Apparatus and method for gripping a workpiece based on machine vision and ultrasonic sensors

The present invention discloses a sensor based on machine vision and ultrasonic apparatus and method for gripping a workpiece. A stepping motor is connected with the lifting platform, is connected to the drive motor and the PLC encoder mounted on the stepping motor, respectively; gripping a workpiece to be stacked on the stage; stand fixing plate, and a CCD sensor is attached to an ultrasonic cameras, ultrasonic sensors connected to the PLC, the PLC is connected to the camera and the computer, respectively; the bottom surface of the emitter and the lens of the camera is parallel to the ultrasonic sensor, a workpiece to be gripped field of view of the camera, the LCD screen, industrial robots, respectively, and PLC connected to the computer. Real-time ultrasonic sensor on the workpiece surface to detect the distance from the camera, the camera image acquisition workpiece contour, with a recognition plane monocular camera work space coordinates and crawling, reducing the complexity of communications computers and robots, cameras reduce hardware costs and complexity of calibration, workpiece gripping improve efficiency.