts, such as glass. In the loading and unloading station of the parts, the position of the parts is often inaccurate, resulting in the robot not being able to accurately grasp the parts. Damage or loading and unloading position is incorrect.

Thin-walled parts are usually placed in the production line at the production line. For the stable storage of the parts, the trays usually need a certain supporting angle to keep the parts in a specific posture. However, there are many cases where the manual palletizing or even the machine palletizing is difficult to achieve the same posture of the multiple parts due to the individual differences of the pallets and the parts, which will bring a great deal to the automatic processing of the continuous processing and feeding. problem.

For the loading and unloading station in this case, many factories are currently manually loaded onto the automated production line. To automate the production line, robots are required to automatically load and unload parts. The current common practice is to find a machine. The standard posture, robot teaching, but this requires all the parts of the material to be loaded in the future need to be consistent with the standard posture.

Because the position of the parts on the tray is different by manual placement or the difference between the different parts themselves, when the parts have different postures on the tray, the robot can not accurately grasp (the forced suction will cause the parts to be damaged).

[Summary of the Invention]

The invention provides a component grasping method based on a robot system, a robot system and a clamp, which can solve the technical problem that the robot can not accurately grasp the posture difference of the parts on the tray in the prior art.

In order to solve the above technical problem, one technical solution adopted by the present invention is to provide a robot system-based part grasping method, the robot system including a robot and a clamp driven by the robot, wherein the clamp includes an interval setting At least two suction cup assemblies, the method comprising:

Controlling the robot to drive the clamp to approach the surface to be grasped of the part to be grasped in a preset initial posture;

After detecting that the first suction cup assembly contacts the surface to be grasped, controlling the robot to adjust the posture of the clamp so that the first suction cup assembly remains in contact with the surface to be grasped while remaining The suction cup assembly further contacts the surface to be grasped;

The robot is controlled to grasp the part to be grasped by the at least two suction cup assemblies.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a robot system for grasping a part, the robot system including a robot, a fixture, and a master control system, wherein the fixture includes at least intervals Two suction cup assemblies, each of the suction cup assemblies further comprising a first sensor, the main control system controlling the robot to drive the clamp to approach a surface to be gripped of the part to be gripped in a preset initial posture, a first sensor is configured to detect whether the suction cup assembly contacts the surface to be grasped, and after detecting that the first suction cup assembly contacts the surface to be grasped, the main control system controls the robot to adjust the clamp a posture such that while the first suction cup assembly is in contact with the surface to be grasped, the remaining suction cup assembly further contacts the surface to be grasped, thereby being grasped by the at least two suction cup assemblies Take the part to be grabbed.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a jig including a bracket and at least two suction cup assemblies, and the bracket is provided with a plurality of receiving holes corresponding to the suction cup assembly Each of the suction cup assemblies includes an insertion rod, a suction head, an elastic member, and a first sensor, wherein the insertion rod is inserted into the receiving hole and is movable along an axial direction of the receiving hole. The suction head is disposed at one end of the insertion rod, the elastic member is elastically supported between the bracket and the suction head, and when the suction head contacts the surface to be grasped, The elastic member is compressed to move the insertion rod along the axial direction of the accommodating hole, and the first sensor is configured to detect a moving distance of the insertion rod along the axial direction of the accommodating hole, and Determining whether the at least two suction cup assemblies are in contact with the surface to be grasped according to the moving distance.

The beneficial effects of the present invention are: different from the prior art, the present invention adjusts the posture of the clamp by controlling the robot so that the remaining suction cup assembly is further contacted while the first suction cup assembly is in contact with the surface to be grasped. The surface is grasped to ensure that the parts in different postures are smoothly captured.

[Description of the Drawings]

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings may be obtained according to these drawings without any creative work, wherein:

1 is a flow chart of a method for grabbing a part based on a robot system according to an embodiment of the present invention;

2 is a flow chart of a method for capturing a part based on a robot system according to another embodiment of the present invention;

3 is a simplified schematic diagram of a robot system provided by the present invention;

4 is a schematic plan view showing the structure of a jig of the robot system provided by the present invention;

5 is a partial cross-sectional view of a jig of a robot system provided by the present invention.

【detailed description】

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Referring to FIG. 1 and FIG. 3 to FIG. 5 , an embodiment of the present invention provides a method for capturing a part based on a robot system, wherein the robot system includes a robot 20 and a clamp 30 driven by the robot 20 , and the robot 20 adopts six axes. The robot, the jig 30 includes at least two suction cup assemblies 31 spaced apart, the method comprising the steps of:

S110: The control robot 20 drives the clamp 30 to approach the surface to be grasped of the part to be grasped in a preset initial posture. Generally, the surface of the jig 30 and the surface of the tray 50 to be gripped are to be grasped each time the tray 50 is replaced. Take the surface as two non-parallel planes.

S120: After detecting that the first suction cup assembly 31 contacts the surface to be grasped, the control robot 20 adjusts the posture of the clamp 30 such that the remaining suction cup assembly 31 while the first suction cup assembly 31 is kept in contact with the surface to be grasped. Further contact with the surface to be grasped. The first suction cup assembly 31 refers to the first suction cup assembly 31 that is in contact with the surface to be gripped.

In this step, it is possible to detect whether or not the suction cup assembly 31 is in contact with the surface to be gripped by a sensor provided on the jig 30. The sensor may be a sensor for detecting a distance such as a proximity sensor or a photoelectric sensor. When the tray 50 is replaced, the operator typically pushes the tray 50 carrying the part 40 to be gripped onto the work area of the robot 20 such that the part 40 to be grasped is opposed to the clamp 30.

The specific technique of the control robot 20 to adjust the posture of the jig 30 is described in the following description.

S130: The control robot 20 grasps the part 40 to be grasped by at least two suction cup assemblies 31. In this step, the vacuum can be grasped by providing vacuum suction to at least two suction cup assemblies 31.

In this embodiment, the plurality of parts to be grasped 40 all have different postures, so the posture is adjusted every time the grasping is performed to ensure accurate grasping of each part 40 to be grasped.

Referring to FIG. 2 to FIG. 5 together, another embodiment of the present invention provides a robot system-based part grabbing method, wherein the robot system includes a robot 20 and a clamp 30 driven by the robot 20, and the robot 20 uses a six-axis robot. The clamp 30 includes at least two suction cup assemblies 31 spaced apart, the method comprising the steps of:

S210: The control robot 20 drives the clamp 30 to approach the surface to be grasped of the part to be grasped in a preset initial posture. Generally, each time the tray 50 is replaced, the surface of the jig 30 and the surface to be gripped on the tray 50 to be gripped are two non-parallel planes.

S220: After detecting that the first suction cup assembly 31 contacts the surface to be grasped, the control robot 20 adjusts the posture of the clamp 30 such that the remaining suction cup assembly 31 while the first suction cup assembly 31 is kept in contact with the surface to be grasped. Further contact with the surface to be grasped. The first suction cup assembly 31 refers to the first suction cup assembly 31 that is in contact with the surface to be gripped.

In this step, whether the suction cup assembly 31 is connected can be detected by a sensor provided on the clamp 30. Touch the surface to be grabbed. The sensor may be a sensor for detecting a distance such as a proximity sensor or a photoelectric sensor. When the tray 50 is replaced, the operator typically pushes the tray 50 carrying the part 40 to be gripped onto the work area of the robot 20 such that the part 40 to be grasped is opposed to the clamp 30.

S222: Correct the initial posture of the jig 30 according to the adjustment parameter in the posture adjustment process. After performing this step, the surface of the jig 30 and the surface to be gripped of the part 40 to be gripped are formed in parallel.

S224: The control robot 20 drives the clamp 30 to approach the surface to be grasped with the corrected initial posture so that at least two suction cup assemblies 31 simultaneously contact the surface to be grasped during the approach.

S230: The control robot 20 grasps the part 40 to be grasped by at least two suction cup assemblies 31. In this step, the vacuum can be grasped by providing vacuum suction to at least two suction cup assemblies 31.

In this embodiment, the plurality of parts to be grasped 40 have a consistent posture, and after the robot 20 adjusts once, the subsequent grabs are captured according to the adjusted posture.

In one embodiment, the surface to be grasped is a flat surface, and the clamp 30 includes two suction cup assemblies 31 disposed in a coplanar manner, wherein when the first suction cup assembly 31 is detected to contact the surface to be grasped, the control robot 20 adjusts the clamp. The steps of the 30 gesture include:

After detecting that the first suction cup assembly 31 contacts the surface to be grasped, the control robot 20 rotates the clamp 30 about the preset first direction such that the other suction cup assembly 31 contacts the surface to be grasped, and records the first direction. The angle of rotation of each of the rotating shafts of the robot 20 during the rotation. The first direction is any one of the lines connecting the two suction cup assemblies, preferably one direction perpendicular to the line connecting the two suction cup assemblies.

At this time, the step of correcting the initial pose according to the adjustment parameter in the posture adjustment process includes:

The initial pose is corrected according to the rotation angle of each of the rotation axes of the robot 20 during the rotation about the first direction.

In another embodiment, the surface to be grasped is planar and the clamp 30 includes at least three suction cup assemblies 31 disposed coplanar. Wherein, after detecting that the first suction cup assembly 31 contacts the surface to be grasped, the step of controlling the robot 20 to adjust the posture of the clamp 30 includes:

After detecting that the first suction cup assembly 31 contacts the surface to be grasped, the control robot 20 rotates the clamp 30 about the preset first direction such that the other suction cup assembly 31 contacts the surface to be grasped, and records the first direction. Turn The rotation angle of each rotation axis of the robot 20 during the movement; the control robot 20 rotates the clamp 30 about the preset second direction so that the remaining suction cup assembly 31 contacts the surface to be grasped, and records the rotation of the robot during the rotation in the second direction 20 rotation angle of each shaft.

The steps of correcting the initial pose according to the adjustment parameters in the attitude adjustment process include:

The initial pose is corrected according to the rotation angle of each of the rotation axes of the robot 20 during the rotation about the first direction and the rotation angle of each of the rotation axes of the robot 20 during the rotation about the second direction.

The preset first direction may be any direction, and the preset second direction is a connection direction of the two suction cup assemblies 31 that have contacted the surface to be grasped. Preferably, the predetermined first direction is a connection direction of the suction cup assembly 31 that first contacts the surface to be grasped and the adjacent suction cup assembly 31; the preset second direction is that the surface to be grasped has been touched. The wiring direction of the two suction cup assemblies 31.

In a specific embodiment of the invention, the clamp 30 includes four suction cup assemblies 31 respectively disposed at different vertices of a rectangular region, wherein the first direction and the second direction respectively correspond to the first contact with the rectangular region and the surface to be grasped The direction of the two right-angled sides of the first suction cup assembly 31 is connected.

As shown in FIG. 4 and FIG. 5, in the embodiment, the clamp 30 further includes a bracket 32. The bracket 32 is provided with a plurality of receiving holes 321 corresponding to the suction cup assembly 31. The receiving hole 321 may be provided by the bracket 32 itself. Provided, or as shown in FIG. 5, the receiving aperture 321 is provided by another L-shaped chuck retaining plate 34 that is secured to the bracket 32.

In this embodiment, each of the chuck assemblies 31 includes an insertion rod 311, a suction head 312, an elastic member 313, and a first sensor 314. The insertion rod 311 is inserted into the receiving hole 321 and can be accommodated along the receiving hole. The axial movement of the 321 is disposed at one end of the insertion rod 311. The elastic member 313 is preferably spring-loaded between the bracket 32 and the suction head 312, and when the suction head 312 contacts the surface to be grasped, The elastic member 313 is compressed, thereby causing the insertion rod 311 to move in the axial direction of the accommodating hole 321.

The step of detecting whether the at least two suction cup assemblies 31 are in contact with the surface to be grasped includes: detecting, by the first sensor 314, a moving distance of the insertion rod 311 along the axial direction of the accommodating hole 321 and determining at least two suction cup assemblies according to the moving distance 31 Whether it is in contact with the surface to be grasped.

In the embodiment of the present invention, the first sensor 314 is a proximity sensor, and is detected by the first sensor 314. The step of measuring the moving distance of the insertion rod 311 along the axial direction of the accommodating hole 321 and determining whether the at least two suction cup assemblies 31 are in contact with the surface to be grasped according to the moving distance includes:

When the moving distance of the insertion lever 311 in the axial direction of the accommodation hole 321 is within the preset detection range, it is determined that the corresponding suction cup assembly 31 is in contact with the surface to be grasped. For example, the preset detection range is an area in which the first sensor 314 is directionally monitored, for example, an area of 20 mm or more. When the insertion rod 311 is moved a certain distance (for example, 20 mm) in the axial direction of the accommodating hole 321, Entering the area in which the first sensor 314 is orientated, it is determined that the corresponding suction cup assembly 31 has contacted the surface to be grasped.

In the embodiment of the present invention, each of the chuck assemblies 31 further includes an inductive device 315 disposed on the interposing rod 311. The first sensor 314 detects the moving distance of the interposing rod 311 along the axial direction of the receiving hole 321 through the sensing device 315. .

In the embodiment of the present invention, the insertion rod 311 is provided with an air passage 316 in the cavity connecting the suction head 312, and a negative pressure is provided in the cavity of the suction head 312 through the air passage 316, so that the suction head 312 is attracted to be grasped. Take the surface.

In the embodiment of the present invention, the robot system further includes a vacuum pump 10, and the suction cup assembly 31 is connected to the vacuum pump 10 through a pipeline. The position of the vacuum pump 10 is not limited. In an embodiment, it may be disposed near the base of the robot 20. The jig 30 further includes a conduit (not shown) that connects the interposing rod 311 with the vacuum pump 10, wherein the interposing rods 311 of the at least two suction cup assemblies 31 share the same conduit, and thus the suction heads of the at least two suction cup assemblies 31. The negative pressure of the same pressure is simultaneously generated in the cavity of 312.

In the embodiment of the present invention, the jig 30 further includes a second sensor 317 (shown in FIG. 4) disposed in the pipeline, and the second sensor 317 is configured to detect the degree of vacuum in the pipeline, passing through the air passage 316. After the vacuum is provided in the cavity of the chucking head 312, if the degree of vacuum in the pipeline is greater than or equal to the preset vacuum threshold, the control robot 20 drives the clamp 30 to move the component 40 to be gripped by the chucking head 312. Go to the scheduled location.

In the method for adjusting the posture of the gripping part based on the robot system provided by the embodiment, the posture of the clamp 30 is adjusted by the control robot 20 so that the remaining suction cup assembly is maintained while the first suction cup assembly 31 is in contact with the surface to be grasped. 31 is further contacted to the surface to be grasped to ensure that the parts 40 in different postures are smoothly grasped.

Referring to FIG. 3 to FIG. 5 together, the present invention also provides a robot system for grasping parts, the machine The human system includes a robot 20, a clamp 30, and a master control system (not shown).

The robot 20 is a six-axis robot, and the clamp 30 includes at least two suction cup assemblies 31 spaced apart from each other. The suction cup assembly 31 is connected to the vacuum pump 10 through a pipeline. The position of the vacuum pump 10 is not limited. In one embodiment, the robot can be disposed in the robot. Near the base of 20. Each of the chuck assemblies 31 further includes a first sensor 314 that controls the robot 20 to move the jig 30 to a predetermined initial position to approach the surface to be gripped of the part 40 to be gripped, and the first sensor 314 is configured to detect the chuck assembly 31. Whether the surface to be grasped is contacted, and when it is detected that the first suction cup assembly 31 contacts the surface to be grasped, the main control system controls the robot 20 to adjust the posture of the jig 30 so as to maintain the first suction cup assembly 31 and the surface to be grasped. At the same time as the contact, the remaining suction cup assembly 31 further contacts the surface to be gripped, and the portion 40 to be gripped is grasped by at least two suction cup assemblies 31. In the present embodiment, the plurality of parts to be grasped 40 all have different postures, so the posture is adjusted each time the gripping is performed to ensure accurate grasping of each part 40 to be gripped.

In other embodiments, the plurality of parts to be grasped 40 have a consistent posture, and after the robot 20 can be adjusted once, the subsequent grabs are captured according to the adjusted posture. Specifically, the main control system adjusts according to the posture. The adjustment parameter in the process corrects the initial pose, and the main control system controls the robot 20 to transmit the fixture 30 in the subsequent grasping process to the corrected initial posture to approach the surface to be grasped, so that at least two suction cups in the approaching process The assembly 31 simultaneously contacts the surface to be grasped to grasp the part 40 to be grasped.

In one embodiment of the present invention, the surface to be grasped is a flat surface, and the clamp 30 includes two suction cup assemblies 31 disposed in a coplanar manner, wherein when the first suction cup assembly 31 is detected to contact the surface to be grasped, the control robot 20 is controlled. The steps of adjusting the posture of the jig 30 include:

In another embodiment of the present invention, the surface to be grasped is a plane, and the jig 30 includes at least three of the coplanar surfaces. The suction cup assembly 31, after detecting that the first suction cup assembly 31 contacts the surface to be grasped, the main control system controls the robot 20 to rotate the clamp 30 about the first direction so that the other suction cup assembly 31 contacts the surface to be grasped, and records The rotation angle of each rotation axis of the robot 20 during the rotation of the preset first direction, the main control system further controls the robot 20 to rotate the clamp 30 about the preset second direction, so that the remaining suction cup assembly 31 contacts the surface to be grasped, And recording the rotation angle of each rotation axis of the robot 20 during the rotation about the second direction, and then according to the rotation angle of each rotation axis of the robot 20 and the rotation of each rotation axis of the robot 20 during the rotation around the second direction during the rotation around the first direction The angle corrects the initial pose.

Wherein, the preset first direction is the connection direction of the suction cup assembly 31 that first contacts the surface to be grasped and the adjacent suction cup assembly 31; the preset second direction is two that have contacted the surface to be grasped. The wiring direction of the chuck assembly 31.

The holder 30 includes a bracket 32. The bracket 32 is provided with a plurality of receiving holes 321 corresponding to the chuck assembly 31. The receiving hole 321 may be provided by the bracket 32 itself, or as shown in FIG. 4, the receiving hole 321 It is provided by another L-shaped suction cup fixing plate 34 fixed to the bracket.

In this embodiment, each of the suction cup assemblies 31 further includes an insertion rod 311, a suction head 312, and an elastic member 313, wherein the insertion rod 311 is inserted into the accommodating hole 321 and can be along the axial direction of the accommodating hole 321 Moving, the suction head 312 is disposed at one end of the insertion rod 311, and the elastic member 313 is elastically supported between the bracket 32 and the suction head 312, and when the suction head 312 contacts the surface to be grasped, the elastic member 313 is compressed, thereby The insertion rod 311 moves along the axial direction of the accommodating hole 321 , the first sensor 314 detects the moving distance of the insertion rod 311 along the axial direction of the accommodating hole 321 , and the main control system determines whether the suction cup assembly 31 is in contact with the suction cup according to the moving distance. Take the surface.

The first sensor 314 is a proximity sensor. When the moving distance of the insertion rod 311 along the axial direction of the accommodating hole 321 is within a preset detection range, the main control system determines that the corresponding suction cup assembly 31 is in contact with the surface to be grasped. The L-shaped suction cup fixing plate 34 is provided with an adjustment groove 341, and the position of the first sensor 314 can be finely adjusted in the adjustment groove 341 as needed.

In the present embodiment, each of the chuck assemblies 31 further includes an inductive device 315 disposed on the interposing rod 311. The first sensor 314 detects the moving distance of the interposing rod 311 along the axial direction of the receiving hole 321 through the sensing device 315.

The insertion rod 311 is provided with an air passage 316 in the cavity communicating with the suction head 312 for providing a negative pressure into the cavity of the suction head 312 so that the suction head 312 is attracted to the surface to be grasped.

The robotic system further includes a vacuum pump 10, the clamp 30 further comprising a conduit connecting the insertion rod 311 and the vacuum pump 10, wherein the insertion rods 311 of the at least two suction cup assemblies 31 share the same conduit, and thus the suction cups of the at least two suction cup assemblies 31 The negative pressure of the same pressure is simultaneously generated in the cavity of the head 312.

In addition, the clamp 30 further includes a second sensor 317 disposed in the pipeline, the second sensor 317 is configured to detect the degree of vacuum in the pipeline, and the degree of vacuum of the main control system in the pipeline is greater than or equal to a preset vacuum threshold. At this time, the control robot 20 drives the jig 30, thereby moving the part to be grasped 40 sucked by the suction head 312 to a predetermined position.

In the robot system for gripping a part provided by the embodiment, the posture of the jig 30 is adjusted by the control robot 20 so that the remaining suction cup assembly 31 is further contacted while the first suction cup assembly 31 is kept in contact with the surface to be gripped. The surface to be grasped is taken to ensure that the parts 40 in different postures are smoothly grasped.

4 and FIG. 5, the present invention further provides a clamp 30 including a bracket 32 and at least two suction cup assemblies 31. The bracket 32 is provided with a plurality of receiving holes 321 corresponding to the suction cup assembly 31. A suction cup assembly 31 includes an insertion rod 311, a suction head 312, an elastic member 313, and a first sensor 314. The insertion rod 311 is inserted into the accommodating hole 321 and is movable in the axial direction of the accommodating hole 321, and the suction head 312 is disposed at one end of the insertion rod 311, and the elastic member 313 is elastically supported between the bracket 32 and the suction head 312. When the suction head 312 contacts the surface to be grasped, the elastic member 313 is compressed, thereby causing the insertion rod 311. The first sensor 314 is configured to detect the moving distance of the insertion rod 311 along the axial direction of the accommodating hole 321 and determine whether the at least two suction cup assemblies 31 are in contact with the to-be-grabbed according to the moving distance. surface.

In the embodiment of the present invention, the bracket 32 is provided with a connecting plate 33 for connection with the robot 20 in the foregoing embodiment, and the connecting plate 33 is provided with a connecting hole for fitting with the end shaft of the robot 20.

The clamp 30 further includes a suction cup fixing plate 34, and the suction plate fixing plate 34 is adjustably disposed on the bracket 32. Upper, the adjustable size of the suction cup assembly 31 is adjusted by adjusting the position of the suction cup fixing plate 34.

The clamp 30 provided in this embodiment can be used in conjunction with the aforementioned robot 20, and the posture of the clamp 30 is adjusted by the control robot 20 so that the remaining suction cup assembly 31 is further contacted while the first suction cup assembly 31 is kept in contact with the surface to be grasped. The surface to be grabbed is to be taken to ensure the smooth capture of different parts 40.

The following describes the working process of the robot system of the present invention by taking four first sensors 314 (S1, S2, S3, S4) as an example:

1. Establish a robot tool coordinate system T1 (referenced to the fixture 30) and a part coordinate system W1 (referenced to the tray of the part 40 to be grabbed), and obtain a posture P of the fixture 30 in the coordinate system W1 according to the coordinate transformation algorithm;

2. The robot 20 gradually approaches the part in the initial pose P0 (x, y, z, a, b, c), and one of the sensors S1, S2, S3, S4 located at the four corners of the clamp 30 first senses the part, assuming S1 At this time, the robot 20 records the pose P1 (x1, y1, z1, a1, b1, c1) at this time, and controls the robot 20 to rotate at a fixed point in the S4 direction with S1-S2 as the rotation axis, so that the sensor S4 senses the part. The poses P4 (x4, y4, z4, a4, b4, and c4) at this time are recorded, and the difference in posture between the jig 30 and the parts in the left and right directions on the robot 20 is calculated by the control algorithm, and the initial pose P0 is first. The secondary attitude compensates P ₀ ' (x, y, z, a + Δa1, b + Δb1, c + Δc1).

3. The robot approaches the part with the compensated attitude P ₀ '(x, y, z, a+Δa1, b+Δb1, c+Δc1). Based on the assumption of step 2, the sensors S1 and S4 sense the part at the same time. At this time, the robot 20 records the posture P14 (x14, y14, z14, a14, b14, c14) at this time, and controls the robot to rotate the S2 and S3 directions with the S1-S4 as the axis until the parts are sensed by S2 and S3. And the robot posture P23 (x23, y23, z23, a23, b23, c23) at this time is recorded, and the difference in posture between the jig 30 and the part of the robot 20 in the vertical direction is calculated by the control algorithm, and the initial posture P0 is second. Sub-posture compensation P ₀ ′′ (x, y, z, a+Δa1+Δa2, b+Δb1+Δb2, c+Δc1+Δc2);

4. The robot 20 picks up the parts after the two corrected postures P ₀ "(x, y, z, a + Δa1 + Δa2, b + Δb1 + Δb2, c + Δc1 + Δc2), after which the parts are adjusted. The posture of the clamp 30 of the robot 20 is level with the front of the part. The vacuum pump 10 is opened, the robot 20 is slowly approaching the part, the suction head 312 is first brought into contact with the part, the robot 20 continues to approach, the elastic member 313 is compressed, and the air passage 316 is under negative pressure. Raise, the part is attached to the clamp 30 until the vacuum negative pressure reaches the preset value, the vacuum sensor 317 gives a signal, the robot 20 stops the forward movement, and takes the current point as a reference, grabs the glass to a safe position, and transports it to the production line. .

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims

A robot system-based part grasping method, characterized in that the robot system comprises a robot and a clamp driven by the robot, wherein the clamp comprises at least two suction cup assemblies spaced apart, the method comprising:

Controlling the robot to drive the clamp to approach the surface to be grasped of the part to be grasped in a preset initial posture;

After detecting that the first suction cup assembly contacts the surface to be grasped, controlling the robot to adjust the posture of the clamp so that the first suction cup assembly remains in contact with the surface to be grasped while remaining The suction cup assembly further contacts the surface to be grasped;

The robot is controlled to grasp the part to be grasped by the at least two suction cup assemblies.
The method according to claim 1, wherein before the step of controlling the robot to grasp the part to be grasped by the at least two suction cup assemblies, the method further comprises: adjusting the parameter according to the adjustment parameter in the posture adjustment process Correcting an initial pose; controlling the robot to drive the clamp to approach the surface to be grasped with the corrected initial pose such that the at least two suction cup assemblies simultaneously contact the standby during approach Grab the surface.
The method according to claim 2, wherein the surface to be grasped is a plane, and the jig comprises at least three of the suction cup assemblies disposed in a coplanar manner;

After detecting that the first suction cup assembly contacts the surface to be grasped, the step of controlling the robot to adjust the posture of the clamp comprises:

After detecting that the first suction cup assembly contacts the surface to be grasped, controlling the robot to rotate the clamp in a predetermined first direction such that another suction cup assembly contacts the surface to be grasped And recording the rotation angle of each of the rotation axes of the robot during the rotation in the first direction;

Controlling the robot to rotate the clamp about a preset second direction such that the remaining suction cup assembly contacts the surface to be grasped, and records the rotation angle of each rotation axis of the robot during the rotation about the second direction ;

The step of correcting the initial pose according to the adjustment parameter in the posture adjustment process includes:

The initial pose is corrected according to a rotation angle of each of the rotation axes of the robot during the rotation about the first direction and a rotation angle of each of the rotation axes of the robot during the rotation about the second direction.
The method according to claim 3, wherein the predetermined first direction is a connection direction of the first chuck assembly and the adjacent chuck assembly that first contact the surface to be gripped;

The preset second direction is a wiring direction of the two suction cup assemblies that have contacted the surface to be gripped.
The method according to claim 1, wherein said jig further comprises a bracket, said bracket being provided with a plurality of receiving holes corresponding to said chuck assembly, each of said chuck assemblies comprising a plunger, a suction cup a head, an elastic member, and a first sensor, wherein the insertion rod is inserted into the accommodating hole and is movable in an axial direction of the accommodating hole, and the suction head is disposed at one end of the insertion rod The elastic member is elastically supported between the bracket and the suction cup head, and when the suction cup head contacts the surface to be grasped, the elastic member is compressed, thereby causing the insertion rod along The axial movement of the accommodating hole, the first sensor is configured to detect a moving distance of the insertion rod along an axial direction of the accommodating hole, and determine the at least two suction cup assemblies according to the moving distance Whether the surface to be grasped is touched.
The method according to claim 5, wherein the first sensor is a proximity sensor, and when the moving distance of the insertion rod along the axial direction of the receiving hole is within a preset detection range, the corresponding correspondence is determined. The suction cup assembly contacts the surface to be grasped.
The method according to claim 5, wherein each of said chuck assemblies further comprises an inductive device disposed on said interposing rod, said first sensor detecting said intervening rod edge by said inductive device The axial movement distance of the accommodating hole.
The method according to claim 5, wherein the insertion rod is provided with an air passage in a cavity communicating with the suction head; and a negative pressure is provided in the cavity of the suction head through the air passage, So that the suction head is attracted to the surface to be grasped.
The method of claim 8 wherein said robot system further comprises a vacuum pump, said clamp further comprising a conduit connecting said insertion rod to said vacuum pump, wherein said at least two The insertion rods of the suction cup assemblies share the same line, thereby simultaneously generating a negative pressure of the same pressure in the cavity of the suction head of the at least two suction cup assemblies.
The method of claim 9 wherein said clamp further comprises a second sensor disposed within said conduit, said second sensor for detecting a degree of vacuum within said conduit; said method Further includes:

After providing a negative pressure in the cavity of the chuck head through the air passage, if the degree of vacuum in the pipeline is greater than or equal to a preset vacuum threshold, the robot is controlled to drive the clamp, and then The part to be grasped sucked by the suction head moves to a predetermined position.
A robotic system for grasping a part, the robot system comprising a robot, a clamp, and a master control system, wherein the clamp comprises at least two suction cup assemblies spaced apart, each of the suction cup assemblies further comprising a first sensor, the master control system controls the robot to drive the clamp to approach a surface to be grasped of a part to be grasped in a preset initial posture, and the first sensor is configured to detect whether the suction cup assembly is in contact with The surface to be grasped, after detecting that the first suction cup assembly contacts the surface to be grasped, the main control system controls the robot to adjust the posture of the clamp so that the first suction cup assembly While the surface to be grasped remains in contact, the remaining suction cup assembly further contacts the surface to be grasped, and then the part to be grasped is grasped by the at least two suction cup assemblies.
The robot system according to claim 11, wherein said main control system further corrects said parameter according to an adjustment parameter during posture adjustment before said at least two suction cup assemblies are gripped by said at least two suction cup assemblies The initial pose is corrected, and the master control system controls the robot to drive the clamp to adjust the initial pose to approach the to-be-picked surface during a subsequent gripping process, so that the approaching process is performed during the approaching process. At least two suction cup assemblies simultaneously contact the surface to be grasped.
The robot system according to claim 12, wherein said surface to be grasped is a plane, said jig comprising at least three said suction cup assemblies disposed in coplanar manner, when said first suction cup assembly is detected to be in contact After the surface to be grasped, the main control system controls the robot to rotate the clamp around a preset first direction, so that the other suction cup assembly contacts the surface to be grasped, and records the The rotation angle of each rotation axis of the robot during the rotation of the first direction, the main control system further controls the rotation of the robot around the preset second direction Moving the clamp such that the remaining suction cup assembly contacts the surface to be grasped, and records the rotation angle of each rotation axis of the robot during the rotation in the second direction, and then according to the rotation around the first direction The initial posture is corrected by a rotation angle of each of the rotation axes of the robot and a rotation angle of each of the rotation axes of the robot during the rotation in the second direction.
The robot system according to claim 13, wherein the predetermined first direction is a connection direction of the first suction cup assembly that first contacts the surface to be grasped and an adjacent suction cup assembly;

The second direction is a line direction of the two suction cup assemblies that have contacted the surface to be gripped.
The robot system according to claim 11, wherein the jig further comprises a bracket, the bracket is provided with a plurality of receiving holes corresponding to the chuck assembly, and each of the chuck assemblies further comprises an inserting rod a suction head and an elastic member, wherein the insertion rod is inserted into the accommodating hole and is movable along an axial direction of the accommodating hole, and the suction head is disposed at one end of the insertion rod. The elastic member is elastically supported between the bracket and the suction cup head, and when the suction cup head contacts the surface to be grasped, the elastic member is compressed, thereby causing the insertion rod to be along Determining the axial movement of the hole, the first sensor detecting the moving distance of the insertion rod along the axial direction of the receiving hole, and the main control system determines whether the suction cup assembly is in contact according to the moving distance To the surface to be grasped.
The robot system according to claim 15, wherein the first sensor is a proximity sensor, and when the moving distance of the insertion rod along the axial direction of the receiving hole is within a preset detection range, The master control system determines that the corresponding suction cup assembly contacts the surface to be grasped.
The robot system according to claim 15, wherein each of said chuck assemblies further comprises an inductive device disposed on said interposing rod, said first sensor detecting said interposer rod by said inductive device The moving distance along the axial direction of the accommodating hole.
The robot system according to claim 15, wherein said insertion rod is provided with an air passage in a cavity communicating with said suction cup head, said air passage for providing a negative inside said chamber of said suction cup Pressing so that the chuck head is attracted to the surface to be gripped.
The robot system according to claim 18, wherein said robot system further comprises a vacuum pump, said jig further comprising a conduit connecting said insertion rod and said vacuum pump, wherein The insertion rods of the at least two suction cup assemblies share the same line, thereby simultaneously generating a negative pressure of the same pressure in the chamber of the suction head of the at least two suction cup assemblies.
The robot system according to claim 19, wherein said jig further comprises a second sensor disposed in said conduit, said second sensor for detecting a degree of vacuum within said conduit, said The main control system controls the robot to drive the clamp when the degree of vacuum in the pipeline is greater than or equal to a preset vacuum threshold, and further moves the to-be-picked part adsorbed by the suction head to a predetermined position.
A clamp characterized in that the clamp comprises a bracket and at least two suction cup assemblies, and the bracket is provided with a plurality of receiving holes corresponding to the suction cup assembly, each of the suction cup assemblies including an insertion rod and a suction cup a head, an elastic member, and a first sensor, wherein the insertion rod is inserted into the accommodating hole and is movable in an axial direction of the accommodating hole, and the suction head is disposed at one end of the insertion rod The elastic member is elastically supported between the bracket and the suction cup head, and when the suction cup head contacts the surface to be grasped, the elastic member is compressed, thereby causing the insertion rod along The axial movement of the accommodating hole, the first sensor is configured to detect a moving distance of the insertion rod along an axial direction of the accommodating hole, and determine the at least two suction cup assemblies according to the moving distance Whether the surface to be grasped is touched.
The jig according to claim 21, wherein said jig further comprises a suction cup fixing plate, said suction plate fixing plate being adjustably disposed on said bracket, and said adjusting said position of said suction cup fixing plate The absorbable size of the suction cup assembly.