Robotic Arm Pick-and-place System for L-Shaped Water Pipe Joint with Arbitrary Angle

The system combines a camera and a mechanical arm to complete the L-shaped water pipe joint picking system with arbitrary angle. The system is mainly divided into two parts: computer side and arm side. The computer is responsible for observing the current position and angle of the workpiece, receiving the image of the workpiece and performing image processing operations (such as binarization, contour detection), and at the same time converting the coordinate and angle of the workpiece into the coordinate and angle of the robot arm and transmitting it End. The arm end receives the coordinates and angle from the computer end and performs the corresponding picking action. The system sets the workpiece center in combination with the rotation point and picking point in the minimum contour rectangle where the workpiece is found to binarization to pick the workpiece. During the experiment, the conditions of the factory environment were also simulated. During the day, noon and night, four, three, two and one fluorescent lamp were turned on, and 100 tests were performed on 12 situations. The average success rate is as high as 99%. Experiments show that the system can be actually used in factories, saving related manpower and material resources.