技术领域Technical Field
本发明涉及双臂机器人技术领域，尤其涉及一种双臂灵巧操作机器人系统。The present invention relates to the technical field of dual-arm robots, and in particular to a dual-arm dexterous operation robot system.
背景技术Background technique
机械臂抓取与操作是机器人的基本和重要的基础操作，随着机器人向工业深度应用和服务、健康、军事、航空航天等领域的不断拓展，机器人与目标对象和环境的交互需求和能力越来越高。因此，提高机器人各种灵巧抓持和复杂操作能力，半个多世纪以来得到持续的研发投入和广泛关注；Robotic grasping and manipulation are basic and important basic operations of robots. With the continuous expansion of robots into industrial deep application and services, health, military, aerospace and other fields, the demand and ability of robots to interact with target objects and the environment are getting higher and higher. Therefore, improving the various dexterous grasping and complex manipulation capabilities of robots has received continuous R&D investment and extensive attention for more than half a century;
机器臂的末端执行器有多种形态，且各有优势和劣势：五指手在抓取与操作物体时具有较强的灵活性和适应性，但控制复杂，鲁棒性不足；真空吸盘结构简单，能适应多种形态物体的抓取与操作，但需要物体表面光滑，重量较轻；平行二指夹爪结构较为简单，在工业上应用非常成熟，但需要抓取与操作物体结构规则。The end effectors of robotic arms come in many forms, each with its own advantages and disadvantages: the five-finger hand has strong flexibility and adaptability when grasping and manipulating objects, but the control is complex and the robustness is insufficient; the vacuum suction cup has a simple structure and can adapt to the grasping and manipulation of objects of various forms, but requires the object to have a smooth surface and be light in weight; the parallel two-finger gripper has a relatively simple structure and is very mature in industrial applications, but requires the grasping and manipulation of objects to have regular structures.
目前对于机器人灵巧操作的研究主要集中在科研机构中，所搭建的机械臂灵巧抓取与操作平台大多数是单臂配合五指手或双臂配合平行抓和真空吸盘，单个平台所能进行的科研项目相对比较单一，多种末端执行器无法取长补短相互配合，无法完全发挥双臂机器人的抓取与操作能力。At present, the research on dexterous robot manipulation is mainly concentrated in scientific research institutions. Most of the dexterous grasping and manipulation platforms built are single-arm with five-finger hand or dual-arm with parallel grasping and vacuum suction cup. The scientific research projects that can be carried out by a single platform are relatively simple. The various end effectors cannot complement each other and cooperate with each other, and the grasping and manipulation capabilities of the dual-arm robot cannot be fully utilized.
发明内容Summary of the invention
本发明提供一种双臂灵巧操作机器人系统，旨在解决传统技术种双臂机器人抓取与操作能力较为单一的问题。The present invention provides a dual-arm dexterous manipulation robot system, aiming to solve the problem that the grasping and manipulation capabilities of the dual-arm robots in the traditional technology are relatively single.
针对现有技术存在的问题，本发明提供一种双臂灵巧操作机器人系统，包括：In view of the problems existing in the prior art, the present invention provides a dual-arm dexterous manipulation robot system, comprising:
安装架，所述安装架内形成有容置空间；A mounting frame, wherein a receiving space is formed in the mounting frame;
双臂机器人，设于所述容置空间，所述双臂机器人包括机器人主体以及设于所述机器人主体两侧的五指抓臂以及抓吸一体抓臂；A dual-arm robot is arranged in the accommodating space, and the dual-arm robot comprises a robot body and a five-finger gripper and a gripper-suction integrated gripper arranged on both sides of the robot body;
传感装置，包括设于所述双臂机器人的位姿传感器、力觉传感器以及设于所述安装架的视觉传感器，所述位姿传感器用于采集所述双臂机器人的位姿信息，所述力觉传感器用于采集所述双臂机器人的力矩变化信息，所述视觉传感器用于采集待操作物体的视觉数据信息；以及，a sensing device, comprising a posture sensor and a force sensor provided on the dual-arm robot and a visual sensor provided on the mounting frame, wherein the posture sensor is used to collect posture information of the dual-arm robot, the force sensor is used to collect torque change information of the dual-arm robot, and the visual sensor is used to collect visual data information of the object to be operated; and
支撑装置，对应所述双臂机器人设置，用于传送待操作物品。The supporting device is arranged corresponding to the dual-arm robot and is used for conveying the objects to be operated.
根据本发明提供的一种双臂灵巧操作机器人系统，所述五指抓臂包括设于所述机器人主体的第一连接臂、设于所述第一连接臂端部的五指灵巧手以及设于所述第一连接臂以及所述五指灵巧手之间的连接法兰，所述连接法兰上开设有过线孔。According to a dual-arm dexterous manipulation robot system provided by the present invention, the five-finger grasping arm includes a first connecting arm arranged on the robot body, a five-finger dexterous hand arranged at the end of the first connecting arm, and a connecting flange arranged between the first connecting arm and the five-finger dexterous hand, and a wire passing hole is opened on the connecting flange.
根据本发明提供的一种双臂灵巧操作机器人系统，所述抓吸一体抓臂包括设于所述机器人主体的第二连接臂以及设于所述第二连接臂端部的夹吸一体爪，所述夹吸一体爪包括底座以及分设于所述底座的夹取部以及吸附部；According to a dual-arm dexterous manipulation robot system provided by the present invention, the gripping and suction integrated gripping arm comprises a second connecting arm provided on the robot body and a clamping and suction integrated claw provided on the end of the second connecting arm, and the clamping and suction integrated claw comprises a base and a clamping part and an adsorption part respectively provided on the base;
所述夹取部包括设于所述底座的夹爪气缸，所述夹爪气缸包括两个夹块，两个所述夹块具有相互靠近或者远离的活动行程，所述吸附部包括设于所述底座的真空吸盘。The clamping part includes a clamping claw cylinder arranged on the base, the clamping claw cylinder includes two clamping blocks, and the two clamping blocks have a movable stroke that approaches or moves away from each other, and the adsorption part includes a vacuum suction cup arranged on the base.
根据本发明提供的一种双臂灵巧操作机器人系统，所述支撑装置包括对应所述双臂机器人设置的升降平台以及驱动部，所述驱动部驱动连接所述升降平台，以使所述升降平台具有沿所述双臂机器人高度方向延伸的活动行程。According to a dual-arm dexterous manipulation robot system provided by the present invention, the supporting device includes a lifting platform and a driving unit arranged corresponding to the dual-arm robot, and the driving unit drives and connects the lifting platform so that the lifting platform has an active stroke extending along the height direction of the dual-arm robot.
根据本发明提供的一种双臂灵巧操作机器人系统，所述安装架的上端设有悬臂部，所述视觉传感器包括设于所述悬臂部的深度视觉传感器以及3D视觉传感器，所述深度视觉传感器以及3D视觉传感器均朝向所述双臂机器人设置。According to a dual-arm dexterous manipulation robot system provided by the present invention, a cantilever portion is provided at the upper end of the mounting frame, and the visual sensor includes a depth vision sensor and a 3D vision sensor arranged on the cantilever portion, and the depth vision sensor and the 3D vision sensor are both arranged toward the dual-arm robot.
根据本发明提供的一种双臂灵巧操作机器人系统，所述双臂灵巧操作机器人系统还包括摄像装置，所述摄像装置包括设于所述安装架的摄像头以及设于所述安装架的显示屏幕，所述显示屏幕与所述摄像头电连接。According to a dual-arm dexterous manipulation robot system provided by the present invention, the dual-arm dexterous manipulation robot system also includes a camera device, the camera device includes a camera arranged on the mounting frame and a display screen arranged on the mounting frame, and the display screen is electrically connected to the camera.
根据本发明提供的一种双臂灵巧操作机器人系统，所述安装架的底部设有第一连接块以及第二连接块，所述第一连接块与所述第二连接块均与所述双臂机器人连接。According to a dual-arm dexterous manipulation robot system provided by the present invention, a first connecting block and a second connecting block are provided at the bottom of the mounting frame, and the first connecting block and the second connecting block are both connected to the dual-arm robot.
本发明还提供了一种双臂灵巧操作机器人系统的控制方法，包括：The present invention also provides a control method for a dual-arm dexterous manipulation robot system, comprising:
获取待操作物体的三维图像与位置信息；Acquire the three-dimensional image and position information of the object to be operated;
根据所述三维图像以及所述位置信息，确定抓取执行机构；Determining a grasping actuator according to the three-dimensional image and the position information;
获取所述抓取执行机构的位姿信息，根据所述三维图像、所述位置信息以及所述位姿信息，输出抓取方案；Acquire the position and posture information of the grasping actuator, and output a grasping plan according to the three-dimensional image, the position information and the position and posture information;
根据所述抓取方案靠近并接触所述待操作物体；approaching and contacting the object to be operated according to the grasping scheme;
获取所述待操作物体的接触力信息，根据所述接触力信息输出抓取力度；Acquiring contact force information of the object to be operated, and outputting a grasping force according to the contact force information;
根据所述抓取力度，抓取所述待操作物体。The object to be operated is grasped according to the grasping force.
根据本发明提供的一种双臂灵巧操作机器人系统的控制方法，根据所述三维图像、所述位置信息以及所述位姿信息，输出抓取方案包括：According to a control method of a dual-arm dexterous manipulation robot system provided by the present invention, outputting a grasping scheme according to the three-dimensional image, the position information and the posture information includes:
根据所述三维图像以及所述位置信息，确定抓料点；Determining a material grabbing point according to the three-dimensional image and the position information;
根据所述位置信息以及所述位姿信息，确定抓料路径。A material grabbing path is determined according to the position information and the posture information.
根据本发明提供的一种双臂灵巧操作机器人系统的控制方法，所述抓取执行机构包括二指夹取部、真空吸附部以及五指抓取部。According to a control method for a dual-arm dexterous manipulation robot system provided by the present invention, the grasping actuator includes a two-finger gripping part, a vacuum adsorption part and a five-finger grasping part.
本发明提供的双臂灵巧操作机器人系统，通过设置五指抓臂以及抓吸一体抓臂，能解决现有机器人平台中，抓取功能相对单一、多种末端执行器无法取长补短相互配合、无法完全发挥双臂机器人的抓取与操作能力的问题；此外通过位姿传感器、力觉传感器以及视觉传感器的设置，能够获取多组传感数据，规划出更佳的物品抓取方案，有效提高物品抓取的效率。The dual-arm dexterous manipulation robot system provided by the present invention, by providing a five-finger grasping arm and a grasping and suction integrated grasping arm, can solve the problems in the existing robot platform that the grasping function is relatively single, the various end effectors cannot complement each other and cooperate with each other, and the grasping and operation capabilities of the dual-arm robot cannot be fully exerted; in addition, through the setting of posture sensors, force sensors and visual sensors, multiple groups of sensor data can be obtained, and a better object grasping plan can be planned, effectively improving the efficiency of object grasping.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
图1是本发明提供的双臂灵巧操作机器人系统的立体结构示意图；FIG1 is a schematic diagram of the three-dimensional structure of a dual-arm dexterous manipulation robot system provided by the present invention;
图2是图1中安装架的立体结构示意图；FIG2 is a schematic diagram of the three-dimensional structure of the mounting frame in FIG1 ;
图3是图1中五指抓臂的局部结构示意图；FIG3 is a schematic diagram of a partial structure of the five-finger grasping arm in FIG1 ;
图4是图1中抓吸一体抓臂的局部结构示意图；FIG4 is a schematic diagram of the partial structure of the integrated grabbing and suction grabbing arm in FIG1 ;
图5是本发明提供的双臂灵巧操作机器人系统控制方法的流程示意图。FIG5 is a flow chart of a method for controlling a dual-arm dexterous manipulation robot system provided by the present invention.
附图标记：1：双臂灵巧操作机器人系统；2：安装架；3：双臂机器人；4：传感装置；5：支撑装置；6：容置空间；7：悬臂部；8：摄像头；9：显示屏幕；10：机器人主体；11：五指抓臂；12：抓吸一体抓臂；13：第一连接臂；14：五指灵巧手；15：第一连接法兰； 16：第二连接臂；17：夹吸一体爪；18：底座；19：夹取部；20：吸附部；21：夹块；22：真空吸盘；23：视觉传感器；24：升降平台；25：第二连接法兰。Figure numerals: 1: dual-arm dexterous manipulation robot system; 2: mounting frame; 3: dual-arm robot; 4: sensing device; 5: supporting device; 6: accommodating space; 7: cantilever part; 8: camera; 9: display screen; 10: robot body; 11: five-finger grasping arm; 12: integrated grasping and suction grasping arm; 13: first connecting arm; 14: five-finger dexterous hand; 15: first connecting flange; 16: second connecting arm; 17: integrated clamping and suction claw; 18: base; 19: clamping part; 20: adsorption part; 21: clamping block; 22: vacuum suction cup; 23: visual sensor; 24: lifting platform; 25: second connecting flange.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明中的附图，对本发明中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
在本发明实施例的描述中，需要说明的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明实施例的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.
在本发明实施例的描述中，需要说明的是，除非另有明确的规定和限定，术语“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明实施例中的具体含义。In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.
在本发明实施例中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。In the embodiments of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明实施例的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.
下面结合图1-图5描述本发明提供的双臂灵巧操作机器人系统1。The dual-arm dexterous manipulation robot system 1 provided by the present invention is described below in conjunction with Figures 1 to 5.
请参阅图1-图4，本发明提供了一种双臂灵巧操作机器人系统1，包括：安装架2，安装架2内形成有容置空间6；双臂机器人3，设于容置空间6，双臂机器人3包括机器人主体10以及设于机器人主体10两侧的五指抓臂11以及抓吸一体抓臂12，五指抓臂11为正常的五指抓握，而抓吸一体抓臂12包括多指抓取以及负气压吸取；传统技术中机器人具有多种末端执行器，但各末端执行器之间无法取长补短相互配合，完全发挥机器人的抓取与操作能力；本申请通过五指抓臂11与抓吸一体抓臂12的配合，能有效地提高双臂机器人3的抓握能力，对各种类型的物品均有良好的抓取操作效果。Please refer to Figures 1 to 4. The present invention provides a dual-arm dexterous operation robot system 1, including: a mounting frame 2, with an accommodating space 6 formed therein; a dual-arm robot 3, arranged in the accommodating space 6, the dual-arm robot 3 includes a robot body 10 and a five-finger grasping arm 11 and a grasping and suctioning integrated grasping arm 12 arranged on both sides of the robot body 10, the five-finger grasping arm 11 is a normal five-finger grasping, and the grasping and suctioning integrated grasping arm 12 includes multi-finger grasping and negative pressure suction; in traditional technology, the robot has a variety of end effectors, but the end effectors cannot complement each other and cooperate with each other to fully exert the robot's grasping and operating capabilities; the present application can effectively improve the grasping ability of the dual-arm robot 3 through the cooperation of the five-finger grasping arm 11 and the grasping and suctioning integrated grasping arm 12, and has a good grasping operation effect on various types of objects.
本申请提供的双臂灵巧操作机器人系统1还包括传感装置4，传感装置4包括设于双臂机器人3的位姿传感器、力觉传感器以及设于安装架2的视觉传感器23，位姿传感器设于双臂机器人3的五指抓臂11与抓吸一体抓臂12内部，可以反馈五指抓臂11或者抓吸一体抓臂12的手臂关节姿态，力觉传感器也设于五指抓臂11与抓吸一体抓臂12内部，用于在双臂机器人3抓握物体时反馈五指抓臂11或抓吸一体抓臂12的力矩变化信息，从而更好的控制抓取力度，防止损伤物体；视觉传感器23用于采集待操作物体的视觉数据信息，例如待操作物体的三维图像、位置、姿态信息等；基于上述传感装置4采集的各种数据信息，可以规划出双臂机器人3合适的抓取方式以及抓取路径，从而提高双臂机器人3的工作效率以及抓握效果；The dual-arm dexterous manipulation robot system 1 provided in the present application also includes a sensing device 4, which includes a posture sensor, a force sensor and a visual sensor 23 arranged on the mounting frame 2, which are arranged in the dual-arm robot 3. The posture sensor is arranged inside the five-finger grasping arm 11 and the grasping and suctioning integrated grasping arm 12 of the dual-arm robot 3, and can feedback the arm joint posture of the five-finger grasping arm 11 or the grasping and suctioning integrated grasping arm 12. The force sensor is also arranged inside the five-finger grasping arm 11 and the grasping and suctioning integrated grasping arm 12, and is used to feedback the torque change information of the five-finger grasping arm 11 or the grasping and suctioning integrated grasping arm 12 when the dual-arm robot 3 grasps an object, so as to better control the grasping force and prevent damage to the object; the visual sensor 23 is used to collect visual data information of the object to be operated, such as the three-dimensional image, position, posture information, etc. of the object to be operated; based on the various data information collected by the above-mentioned sensing device 4, a suitable grasping method and grasping path of the dual-arm robot 3 can be planned, thereby improving the working efficiency and grasping effect of the dual-arm robot 3;
当然，本申请提供的双臂灵巧操作机器人系统1还包括支撑装置 5，支撑装置5对应双臂机器人3设置，用于传送待操作物品。需要说明的是，支撑装置5一般是活动设置的，可以是传送带或者是升降台，用于传送物品，具体可以根据实际工况加以设置，本申请对此并不加以限定。Of course, the dual-arm dexterous manipulation robot system 1 provided in the present application also includes a support device 5, which is arranged corresponding to the dual-arm robot 3 and is used to convey the object to be manipulated. It should be noted that the support device 5 is generally arranged movably, and can be a conveyor belt or a lifting platform for conveying objects, and can be specifically arranged according to actual working conditions, and the present application does not limit this.
本发明提供的双臂灵巧操作机器人系统1，通过设置五指抓臂11 以及抓吸一体抓臂12，能解决现有机器人平台中，抓取功能相对单一、多种末端执行器无法取长补短相互配合、无法完全发挥双臂机器人3的抓取与操作能力的问题；此外通过位姿传感器、力觉传感器以及视觉传感器23的设置，能够获取多组传感数据，规划出更佳的物品抓取方案，有效提高物品抓取的质量以及效率。The dual-arm dexterous manipulation robot system 1 provided by the present invention, by providing a five-finger grasping arm 11 and a grasping and suction integrated grasping arm 12, can solve the problems in the existing robot platform that the grasping function is relatively single, the various end effectors cannot complement each other and cooperate with each other, and the grasping and manipulation capabilities of the dual-arm robot 3 cannot be fully utilized; in addition, through the provision of posture sensors, force sensors and visual sensors 23, multiple groups of sensor data can be obtained, and a better object grasping plan can be planned, effectively improving the quality and efficiency of object grasping.
具体地，五指抓臂11包括设于机器人主体10的第一连接臂13 以及设于第一连接臂13端部的五指灵巧手14。第一连接臂13为7 轴冗余设计，且具备碰撞检测功能，五指灵巧手14具有20个自由度；五指抓臂11主要用来抓握形状不规则且质量较大的物体，可以为此类物体提供稳定的抓握力。进一步地，五指抓臂11还包括设于第一连接臂13以及五指灵巧手14之间的第一连接法兰15，第一连接法兰15可通过螺栓与第一连接臂13以及五指灵巧手14可拆卸连接，也可通过螺纹与第一连接臂13以及五指灵巧手14可拆卸连接，本申请对此并不加以限定。此外，在第一连接法兰15上设有过线孔，五指灵巧手14的数据线或者电源线可以通过过线孔与第一连接臂13连接。Specifically, the five-finger grasping arm 11 includes a first connecting arm 13 provided on the robot body 10 and a five-finger dexterous hand 14 provided at the end of the first connecting arm 13. The first connecting arm 13 is a 7-axis redundant design and has a collision detection function, and the five-finger dexterous hand 14 has 20 degrees of freedom; the five-finger grasping arm 11 is mainly used to grasp objects with irregular shapes and large masses, and can provide stable grasping force for such objects. Further, the five-finger grasping arm 11 also includes a first connecting flange 15 provided between the first connecting arm 13 and the five-finger dexterous hand 14, and the first connecting flange 15 can be detachably connected to the first connecting arm 13 and the five-finger dexterous hand 14 by bolts, or can be detachably connected to the first connecting arm 13 and the five-finger dexterous hand 14 by threads, and this application does not limit this. In addition, a wire hole is provided on the first connecting flange 15, and the data cable or power cable of the five-finger dexterous hand 14 can be connected to the first connecting arm 13 through the wire hole.
进一步地，抓吸一体抓臂12包括设于机器人主体10的第二连接臂16以及设于第二连接臂16端部的夹吸一体爪17，第二连接臂16 为7轴冗余设计，且具备碰撞检测功能；夹吸一体爪17包括底座18 以及分设于底座18的夹取部19以及吸附部20。夹吸一体爪17能够提供多指夹取以及气压吸附的功能，即将两种功能集合在一个机械臂上；夹取部19主要适用于形状较为规则，质量较轻的物品，吸附部 20主要适用于形状不规则，质量较轻的物品。如上所述，五指灵巧手14可以适用于形状不规则，质量较重的物品，因此本申请提供的双臂机器人3对于各种类型的物品均能提供良好的拾取效果。需要进一步说明的是，本申请中设置了传感装置4，可以获取待操作物品的三维图像、位置信息等，从而选择合适的抓取部件；当然，对一个待操作物品可以有多种拾取方式，若初始选择的抓取部件未抓取成功，还可以采用其他的抓取部件继续抓取，本申请对此并不加以限定。还需要说明的是，在本申请提供的技术方案中，第二连接臂16与夹吸一体爪17之间还设有第二连接法兰25，第二连接法兰25与第一连接法兰15的结构相似。Furthermore, the gripping and suction integrated gripping arm 12 includes a second connecting arm 16 provided on the robot body 10 and a gripping and suction integrated claw 17 provided at the end of the second connecting arm 16, the second connecting arm 16 is a 7-axis redundant design and has a collision detection function; the gripping and suction integrated claw 17 includes a base 18 and a gripping portion 19 and an adsorption portion 20 respectively provided on the base 18. The gripping and suction integrated claw 17 can provide the functions of multi-finger gripping and air pressure adsorption, that is, the two functions are combined in one robot arm; the gripping portion 19 is mainly suitable for objects with relatively regular shapes and light weight, and the adsorption portion 20 is mainly suitable for objects with irregular shapes and light weight. As described above, the five-finger dexterous hand 14 can be suitable for objects with irregular shapes and heavy weight, so the dual-arm robot 3 provided in the present application can provide good picking effects for various types of objects. It should be further explained that the sensor device 4 is provided in the present application, which can obtain the three-dimensional image, position information, etc. of the object to be operated, so as to select the appropriate grasping component; of course, there can be multiple ways to pick up an object to be operated. If the grasping component initially selected fails to grasp successfully, other grasping components can be used to continue grasping, and the present application does not limit this. It should also be explained that in the technical solution provided in the present application, a second connecting flange 25 is also provided between the second connecting arm 16 and the clamping and suction integrated claw 17, and the structure of the second connecting flange 25 is similar to that of the first connecting flange 15.
需要说明的是，夹取部19与吸附部20具有多种实施方式，在本申请提供的技术方案中，夹取部19包括设于底座18的夹爪气缸，夹爪气缸包括两个夹块21，两个夹块21具有相互靠近或者远离的活动行程，两个夹块21用以在相互靠近的活动行程中夹取待操作物品，当然也可以采用三个夹块21夹取的方式，本申请对此并不加以限定；吸附部20包括设于底座18的真空吸盘22。由于夹爪气缸与真空吸盘22均需要气动力，因此，第二连接臂16上还设有气泵，气泵分别与夹爪气缸以及真空吸盘22连通。It should be noted that the gripping part 19 and the adsorption part 20 have multiple implementation modes. In the technical solution provided in the present application, the gripping part 19 includes a clamping claw cylinder provided on the base 18, and the clamping claw cylinder includes two clamping blocks 21. The two clamping blocks 21 have a movable stroke of approaching or moving away from each other. The two clamping blocks 21 are used to clamp the object to be operated in the movable stroke of approaching each other. Of course, the clamping method of three clamping blocks 21 can also be adopted, and the present application does not limit this. The adsorption part 20 includes a vacuum suction cup 22 provided on the base 18. Since both the clamping claw cylinder and the vacuum suction cup 22 require pneumatic force, an air pump is also provided on the second connecting arm 16, and the air pump is connected to the clamping claw cylinder and the vacuum suction cup 22 respectively.
进一步地，支撑装置5包括对应所述双臂机器人3设置的升降平台24以及驱动部，驱动部驱动连接升降平台24，以使升降平台24 具有沿双臂机器人3高度方向延伸的活动行程。需要说明的是，驱动部可以采用驱动气缸或者驱动电机等，通过升降平台24的设置，能够活动地调节平台的高度，增加灵活性，同时也能满足双臂机器人3 的操作空间要求，有利于双臂机器人3轻便地拾取不同种类的物品。Furthermore, the support device 5 includes a lifting platform 24 and a driving unit corresponding to the dual-arm robot 3, and the driving unit drives the lifting platform 24 so that the lifting platform 24 has a movable stroke extending in the height direction of the dual-arm robot 3. It should be noted that the driving unit can be a driving cylinder or a driving motor, etc., and through the setting of the lifting platform 24, the height of the platform can be adjusted flexibly to increase flexibility, and at the same time, the operating space requirements of the dual-arm robot 3 can be met, which is conducive to the dual-arm robot 3 to easily pick up different types of items.
请参阅图1-图3，安装架2主要包括三个部分，上端为悬臂部7，中部为支撑部，下端为承载部；悬臂部7向前延伸，悬臂部7采用桁架结构，能够增加整体的刚性和抗扭性能；视觉传感器23包括设于悬臂部7的深度视觉传感器以及3D视觉传感器，深度视觉传感器以及3D视觉传感器均朝向双臂机器人3设置。需要说明的是，深度视觉传感器可以在同一平面内布置3个或者3个以上，形成完整视场，悬臂部7上开设有多个装配孔，可以根据需要活动地调节视觉传感器 23的位置。Please refer to Figures 1 to 3. The mounting frame 2 mainly includes three parts, the upper end is the cantilever part 7, the middle part is the support part, and the lower end is the load-bearing part; the cantilever part 7 extends forward, and the cantilever part 7 adopts a truss structure, which can increase the overall rigidity and torsion resistance; the visual sensor 23 includes a depth visual sensor and a 3D visual sensor arranged on the cantilever part 7, and the depth visual sensor and the 3D visual sensor are both arranged toward the dual-arm robot 3. It should be noted that 3 or more depth visual sensors can be arranged in the same plane to form a complete field of view, and a plurality of assembly holes are provided on the cantilever part 7, and the position of the visual sensor 23 can be adjusted according to needs.
进一步地，双臂灵巧操作机器人系统1还包括摄像装置，摄像装置包括设于安装架2的摄像头8以及设于安装架2的显示屏幕9，显示屏幕9与摄像头8电连接。摄像头8也安装于悬臂部7，朝向双臂机器人3设置，可以拍摄双臂机器人3的运动，此外摄像头8的安装角度或者安装位置也可以通过装配孔进行调节；显示屏幕9设于支撑部上，朝前放置，方便用户实时观察双臂机器人3的操作，便于对其进行控制。此外，由于双臂机器人3在活动过程中可能会发生转动，影响其操作的稳定性，在本申请提供的技术方案中，安装架2的底部设有第一连接块以及第二连接块，第一连接块与第二连接块均与双臂机器人3连接，第一连接块与第二连接块对双臂机器人3起到限位固定的作用，用于限制双臂机器人3在X方向和在Y方向上的自由度。Further, the dual-arm dexterous operation robot system 1 also includes a camera device, which includes a camera 8 arranged on the mounting frame 2 and a display screen 9 arranged on the mounting frame 2, and the display screen 9 is electrically connected to the camera 8. The camera 8 is also installed on the cantilever part 7, and is arranged toward the dual-arm robot 3, and can shoot the movement of the dual-arm robot 3. In addition, the installation angle or installation position of the camera 8 can also be adjusted through the assembly hole; the display screen 9 is arranged on the support part, and is placed forward, so that the user can observe the operation of the dual-arm robot 3 in real time and control it. In addition, since the dual-arm robot 3 may rotate during the activity, affecting the stability of its operation, in the technical solution provided in this application, a first connecting block and a second connecting block are provided at the bottom of the mounting frame 2, and the first connecting block and the second connecting block are both connected to the dual-arm robot 3. The first connecting block and the second connecting block play a role of limiting and fixing the dual-arm robot 3, and are used to limit the freedom of the dual-arm robot 3 in the X direction and the Y direction.
基于上述的双臂灵巧操作机器人系统1，本发明还提供了一种双臂灵巧操作机器人系统的控制方法，包括：Based on the above-mentioned dual-arm dexterous manipulation robot system 1, the present invention also provides a control method for the dual-arm dexterous manipulation robot system, comprising:
S10、获取待操作物体的三维图像与位置信息；S10, obtaining a three-dimensional image and position information of the object to be operated;
S20、根据所述三维图像以及所述位置信息，确定抓取执行机构；S20, determining a grasping actuator according to the three-dimensional image and the position information;
S30、获取所述抓取执行机构的位姿信息，根据所述三维图像、所述位置信息以及所述位姿信息，输出抓取方案；S30, obtaining the position and posture information of the grasping actuator, and outputting a grasping plan according to the three-dimensional image, the position information and the position and posture information;
S40、根据所述抓取方案靠近并接触所述待操作物体；S40, approaching and contacting the object to be operated according to the grasping scheme;
S50、获取所述待操作物体的接触力信息，根据所述接触力信息输出抓取力度；S50, obtaining contact force information of the object to be operated, and outputting a grasping force according to the contact force information;
S60、根据所述抓取力度，抓取所述待操作物体。S60: Grab the object to be operated according to the grasping force.
基于深度视觉传感器以及3D视觉传感器，可以获取待操作物体的三维图像以及位置信息，三维图像以及位置信息可以涵盖待操作物体的类型、大小、位置、形状以及三维位姿，通过对上述数据的分析，能够确定出抓取执行机构，例如形状不规则且质量较大的，选择五指灵活手抓取，形状不规则质量较轻的，选择真空吸盘22吸附；在抓取执行机构选择完毕后，需要获取抓取执行机构的位姿信息，位姿信息能够反馈抓取执行机构关节的姿态，可以根据待抓取物体的位置和执行机构关节的姿态，规划抓取方案。当抓取执行机构与待操作物品接触时，根据与待操作物品接触点传来的接触力信息，可以控制抓取力度，再进行抓取操作。需要说明的是，通过多种传感数据的分析与处理，能够提高双臂机器人3抓取物品的效率以及质量。Based on the depth vision sensor and the 3D vision sensor, the three-dimensional image and position information of the object to be operated can be obtained. The three-dimensional image and position information can cover the type, size, position, shape and three-dimensional posture of the object to be operated. By analyzing the above data, the grasping actuator can be determined. For example, if the shape is irregular and the mass is large, the five-finger flexible hand is selected for grasping. If the shape is irregular and the mass is light, the vacuum suction cup 22 is selected for adsorption; after the grasping actuator is selected, the posture information of the grasping actuator needs to be obtained. The posture information can feedback the posture of the grasping actuator joint, and the grasping scheme can be planned according to the position of the object to be grasped and the posture of the actuator joint. When the grasping actuator contacts the object to be operated, the grasping force can be controlled according to the contact force information transmitted from the contact point with the object to be operated, and then the grasping operation is performed. It should be noted that through the analysis and processing of a variety of sensor data, the efficiency and quality of the dual-arm robot 3 grasping objects can be improved.
具体地，S30、根据所述三维图像、所述位置信息以及所述位姿信息，输出抓取方案包括：Specifically, S30, outputting a grasping scheme according to the three-dimensional image, the position information, and the posture information includes:
S31、根据所述三维图像以及所述位置信息，确定抓料点；S31, determining a material grabbing point according to the three-dimensional image and the position information;
S32、根据所述位置信息以及所述位姿信息，确定抓料路径。S32. Determine a material grabbing path according to the position information and the posture information.
无论是形状规则或者形状不规则的物品，抓料点的选择尤关重要，合适的抓料点的选择不仅会提高抓料的稳定性，更能提高抓料的效率。在本申请提供的技术方案中，首先要根据三维图像以及位置信息，确定抓料点，比如五指抓握的抓料点最好分布于待操作物品的周向，二指夹取的抓料点最好分布于待操作物品的两侧或者两端，真空吸附的抓料点最好分布于待操作物品较为平整且面积较大的一个表面。当抓料点选择完毕后，需要规划抓料路径，由于第一连接臂或者第二连接臂具有多个关节，需要确定多个关节的运动路径，规划出最合适的抓料路径。Whether the object is of regular or irregular shape, the selection of the grasping point is particularly important. The selection of the appropriate grasping point will not only improve the stability of the grasping, but also improve the efficiency of the grasping. In the technical solution provided in this application, the grasping points must first be determined based on the three-dimensional image and position information. For example, the grasping points for five-finger grasping are preferably distributed around the object to be operated, the grasping points for two-finger clamping are preferably distributed on both sides or both ends of the object to be operated, and the grasping points for vacuum adsorption are preferably distributed on a relatively flat and larger surface of the object to be operated. After the grasping points are selected, it is necessary to plan the grasping path. Since the first connecting arm or the second connecting arm has multiple joints, it is necessary to determine the movement paths of the multiple joints and plan the most suitable grasping path.
在本申请提供的技术方案中，抓取执行机构包括二指夹取部、真空吸附部以及五指抓取部，当然也可以选择这三种的其中两种进行组合，本申请对此并加以限定。In the technical solution provided in the present application, the grasping actuator includes a two-finger clamping part, a vacuum adsorption part and a five-finger grasping part. Of course, two of these three types can also be selected for combination, and the present application does not limit this.
本申请还提供了一种电子设备，该电子设备可以包括：处理器 (processor)、通信接口(Communications Interface)、存储器(memory)和通信总线，其中，处理器，通信接口，存储器通过通信总线完成相互间的通信。处理器可以调用存储器中的逻辑指令，以执行双臂灵巧操作机器人系统的控制方法，该方法包括：The present application also provides an electronic device, which may include: a processor, a communications interface, a memory, and a communications bus, wherein the processor, the communications interface, and the memory communicate with each other via the communications bus. The processor may call logic instructions in the memory to execute a control method for a dual-arm dexterous manipulation robot system, the method comprising:
S10、获取待操作物体的三维图像与位置信息；S10, obtaining a three-dimensional image and position information of the object to be operated;
S20、根据所述三维图像以及所述位置信息，确定抓取执行机构；S20, determining a grasping actuator according to the three-dimensional image and the position information;
S30、获取所述抓取执行机构的位姿信息，根据所述三维图像、所述位置信息以及所述位姿信息，输出抓取方案；S30, obtaining the position and posture information of the grasping actuator, and outputting a grasping plan according to the three-dimensional image, the position information and the position and posture information;
S40、根据所述抓取方案靠近并接触所述待操作物体；S40, approaching and contacting the object to be operated according to the grasping scheme;
S50、获取所述待操作物体的接触力信息，根据所述接触力信息输出抓取力度；S50, obtaining contact force information of the object to be operated, and outputting a grasping force according to the contact force information;
S60、根据所述抓取力度，抓取所述待操作物体。S60: Grab the object to be operated according to the grasping force.
此外，上述的存储器中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.
另一方面，本发明还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各提供的双臂灵巧操作机器人系统的控制方法，该方法包括：On the other hand, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the control method of the dual-arm dexterous manipulation robot system provided above, the method comprising:
S10、获取待操作物体的三维图像与位置信息；S10, obtaining a three-dimensional image and position information of the object to be operated;
S20、根据所述三维图像以及所述位置信息，确定抓取执行机构；S20, determining a grasping actuator according to the three-dimensional image and the position information;
S30、获取所述抓取执行机构的位姿信息，根据所述三维图像、所述位置信息以及所述位姿信息，输出抓取方案；S30, obtaining the position and posture information of the grasping actuator, and outputting a grasping plan according to the three-dimensional image, the position information and the position and posture information;
S40、根据所述抓取方案靠近并接触所述待操作物体；S40, approaching and contacting the object to be operated according to the grasping scheme;
S50、获取所述待操作物体的接触力信息，根据所述接触力信息输出抓取力度；S50, obtaining contact force information of the object to be operated, and outputting a grasping force according to the contact force information;
S60、根据所述抓取力度，抓取所述待操作物体。S60: Grab the object to be operated according to the grasping force.
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210449052.1ACN114872017B (en) | 2022-04-26 | 2022-04-26 | Dual-arm dexterous manipulation robot system |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210449052.1ACN114872017B (en) | 2022-04-26 | 2022-04-26 | Dual-arm dexterous manipulation robot system |
| Publication Number | Publication Date |
|---|---|
| CN114872017A CN114872017A (en) | 2022-08-09 |
| CN114872017Btrue CN114872017B (en) | 2024-05-14 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210449052.1AActiveCN114872017B (en) | 2022-04-26 | 2022-04-26 | Dual-arm dexterous manipulation robot system |
| Country | Link |
|---|---|
| CN (1) | CN114872017B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115958575B (en)* | 2023-03-16 | 2023-06-02 | 中国科学院自动化研究所 | Mobile robot capable of being operated flexibly by similar people |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100787186B1 (en)* | 2006-11-21 | 2007-12-24 | 주식회사은강테크 | Modular Multifunction Multi Hand Gripper |
| WO2014111633A1 (en)* | 2013-01-17 | 2014-07-24 | Amg Industries | Gripping device and related method |
| JP2015127096A (en)* | 2015-04-03 | 2015-07-09 | ファナック株式会社 | Robot system |
| CN105500381A (en)* | 2016-02-05 | 2016-04-20 | 中国科学院自动化研究所 | Universal modularized two-arm service robot platform and system |
| CN105729441A (en)* | 2014-12-24 | 2016-07-06 | 精工爱普生株式会社 | Robot, robot system, control apparatus, and control method |
| CN108349092A (en)* | 2015-11-16 | 2018-07-31 | 川崎重工业株式会社 | Manufacturing system, manufacturing system construction method, end effector, robot, and robot operation method |
| WO2020222135A1 (en)* | 2019-04-30 | 2020-11-05 | Universita' Di Pisa | A logistic device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2688717B1 (en)* | 2011-03-23 | 2023-10-18 | SRI International | Dexterous telemanipulator system |
| CN103619530B (en)* | 2011-07-07 | 2016-01-13 | 株式会社安川电机 | end effector and robot |
| JP2015131375A (en)* | 2014-01-15 | 2015-07-23 | セイコーエプソン株式会社 | Robot, robot system, robot control device, and robot control method |
| CN105313127A (en)* | 2014-06-02 | 2016-02-10 | 精工爱普生株式会社 | Robot, control method of robot, and control device of robot |
| JP6594024B2 (en)* | 2015-05-07 | 2019-10-23 | ヤマト科学株式会社 | Sample processing system |
| WO2017033365A1 (en)* | 2015-08-25 | 2017-03-02 | 川崎重工業株式会社 | Remote control robot system |
| CN108349087A (en)* | 2015-11-16 | 2018-07-31 | 川崎重工业株式会社 | Robot |
| EP3263292B1 (en)* | 2016-06-28 | 2025-07-16 | Tata Consultancy Services Limited | Adaptive gripper device |
| WO2018063100A2 (en)* | 2016-09-30 | 2018-04-05 | Eth Singapore Sec Ltd | System for placing objects on a surface and method thereof |
| JP6831693B2 (en)* | 2016-12-22 | 2021-02-17 | 川崎重工業株式会社 | Transport system and its operation method |
| CN114375182A (en)* | 2019-09-10 | 2022-04-19 | 奥瑞斯健康公司 | System and method for kinematic optimization using shared robot degrees of freedom |
| US11584004B2 (en)* | 2019-12-17 | 2023-02-21 | X Development Llc | Autonomous object learning by robots triggered by remote operators |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100787186B1 (en)* | 2006-11-21 | 2007-12-24 | 주식회사은강테크 | Modular Multifunction Multi Hand Gripper |
| WO2014111633A1 (en)* | 2013-01-17 | 2014-07-24 | Amg Industries | Gripping device and related method |
| CN105729441A (en)* | 2014-12-24 | 2016-07-06 | 精工爱普生株式会社 | Robot, robot system, control apparatus, and control method |
| JP2015127096A (en)* | 2015-04-03 | 2015-07-09 | ファナック株式会社 | Robot system |
| CN108349092A (en)* | 2015-11-16 | 2018-07-31 | 川崎重工业株式会社 | Manufacturing system, manufacturing system construction method, end effector, robot, and robot operation method |
| CN105500381A (en)* | 2016-02-05 | 2016-04-20 | 中国科学院自动化研究所 | Universal modularized two-arm service robot platform and system |
| WO2020222135A1 (en)* | 2019-04-30 | 2020-11-05 | Universita' Di Pisa | A logistic device |
| Title |
|---|
| 双机械臂协调控制综述;刘永信;王玲琳;韩晓爽;唐奇;;内蒙古大学学报(自然科学版);20170715(04);141-150* |
| 基于时域编码结构光的高精度三维视觉引导抓取系统研究;孔令升;崔西宁;郭俊广;宋展;孙红雨;;集成技术(第02期);40-51* |
| 机器人多指手灵巧抓持规划;李继婷, 张玉茹, 郭卫东;机器人(第05期);26-30+35* |
| Publication number | Publication date |
|---|---|
| CN114872017A (en) | 2022-08-09 |
| Publication | Publication Date | Title |
|---|---|---|
| CN115250745B (en) | Full-automatic fruit picking robot and picking method based on vision technology | |
| CN109561805B (en) | dish cleaning system | |
| CN114559428B (en) | System and method for providing a dynamic robot control system | |
| TWI616290B (en) | Multiaxial robot of multitasking and operating method thereof | |
| CN103687702B (en) | Assembly supply device | |
| US11440197B2 (en) | Robot system and imaging method | |
| JP2011000685A (en) | Bin picking system | |
| JP6435400B2 (en) | Working robot and gripper | |
| CN107009358A (en) | A kind of unordered grabbing device of robot based on one camera and method | |
| CN114872017B (en) | Dual-arm dexterous manipulation robot system | |
| CN108858202A (en) | The control method of part grabbing device based on " to quasi- approach-crawl " | |
| CN108772840A (en) | A kind of adaptive sorting system and method based on computer vision and machine learning | |
| CN217905217U (en) | Picking device | |
| Chapman et al. | A locally-adaptive, parallel-jaw gripper with clamping and rolling capable, soft fingertips for fine manipulation of flexible flat cables | |
| CN108927822A (en) | A kind of end effector of robot and robot | |
| CN114952774A (en) | Mobile robot based on mobile chassis | |
| JP2018122367A (en) | Conveyance system and operation method for the same | |
| CN216638137U (en) | Highly adaptable grasping device and robot automatic feeding system | |
| CN217703407U (en) | Mobile robot based on mobile chassis | |
| CN108189032B (en) | Automatic fetching method based on visual recognition and mechanical arm | |
| CN212265845U (en) | An underactuated dead bird picking manipulator | |
| CN110039272B (en) | Automatic change equipment of disassembling cell-phone winding displacement | |
| Buzzatto et al. | On robotic manipulation of flexible flat cables: Employing a multi-modal gripper with dexterous tips, active nails, and a reconfigurable suction cup module | |
| CN217703406U (en) | Multifunctional robot based on mobile chassis | |
| JP2015074065A (en) | Robot and removal method |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | Effective date of registration:20250814 Address after:211135 Jiangsu Province, Nanjing City, Jiangning District, Qilin Science and Technology Innovation Park, Chuan Yan Road No. 266, Artificial Intelligence Industrial Park, Building 2, Room 203B Patentee after:Zhongke Siji (Nanjing) Robot Co.,Ltd. Country or region after:China Address before:100190 Zhongguancun East Road, Beijing, No. 95, No. Patentee before:INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Country or region before:China |