Adaptive flexible gripping manipulator based on deep learning

Abstract

This utility model relates to the field of robotic arm technology and discloses an adaptive flexible grasping robotic arm based on deep learning. It includes a robotic arm, a connector, a forearm, and an upper arm. The end of the robotic arm is connected to the front end of the forearm via the connector. The end of the forearm is rotatably connected to the upper arm, enabling flexible movement. A connecting component is provided between the connector and the forearm, including a connecting washer and a connecting spring. During grasping, the connecting spring generates a buffering force, giving the robotic arm flexibility and preventing damage to the object. Simultaneously, the connecting guide post and connecting guide hole cooperate to achieve precise positioning and adaptive adjustment of the grasping force. When replacing the robotic arm, the fixing bolts on the fixing component are unscrewed, and the positioning block exits from the positioning hole under the action of the telescopic spring, allowing for quick separation of the connector and the forearm. The reverse operation allows for quick installation of a new robotic arm, significantly improving ease of use and efficiency.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to an adaptive flexible grasping robotic arm based on deep learning. Background Technology

[0002] In the field of intelligent manufacturing, deep learning, with its powerful data processing and analysis capabilities, has become a key technology driving the upgrade of automated equipment. As an important execution component of automated production lines, adaptive flexible gripping robots can automatically adjust their gripping force and posture according to the shape, material and other characteristics of objects, and efficiently complete complex gripping tasks. This not only greatly improves production efficiency, but also reduces the cost and risk of manual operation. They are widely used in many industries such as electronics manufacturing, food processing, and logistics sorting, meeting the needs of diverse production scenarios. However, most traditional gripping robots adopt a fixed gripping mode and lack adaptive capabilities. When faced with objects of irregular shape and different materials, they are prone to unstable gripping and damage to the objects. At the same time, the process of replacing parts of traditional robots is cumbersome, requiring professional personnel to disassemble and install them with a variety of tools. This is not only time-consuming and affects the production schedule, but frequent disassembly may also lead to wear and tear of parts and increase equipment maintenance costs. To address this, we propose an adaptive flexible gripping robot based on deep learning. Utility Model Content

[0003] To address the shortcomings of existing technologies, this invention provides an adaptive flexible grasping robot based on deep learning, which solves the aforementioned problems.

[0004] To achieve the above-mentioned objectives, this utility model provides the following technical solution: an adaptive flexible grasping robot based on deep learning, comprising: The robotic arm comprises a robotic hand, a connector, and a robotic forearm. The robotic hand is connected to a connector at its end, which is inserted into the front end of the robotic forearm. The outer cylindrical surface of the robotic forearm is provided with symmetrically distributed fixing members, and fixing bolts are inserted through the fixing members. The connecting members are fixed to the front end of the robotic forearm by the fixing bolts. The end of the robotic forearm is rotatably connected to a robotic upper arm. A connecting assembly is disposed between the connector and the robotic arm, the connecting assembly including a connecting washer and a connecting spring, the connecting washer and the connecting spring being disposed inside the front end of the robotic arm.

[0005] Preferably, the end of the robotic arm is rotatably engaged with the front end of the connector, the connector is annular, a connecting cylinder is fixedly installed on the back of the connector, and a connecting guide hole is provided inside the end of the connecting cylinder.

[0006] Preferably, positioning blocks are fixedly installed on both sides of the back of the connector, wherein the positioning blocks are symmetrically distributed on the outside of the connecting cylinder, and the positioning blocks are composed of two fixing blocks, with a telescopic spring between the two fixing blocks, and the fixing blocks are provided with threaded holes.

[0007] Preferably, the connecting assembly consists of connecting washers and connecting springs, wherein the two ends of the plurality of connecting springs are provided with annular connecting washers, and the connecting springs are distributed in a ring between two connecting washers.

[0008] Preferably, the front end of the robotic arm has a movable cavity for pads, a connecting guide post is provided inside the movable cavity for pads, and a connecting assembly is provided inside the movable cavity for pads, wherein two connecting pads are sleeved on the connecting guide post.

[0009] Preferably, the connecting cylinder on the back of the connector is inserted into the front end of the mechanical arm, wherein the end face of the connecting cylinder is tightly fitted with the end face of the connecting pad ring, and the connecting guide post is inserted into the interior of the connecting guide hole.

[0010] Preferably, the front end of the robotic arm has symmetrically distributed positioning holes, the outer cylindrical surface of the robotic arm has symmetrically distributed placement grooves, and the placement grooves have mutually symmetrical insertion holes, which are connected to the positioning holes.

[0011] Preferably, the rear positioning block of the connector is inserted into the interior of the positioning hole, and the fixing member is provided with mutually symmetrical fixing bolts. The fixing member is set on the placement groove, and the fixing bolts extend into the interior of the positioning hole through the insertion hole and are threadedly connected to the threaded hole on the fixing block.

[0012] Compared with existing technologies, this invention provides an adaptive flexible grasping robot based on deep learning, which has the following advantages: 1. This deep learning-based adaptive flexible gripping robot uses a special connection structure between the connector and the robotic arm. By unscrewing the fixing bolts on the fixing component and utilizing the characteristics of the telescopic spring in the positioning block, the positioning block can be quickly disassembled from the positioning hole of the robotic arm, enabling rapid disassembly of the robot. When installing a new robot, the operation is reversed, with the positioning block engaging with the positioning hole and the fixing bolts threaded together, ensuring a stable and efficient installation. This significantly shortens replacement time. The quick-change design allows the robot to be quickly switched to adapt to different gripping tasks, improving equipment versatility, reducing downtime caused by robot replacement, increasing production efficiency, and simultaneously reducing enterprise equipment procurement and maintenance costs. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2This is a cross-sectional view of the structure of this utility model; Figure 3 This is a schematic diagram showing the structural breakdown of this utility model; Figure 4 This is a schematic diagram of the robotic arm structure of this utility model.

[0014] In the diagram: 1. Robotic arm; 2. Connector; 3. Robotic forearm; 4. Robotic upper arm; 5. Connecting washer; 6. Connecting spring; 7. Fixing component; 8. Fixing bolt; 9. Placement slot; 10. Insertion hole; 11. Connecting guide post; 12. Washer movable cavity; 13. Positioning hole; 14. Connecting cylinder; 15. Connecting guide hole; 16. Positioning block; 17. Telescopic spring. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] Please see Figure 1-4 An adaptive flexible grasping robot based on deep learning, comprising: The robotic arm 1, connector 2, and robotic forearm 3 are provided. Connector 2 is connected to the end of robotic arm 1. Connector 2 is inserted into the front end of robotic forearm 3. Symmetrically distributed fixing parts 7 are provided on the outer cylindrical surface of robotic forearm 3. Fixing bolts 8 are inserted through fixing parts 7. Connector 2 is fixed to the front end of robotic forearm 3 by fixing bolts 8. Robotic arm 4 is rotatably connected to the end of robotic forearm 3. A connecting assembly is provided between the connector 2 and the robotic arm 3. The connecting assembly includes a connecting washer 5 and a connecting spring 6, which are located inside the front end of the robotic arm 3.

[0017] Furthermore, the end of the robotic arm 1 rotates and engages with the front end of the connector 2. The connector 2 is annular in shape, and a connecting cylinder 14 is fixedly installed on the back of the connector 2. A connecting guide hole 15 is provided inside the end of the connecting cylinder 14, which provides flexibility for the angle adjustment of the robotic arm 1 and provides a basis for precise connection with the robotic forearm 3.

[0018] Furthermore, positioning blocks 16 are fixedly installed on both sides of the back of the connector 2. The positioning blocks 16 are symmetrically distributed on the outside of the connecting cylinder 14, and the positioning blocks 16 are composed of two fixing blocks. A telescopic spring 17 is provided between the two fixing blocks. The fixing blocks are provided with threaded holes to achieve quick positioning and stable fixation, which facilitates the quick assembly and disassembly of the robot arm 1.

[0019] Furthermore, the connecting assembly consists of connecting pads 5 and connecting springs 6. Both ends of the multiple connecting springs 6 are provided with annular connecting pads 5, and the connecting springs 6 are distributed in a ring between two connecting pads 5, so that the robot arm 1 has flexible buffering ability during the grasping process, which can effectively avoid damage to the object during grasping.

[0020] Furthermore, the front end of the robotic arm 3 has a pad ring movable cavity 12, a connecting guide post 11 is provided inside the pad ring movable cavity 12, and a connecting component is provided inside the pad ring movable cavity 12. Two connecting pad rings 5 ​​are sleeved on the connecting guide post 11 to provide installation space and guidance for the connecting component, ensuring that the connecting component can play a stable role.

[0021] Furthermore, the connecting cylinder 14 on the back of the connector 2 is inserted into the front end of the robotic arm 3, wherein the end face of the connecting cylinder 14 is tightly fitted with the end face of the connecting pad ring 5, and the connecting guide post 11 is inserted into the inside of the connecting guide hole 15, thereby achieving precise positioning and stable connection and ensuring the reliability of the robotic arm 1's grasping operation.

[0022] Furthermore, the front end of the robotic arm 3 is provided with symmetrically distributed positioning holes 13, and the outer cylindrical surface of the robotic arm 3 is provided with symmetrically distributed placement grooves 9. The placement grooves 9 are provided with mutually symmetrical insertion holes 10, which are connected to the positioning holes 13, providing a channel for the installation of the fixing parts 7 and fixing bolts 8, and providing structural support for the fixation of the robotic arm 1.

[0023] Furthermore, the back positioning block 16 of the connector 2 is inserted into the interior of the positioning hole 13, and the fixing bolts 8 are inserted through the fixing member 7. The fixing member 7 is set on the placement groove 9, and the fixing bolts 8 extend into the interior of the positioning hole 13 through the insertion hole 10 and are threadedly connected to the threaded hole on the fixing block to realize the firm fixation of the robot and the robot arm 3, ensuring the stability of the robot 1 during operation and the convenience of quick replacement.

[0024] Structural Description: Robotic arm 1: As a grasping and execution component, its end effector rotates and engages with connector 2 to achieve multi-angle grasping posture adjustment and complete the object grasping task; Connector 2: It is ring-shaped and serves as the connection hub between the robotic arm 1 and the robotic forearm 3. It has a connecting cylinder 14 and a positioning block 16 on the back to ensure accurate and stable connection. Mechanical forearm 3: The front end is connected to the connector 2, and the end is rotatably connected to the mechanical arm 4, providing motion support and flexible range of motion for the robotic hand 1; Mechanical arm 4: Rotatably connected to the end of mechanical arm 3, expanding the working space of the robotic arm and helping the robotic arm 1 reach the target grasping position; Connecting pad ring 5: A circular structure that, together with connecting spring 6, forms a connecting assembly. It is located at the front end of the robotic arm 3 and provides flexible cushioning for the robotic hand. Connecting spring 6: It is distributed in a ring between the two connecting pad rings 5, and generates a buffering force during gripping to prevent damage when the robotic arm 1 grips the object; Fixing component 7: Symmetrically arranged on the outer cylindrical surface of the mechanical arm 3, used to install fixing bolts 8 to fix the connecting component 2 to the mechanical arm 3; Fixing bolt 8: It is inserted into the fixing part 7 and is threaded to the positioning block 16 to firmly fix the connecting part 2 inside the front end of the mechanical arm 3; Placement slot 9: It is opened on the outer cylindrical surface of the mechanical arm 3 to provide installation space for the fastener 7 and ensure the convenience of installation and operation of the fixing bolt 8; Insertion hole 10: Located on the placement groove 9, it communicates with the positioning hole 13, provides a channel for the fixing bolt 8, and realizes the connection with the positioning block 16; Connecting guide post 11: Located inside the movable cavity 12 of the gasket ring, it provides guidance for the connecting gasket ring 5 and ensures that the connecting assembly can stably perform its buffering function; Washer ring movable cavity 12: Located inside the front end of the mechanical arm 3, it accommodates the connecting components and provides movable space for the connecting washer ring 5 and the connecting spring 6; Positioning holes 13: symmetrically distributed at the front end of the robotic arm 3, cooperating with the positioning block 16 to achieve precise positioning of the connector 2 and the robotic arm 3; Connecting cylinder 14: fixed to the back of the connecting piece 2, inserted into the front end of the mechanical arm 3, and cooperates with the connecting pad ring 5 to ensure a tight and stable connection; Connecting guide hole 15: It is opened at the end of the connecting cylinder 14 and is inserted into the connecting guide post 11 to further improve the connection accuracy between the connecting piece 2 and the mechanical arm 3; Positioning block 16: Symmetrically located on the back of connector 2, it consists of two fixing blocks with telescopic springs 17, enabling quick positioning and convenient assembly and disassembly; Telescopic spring 17: Located between the two fixed blocks of positioning block 16, it helps the positioning block to exit the positioning hole 13 during disassembly, enabling the robot arm to quickly change.

[0025] Working Principle: Upon receiving the command, the robotic arm 1 adjusts its angle by rotating in coordination with the connecting part 2 to adapt to the grasping posture. The connecting cylinder 14 on the back of the connecting part 2 is inserted into the front end of the robotic forearm 3, with the end face of the connecting cylinder 14 tightly fitting against the connecting pad ring 5. Simultaneously, the connecting guide post 11 is inserted into the connecting guide hole 15 for precise positioning. At this time, multiple annularly distributed connecting springs 6 generate a buffering force between the two connecting pad rings 5, giving the robotic arm 1 a certain degree of flexibility during the grasping process and preventing damage to the object. When the robotic arm 1 approaches the target object, it adaptively adjusts the grasping force to complete the grasping task. During the grasping process, the robotic forearm 3 and the robotic arm 4 rotate... The connection provides a flexible range of motion, ensuring that the robot arm 1 can reach the designated position. If the robot arm 1 needs to be replaced, simply unscrew the fixing bolt 8 on the fixing part 7. The fixing bolt 8 will exit from the insertion hole 10 of the placement slot 9 and will no longer be connected to the threaded hole of the positioning block 16. The positioning block 16 consists of two fixing blocks connected by a telescopic spring 17. Under the action of disassembly force, the positioning block 16 will exit from the positioning hole 13 of the robot arm 3, which can quickly separate the connecting part 2 from the robot arm 3, realizing the quick replacement of the robot arm 1. When replacing the new robot arm 1, the above steps are reversed. By using the cooperation between the positioning block 16 and the positioning hole 13 and the threaded connection of the fixing bolt 8, the installation can be completed quickly and stably.

[0026] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A deep learning-based adaptive flexible gripping manipulator, characterized by, include: The robotic arm (1), connector (2), and robotic forearm (3) are provided. The end of the robotic arm (1) is connected to the connector (2). The connector (2) is inserted into the front end of the robotic forearm (3). The outer cylindrical surface of the robotic forearm (3) is provided with symmetrically distributed fixing parts (7). Fixing bolts (8) are inserted through the fixing parts (7). The connector (2) is fixed to the front end of the robotic forearm (3) by fixing bolts (8). The end of the robotic forearm (3) is rotatably connected to the robotic upper arm (4). A connecting assembly is provided between the connector (2) and the mechanical arm (3), the connecting assembly including a connecting washer (5) and a connecting spring (6), the connecting washer (5) and the connecting spring (6) being disposed inside the front end of the mechanical arm (3).

2. The adaptive flexible grasping manipulator based on deep learning according to claim 1, wherein, The end of the robotic arm (1) is rotatably engaged with the front end of the connector (2). The connector (2) is in the shape of a ring. A connecting cylinder (14) is fixedly installed on the back of the connector (2). A connecting guide hole (15) is opened inside the end of the connecting cylinder (14).

3. The adaptive flexible grasping manipulator based on deep learning according to claim 2, wherein, Positioning blocks (16) are fixedly installed on both sides of the back of the connector (2). The positioning blocks (16) are symmetrically distributed on the outside of the connecting cylinder (14). The positioning blocks (16) are composed of two fixing blocks. A telescopic spring (17) is provided between the two fixing blocks. The fixing blocks have threaded holes.

4. The adaptive flexible grasping manipulator based on deep learning according to claim 1, wherein, The connecting assembly consists of connecting washer rings (5) and connecting springs (6), wherein the two ends of the multiple connecting springs (6) are provided with annular connecting washer rings (5), and the connecting springs (6) are distributed in a ring between two connecting washer rings (5).

5. The adaptive flexible grasping manipulator based on deep learning according to claim 4, characterized in that, The front end of the mechanical arm (3) has a pad ring movable cavity (12), and a connecting guide post (11) is provided inside the pad ring movable cavity (12). A connecting assembly is provided inside the pad ring movable cavity (12), wherein two connecting pad rings (5) are sleeved on the connecting guide post (11).

6. The deep learning-based adaptive flexible grasping robot according to claim 5, characterized in that, The connecting cylinder (14) on the back of the connector (2) is inserted into the front end of the mechanical arm (3), wherein the end face of the connecting cylinder (14) is in close contact with the end face of the connecting pad ring (5), and the connecting guide post (11) is inserted into the interior of the connecting guide hole (15).

7. The deep learning-based adaptive flexible grasping robot according to claim 1, characterized in that, The front end of the mechanical arm (3) is provided with symmetrically distributed positioning holes (13), and the outer cylindrical surface of the mechanical arm (3) is provided with symmetrically distributed placement grooves (9). The placement grooves (9) are provided with mutually symmetrical insertion holes (10), and the insertion holes (10) are connected to the positioning holes (13).

8. The deep learning-based adaptive flexible grasping robot according to claim 7, characterized in that, The back positioning block (16) of the connector (2) is inserted into the interior of the positioning hole (13). The fixing member (7) is symmetrically fitted with fixing bolts (8). The fixing member (7) is set on the placement groove (9), and the fixing bolts (8) extend into the interior of the positioning hole (13) through the insertion hole (10) and are threadedly connected to the threaded hole on the fixing block.

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