CN111731837B - A Grabbing System Based on Industrial Robot Visual Recognition - Google Patents
A Grabbing System Based on Industrial Robot Visual Recognition Download PDFInfo
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- CN111731837B CN111731837B CN202010556049.0A CN202010556049A CN111731837B CN 111731837 B CN111731837 B CN 111731837B CN 202010556049 A CN202010556049 A CN 202010556049A CN 111731837 B CN111731837 B CN 111731837B
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- 238000004519 manufacturing process Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种基于工业机器人视觉识别的抓取系统，具体涉及工业自动化技术领域，包括机架，所述机架顶部安装有传送带以及底部设置有活动抓取机构，所述传送带一端两侧均设置有第一侧板以及另一端两侧均设置有第二侧板，所述传送带的两侧均与对应位置的第一侧板以及第二侧板内壁活动贴合，其中一个所述第二侧板中部顶端贯穿设有通槽以及中部底端外壁固定安装有第二电机，所述第二电机的输出轴端部传动连接有圆盘，所述圆盘嵌设在通槽内部。本发明通过设置活动抓取机构，可利用转动的圆盘带动工件向抓取工位靠近，由机械爪臂完成抓取工作，可避免工件偏离工位而导致工业机器人无法实现全部抓取的情况。
The invention discloses a grasping system based on industrial robot visual recognition, in particular to the technical field of industrial automation, comprising a rack, a conveyor belt is installed on the top of the rack and a movable grasping mechanism is arranged at the bottom, and one end of the conveyor belt is on both sides Both sides are provided with a first side plate and both sides of the other end are provided with a second side plate, both sides of the conveyor belt are movably attached to the first side plate and the inner wall of the second side plate at the corresponding position, and one of the first side plates and the inner wall of the second side plate are movably fitted. The top of the middle part of the two side plates is provided with a through slot, and the outer wall of the bottom end of the middle part is fixedly installed with a second motor. By setting a movable grasping mechanism, the invention can use the rotating disc to drive the workpiece to approach the grasping station, and the grasping work is completed by the mechanical claw arm, which can avoid the situation that the industrial robot cannot achieve full grasping because the workpiece deviates from the station .
Description
Technical Field
The invention relates to the technical field of industrial automation, in particular to a grabbing system based on industrial robot visual identification.
Background
Industrial automation refers to the general term for information processing process control of measuring, manipulating, etc. according to the expected target of a machine or a production process without human direct intervention. In the important application of industrial robots in a workpiece recognition and gripping production line, most industrial robots in the production line control the robots to execute preset command actions in a pre-teaching or off-line programming mode.
However, in the process of grabbing a workpiece by an industrial robot in the prior art, the workpiece often deviates from a station or a plurality of workpieces appear simultaneously, so that the industrial robot cannot realize the whole grabbing problem.
The above information disclosed in this background section is only for enhancement of understanding of the background of the disclosure and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.
SUMMERY OF THE UTILITY MODEL
In order to overcome the above defects in the prior art, an embodiment of the present invention provides a grasping system based on industrial robot visual identification, and the technical problems to be solved by the present invention are: how to make an industrial robot achieve full grasping of all workpieces passing through a designated area.
In order to achieve the purpose, the invention provides the following technical scheme: a grabbing system based on industrial robot visual identification comprises a rack, wherein a conveyor belt is mounted at the top of the rack, a movable grabbing mechanism is arranged at the bottom of the rack, a first side plate is arranged on each of two sides of one end of the conveyor belt, a second side plate is arranged on each of two sides of the other end of the conveyor belt, two sides of the conveyor belt are movably attached to the inner walls of the first side plate and the second side plate at corresponding positions, a through groove is formed in the top end of the middle of one of the second side plates in a penetrating mode, a second motor is fixedly mounted on the outer wall of the bottom end of the middle of one of the second side plates, a disc is connected to the end portion of an output shaft of the second motor in a transmission mode, the disc is embedded in the through groove, the outer peripheral face of the disc is movably attached to the inner wall of the through groove, a first motor is fixedly mounted on the outer wall of one of the first side plate, and the end portion of the output shaft of the first motor is connected with the conveyor belt in a transmission mode;
the movable grabbing mechanism comprises a movable box, wherein both sides of the top end of the movable box are fixedly connected with a slide bar, a sliding groove is formed in the position, corresponding to the slide bar, of the bottom of the rack, the slide bar is connected inside the sliding groove in a sliding manner, both side walls of the inner cavity of the movable box are provided with grooves, a lifting plate is arranged inside the movable box, both sides of the lifting plate are fixedly provided with limiting plates, the two limiting plates are connected inside the grooves in corresponding positions in a sliding manner, one side of the top of the lifting plate is provided with a screw rod in a penetrating manner, and the other side of the top of the lifting plate is provided with a guide rod in a penetrating manner, the bottom of the inner cavity of the movable box is fixedly provided with a third motor, an output shaft of the third motor is in transmission connection with the screw rod, the screw rod is in threaded connection with the lifting plate, the guide rod is movably sleeved with the lifting plate, the middle part of the top of the lifting plate is fixedly provided with a mechanical claw arm and an upright post, the top end of the upright post is fixedly provided with a camera, a fourth motor is arranged on one side of the movable box, the fourth motor is fixedly installed at the bottom of the machine frame, a gear is fixedly connected to the end portion of an output shaft of the fourth motor, a rack is arranged on the outer wall of one side, close to the fourth motor, of the movable box, the gear is meshed with the rack, a temporary blocking mechanism is further arranged at one end, close to the second side plate, of the first side plate, the temporary blocking mechanism comprises ear plates, the ear plates are fixedly arranged at the top and bottom positions, close to the second side plate, of one sides of the two first side plates, a turnover plate is arranged between the two ear plates, a rotary rod is fixedly arranged at one end, close to the ear plates, of the turnover plate in a penetrating mode, two ends of the rotary rod are rotatably connected with the ear plates at corresponding positions through bearings, a spring is arranged between the turnover plate and the second side plate, two ends of the spring are fixedly connected with the turnover plate and the second side plate respectively, and the two turnover plates can be squeezed open by forward workpieces, the rear overturning plate is reset under the restoring force action of the spring, so that the next workpiece is temporarily blocked, and the condition that the workpieces are missed to be grabbed due to the fact that the workpieces appear in the visual field area of the camera at one time is avoided.
The implementation mode is as follows: when the automatic grabbing device is used, the fourth motor is controlled to work through the external controller, the driving gear of the fourth motor is made to rotate, the gear drives the rack to move in the rotating process, the movable box slides out of the bottom of the rack, then the screw rod is driven to rotate through the third motor, the lifting plate is driven to ascend to a specified position, then the first motor drives the conveyor belt to convey a workpiece, the workpiece is conveyed to the grabbing station, the second motor drives the disc to rotate, after the workpiece is deviated from the position before being conveyed to the grabbing station, when the workpiece moves to the disc, the rotating disc can drive the workpiece to approach the grabbing station, and when the workpiece enters a visual field area of the camera, the grabbing work is completed through the mechanical claw arm.
In a preferred embodiment, the outer peripheral surface of the disc is wrapped with a rubber cushion layer, and a plurality of convex points are uniformly distributed on the outer peripheral surface of the rubber cushion layer, so that the friction force generated when the workpiece is in direct contact with the disc can be increased, and the workpiece can smoothly enter the grabbing station.
In a preferred embodiment, the bottom of the movable box is provided with a plurality of through holes in a penetrating manner, so that heat generated in the working process of the third motor can be accelerated to be dissipated, and the dust filter net is fixedly embedded in the through holes, so that dust can be prevented from entering the working space of the third motor and affecting the working stability of the third motor for a long time.
In a preferred embodiment, the inside restriction mechanism that is provided with of activity incasement, restriction mechanism is including the connecting rod, connecting rod one end and the inside lateral wall fixed connection who is close to the screw rod of activity incasement, connecting rod other end fixedly connected with lantern ring, the lantern ring activity cup joints the top at the screw rod, can ensure that the screw rod can not appear polarization phenomenon at the rotation in-process for the lifter plate stably rises.
In a preferred embodiment, a base plate is fixedly arranged between the two first side plates, the bottom end face of the base plate is movably attached to the top surface of the conveyor belt, and two end faces of the base plate are obliquely arranged, so that a workpiece in conveying can slide on the base plate conveniently.
In a preferred embodiment, the top end surface of the base plate is a concave arc surface, and the top end surface and two end surfaces of the base plate are in smooth transition, so that a workpiece sliding on the base plate can slide to the middle of the base plate, and the possibility of deviation in the workpiece conveying process is greatly reduced.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the invention uses the fourth motor to drive the gear to rotate, so that the gear drives the rack to move in the rotating process, thereby realizing that the movable box slides out from the bottom of the frame, then the third motor drives the screw rod to rotate, thereby driving the lifting plate to ascend to a specified position, then the first motor drives the conveyor belt to convey the workpiece, so that the workpiece is conveyed to the grabbing station, the second motor drives the disc to rotate, when the workpiece deviates from the position before being conveyed to the grabbing station and moves to the disc, the rotating disc drives the workpiece to approach to the grabbing station, when the workpiece enters the visual field area of the camera, the grabbing work is finished by the mechanical claw arm, thereby avoiding the situation that the workpiece deviates from the station and the industrial robot cannot realize all grabbing, after the use is finished, the movable box can be stored to the bottom of the frame by driving the gear to rotate by the fourth motor, the dust can be prevented from falling into the movable inner part in the non-use state;
2. in the process of conveying the workpieces, the workpieces in front are extruded by the workpieces in back to the base plate along the inclined surface at the end part of the base plate, then fall onto the conveyor belt from the base plate, move forwards along with the conveyor belt to extrude the turnover plates at the end parts of the two first side plates, so that the turnover plates turn over by taking the rotating rods as central axes and extrude the springs, the workpieces pass between the two turnover plates, then the turnover plates reset under the restoring force action of the springs to temporarily block the next workpiece, the situation that grabbing is missed due to the fact that a plurality of workpieces appear in the visual field area of the camera at one time is avoided, the workpieces sliding on the base plate can slide to the middle part of the base plate due to the concave arc surface at the top of the base plate, and the possibility of deviation appearing in the process of conveying the workpieces is greatly reduced.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is an overall top view of the present invention.
Fig. 3 is a schematic view of the structure of the movable box of the present invention.
Fig. 4 is a schematic diagram of a lifter plate structure according to the present invention.
Fig. 5 is a view of the bottom of the removable cassette of the present invention.
Fig. 6 is a schematic structural view of a first side plate of the present invention.
Fig. 7 is a schematic view of the structure of the backing plate of the present invention.
Fig. 8 is a schematic structural diagram of the limiting mechanism of the present invention.
The reference signs are: the device comprises a machine frame 1, a conveyor belt 2, a first side plate 3, a second side plate 4, a first motor 5, a second motor 6, a circular disc 7, a rubber cushion layer 8, a movable box 9, a slide bar 10, a sliding chute 11, a groove 12, a lifting plate 13, a limiting plate 14, a third motor 15, a screw rod 16, a guide rod 17, a mechanical claw arm 18, an upright post 19, a camera 20, a fourth motor 21, a gear 22, a rack 23, a through hole 24, a base plate 25, an ear plate 26, a turnover plate 27, a rotating rod 28, a spring 29, a dust filter screen 30, a connecting rod 31 and a lantern ring 32.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more example embodiments. In the following description, numerous specific details are provided to give a thorough understanding of example embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, steps, and so forth. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.
The invention provides a grabbing system based on industrial robot visual identification, which comprises a rack 1, the top of the frame 1 is provided with a conveyor belt 2, the bottom of the frame is provided with a movable grabbing mechanism, two sides of one end of the conveyor belt 2 are both provided with a first side plate 3, two sides of the other end of the conveyor belt are both provided with a second side plate 4, both sides of the conveyor belt 2 are movably jointed with the inner walls of the first side plate 3 and the second side plate 4 at the corresponding positions, a through groove is arranged at the top end of the middle part of one of the second side plates 4 in a penetrating way, a second motor 6 is fixedly arranged on the outer wall of the bottom end of the middle part, the end part of the output shaft of the second motor 6 is connected with a disc 7 in a transmission way, the disc 7 is embedded in the through groove, the peripheral surface of the disc 7 is movably jointed with the inner wall of the through groove, a first motor 5 is fixedly mounted on the outer wall of one of the first side plates 3, and the end part of an output shaft of the first motor 5 is in transmission connection with the conveyor belt 2;
the movable grabbing mechanism comprises a movable box 9, wherein sliding strips 10 are fixedly connected to two sides of the top end of the movable box 9, a sliding groove 11 is formed in the position, corresponding to the sliding strip 10, of the bottom of the rack 1, the sliding strip 10 is connected to the inside of the sliding groove 11 in a sliding mode, grooves 12 are formed in two side walls of an inner cavity of the movable box 9, a lifting plate 13 is arranged inside the movable box 9, limiting plates 14 are fixedly arranged on two sides of the lifting plate 13, the two limiting plates 14 are connected to the inside of the grooves 12 corresponding to the positions in a sliding mode, a screw 16 penetrates through one side of the top of the lifting plate 13, a guide rod 17 penetrates through the other side of the top of the lifting plate 13, a third motor 15 is fixedly arranged at the bottom of the inner cavity of the movable box 9, an output shaft of the third motor 15 is in transmission connection with the screw 16, the screw 16 is in threaded connection with the lifting plate 13, the guide rod 17 is movably sleeved with the lifting plate 13, and a mechanical claw arm 18 and a stand column 19 are fixedly arranged in the middle of the top of the lifting plate 13, 19 top fixed mounting of stand has camera 20, movable box 9 one side is provided with fourth motor 21, fourth motor 21 fixed mounting is in frame 1 bottom, the output shaft tip fixedly connected with gear 22 of fourth motor 21, one side outer wall that movable box 9 is close to fourth motor 21 is provided with rack 23, gear 22 meshes with rack 23 mutually.
The outer peripheral face of disc 7 cladding has rubber cushion 8, and rubber cushion 8 outer peripheral face evenly distributed has a plurality of bump.
The bottom of the movable box 9 is provided with a plurality of through holes 24 in a penetrating way, and a dust filter screen 30 is fixedly embedded in the through holes 24.
The inside limiting mechanism that is provided with of activity case 9, limiting mechanism is including connecting rod 31, connecting rod 31 one end and the inside lateral wall fixed connection who is close to screw rod 16 of activity case 9, the connecting rod 31 other end fixedly connected with lantern ring 32, lantern ring 32 activity cup joints the top at screw rod 16.
As shown in fig. 1 to 5 and fig. 8, the embodiment specifically is: when the grabbing device is used, the grabbing system is firstly communicated with an external power supply, the working program of the mechanical claw arm 18 is set by a computer, then the grabbing of workpieces on a production line can be realized, in the actual grabbing process, the fourth motor 21 is controlled by an external controller to work to drive the gear 22 to rotate, the gear 22 drives the rack 23 to move in the rotating process due to the meshing between the gear 22 and the rack 23, so that the movable box 9 slides out of the bottom of the rack 1, after the movable box slides to a designated position, the fourth motor 21 is closed, the third motor 15 is started to work at the same time, the third motor 15 drives the screw 16 to rotate, as the screw 16 is in threaded connection with the lifting plate 13, the guide rod 17 is movably sleeved with the lifting plate 13, so that the screw 16 drives the lifting plate 13 to move upwards under the limiting action of the guide rod 17 in the rotating process, and the mechanical claw arm 18 and the camera 20 are lifted to the designated station, moreover, because the inner side wall of the movable box 9 is fixedly connected with a connecting rod 31 with a sleeve ring 32, and the sleeve ring 32 is movably sleeved at the top end of the screw rod 16, the screw rod 16 can be ensured not to generate polarization phenomenon in the rotating process, so that the lifting plate 13 stably rises, after the grabbing station is ready, the first motor 5 and the second motor 6 are controlled by the external controller to simultaneously work, the first motor 5 drives the conveyor belt 2 to convey the workpiece, so that the workpiece is conveyed to the grabbing station, the second motor 6 drives the disc 7 to rotate, when the workpiece deviates from the position before being conveyed to the grabbing station and moves to the disc 7, the rotating disc 7 drives the workpiece to approach the grabbing station, when the workpiece enters the visual field area of the camera 20, the mechanical claw arm 18 finishes the grabbing work, and after the use is finished, the movable box can be stored to the bottom of the rack by driving the gear rotation of the fourth motor, can avoid under the non-user state dust to fall into to the activity to inside, during, because the cladding of 7 outer peripheral faces of disc has the rubber cushion 8 that has the bump, frictional force when can increase work piece and 7 direct contact of disc for the work piece can get into smoothly and snatch the station, and this embodiment has specifically solved among the prior art work piece and has appeared deviating the station easily and lead to industrial robot can't realize whole problem of snatching.
A base plate 25 is fixedly arranged between the two first side plates 3, the bottom end face of the base plate 25 is movably attached to the top surface of the conveyor belt 2, and two end faces of the base plate 25 are obliquely arranged.
The top end surface of the backing plate 25 is an inward concave arc surface, and the top end surface and two end surfaces of the backing plate 25 are in smooth transition.
The one end that first curb plate 3 is close to second curb plate 4 still is provided with interim block mechanism, interim block mechanism is including otic placode 26, otic placode 26 is fixed to be set up in one side top and the bottom position department that two first curb plates 3 are close to second curb plate 4, is provided with returning face plate 27 between two otic placodes 26, returning face plate 27 is close to the fixed bull stick 28 that runs through of one end of otic placode 26, bull stick 28 both ends are all rotated with the otic placode 26 that corresponds the position through the bearing and are connected, be provided with spring 29 between returning face plate 27 and the second curb plate 4, and spring 29 both ends respectively with returning face plate 27 and second curb plate 4 fixed connection.
As shown in fig. 1-2 and fig. 6-7, the embodiment specifically is: in the actual use process, when the workpieces are conveyed to the grabbing station along the conveyor belt, the front workpieces are squeezed by the rear workpieces to the backing plate 25 along the inclined surface at the end part of the backing plate 25, then fall onto the conveyor belt 2 from the backing plate 25, move forward along with the conveyor belt 2 to squeeze the turnover plates 27 at the end parts of the two first side plates 2, so that the turnover plates 27 turn over around the rotating rod 28 as a central axis, squeeze the spring 29, so that the workpieces pass through between the two turnover plates 27, then the turnover plates 27 reset under the restoring force of the spring 29 to temporarily block the next workpiece, thereby avoiding the situation that the grabbing is missed due to the fact that a plurality of workpieces appear at one time in the visual field area of the camera 20, and the top end surface of the backing plate 25 is an inward concave arc surface, so that the workpieces sliding on the backing plate 25 all slide to the middle part of the backing plate 25, greatly reducing the possibility of deviation in the workpiece conveying process, this embodiment has specifically solved among the above-mentioned technical scheme and has once appeared a plurality of work pieces and lead to leaking the problem of snatching.
The working principle of the invention is as follows:
when the grabbing device is used, the grabbing system is firstly communicated with an external power supply, the working program of the mechanical claw arm 18 is set through a computer, then the fourth motor 21 is controlled by an external controller to work, the driving gear 22 rotates, the gear 22 drives the rack 23 to move in the rotating process, so that the movable box 9 slides out from the bottom of the rack 1, then the screw 16 is driven by the third motor 15 to rotate, so that the lifting plate 13 is driven to ascend to a specified position, then the first motor 5 drives the conveyor belt 2 to convey a workpiece, so that the workpiece is conveyed to a grabbing station, the second motor 6 drives the disc 7 to rotate, when the workpiece deviates from the position before being conveyed to the grabbing station and moves to the disc 7, the rotating disc 7 drives the workpiece to approach to the grabbing station, and when the workpiece enters the visual field area of the camera 20, the mechanical claw arm 18 finishes grabbing work, meanwhile, in the conveying process, the front workpiece is squeezed by the rear workpiece to the backing plate 25 along the inclined surface at the end part of the backing plate 25, then the front workpiece falls onto the conveyor belt 2 from the backing plate 25, and moves forwards along with the conveyor belt 2 to squeeze the turnover plates 27 at the end parts of the two first side plates 2, so that the turnover plates 27 turn over by taking the rotating rods 28 as central axes, and squeeze the springs 29, so that the workpiece passes between the two turnover plates 27, and then the turnover plates 27 reset under the restoring force action of the springs 29, so that the next workpiece is temporarily blocked, and the condition that the workpieces are missed to be grabbed due to the fact that a plurality of workpieces appear in the visual field area of the camera 20 at one time is avoided.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
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| CN105666485A (en) * | 2016-03-28 | 2016-06-15 | 桂林电子科技大学 | Automatic identifying and positioning chess placing robot based on image processing |
| CN109384027A (en) * | 2017-08-09 | 2019-02-26 | 发那科株式会社 | Robot system |
| KR20190120463A (en) * | 2018-04-13 | 2019-10-24 | 삼성디스플레이 주식회사 | Apparatus for transferring panel and method for transferring panel |
| CN109604466A (en) * | 2018-12-21 | 2019-04-12 | 岚士智能科技(上海)有限公司 | A kind of the stamping parts feeding robot and charging method of view-based access control model identification |
| CN110509281A (en) * | 2019-09-16 | 2019-11-29 | 中国计量大学 | Device and method for pose recognition and grasping based on binocular vision |
| CN110900614A (en) * | 2019-12-21 | 2020-03-24 | 深圳市华成工业控制有限公司 | Grabbing system based on industrial robot visual identification |
| CN110948491A (en) * | 2019-12-21 | 2020-04-03 | 深圳市华成工业控制有限公司 | Industrial robot grabbing method based on visual following |
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| CN111731837A (en) | 2020-10-02 |
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