Robot gripping system

Abstract

The present invention provides a manipulator grasping system, which relates to the field of manipulator technology, and includes a frame, a manipulator body, a scanning component and a processor; the manipulator body is connected to the frame, and is used to grasp materials and drive the materials to move in three-dimensional space; the scanning component is installed on the manipulator body, and is used to scan and obtain the position information of the material to be grasped, the outline information of the carriage, and the position information of the existing materials in the carriage and send it to the processor; the processor is connected to the manipulator body and the scanning component, and is used to receive the position information of the material to be grasped, the outline information of the carriage, and the position information of the existing materials and control the grasping position of the manipulator body. The above-mentioned manipulator grasping system can scan the material to be grasped, the carriage, and the existing materials in the carriage through the scanning component to obtain accurate position information, realize intelligent identification of the working environment during unmanned loading and unloading and lifting operations, and ensure that the manipulator body can accurately and automatically load the zinc ingot stack.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a manipulator grasping system. Background Art

[0002] With the gradual development of my country's nonferrous metal industry, the level of continuity and automation of nonferrous metal processing and production is also constantly improving. The production parts of my country's metal smelting field (such as lead ore, zinc ore, etc.), such as stacking, packaging, and transmission, have been automated, but manual assistance is still generally required in the field of loading. Using manual methods to load on the line not only wastes human resources, but is also inefficient and poses safety hazards.

[0003] In view of the above problems, the invention patent CN216613221U discloses an automatic loading system, including: a pallet, including a load-bearing part and an adsorption part, the adsorption part is connected to the load-bearing part, the load-bearing part can carry materials, and the adsorption part can adsorb materials; a conveying device, suitable for driving the pallet to move along a preset path, and the preset path has a disengagement position and a material discharge position; a disengagement device, arranged at the disengagement position; the disengagement device is suitable for moving along the preset path with the pallet to the disengagement position, and can push the material to make the material separate from the adsorption part; a material storage device, capable of storing materials; a moving device, arranged at the material discharge position; as the pallet moves along the preset path to the material discharge position, the moving device can move the material to the material storage device. The automatic loading system provided by this solution can automatically transport materials.

[0004] However, the above automatic loading system has at least the following problems: the automatic loading system uses an adsorption device to transport materials, and then uses a detachment device to detach the materials from the adsorption part and transfer them to the removal device, so as to further move the materials to the storage device. However, such a design cannot meet the requirements of accurately identifying and placing materials when loading different models and different parking conditions of different vehicles. At the same time, the design includes a visual recognition system to obtain image information toward the separation table. At the separation table, the materials and the pallet are separated, and when the materials are pushed to the transfer device, the materials are prone to sideways, falling, scattered and deformed. The visual recognition system can be used to obtain image information, wherein the visual system is only used to detect abnormal information of the materials. In actual loading operations, due to various reasons such as the wide variety of trucks, different internal structures of trucks, and changes in the parking positions of trucks, the above system may cause loading failures, further affecting the efficiency of loading operations. Summary of the invention

[0005] The object of the present invention is to provide a manipulator grasping system, which can scan the material to be grasped, the carriage and the existing material in the carriage through a scanning component to obtain accurate position information, realize intelligent identification of the working environment during unmanned loading and unloading and lifting operations, and ensure that the manipulator body can accurately and automatically load the zinc ingot stack.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention provides a manipulator grasping system, comprising a frame, a manipulator body, a scanning component and a processor;

[0008] The manipulator body is connected to the frame, and the manipulator body is used to grab materials and drive the materials to move in three-dimensional space;

[0009] The scanning component is installed on the manipulator body, and is used to scan and obtain the position information of the material to be grasped, the contour information of the carriage, and the position information of the existing materials in the carriage, and send them to the processor;

[0010] The processor is connected to the manipulator body and the scanning component, and is used to receive the position information of the material to be grasped, the carriage contour information and the position information of the existing material and control the grasping position of the manipulator body.

[0011] Furthermore, the scanning component includes a first scanner, a second scanner and a third scanner, the first scanner is connected to the middle part of the manipulator body, the first scanner is used to scan and obtain the position information of the material to be grasped and send it to the processor, the second scanner and the third scanner are respectively located on the front and rear sides of the first scanner, the second scanner and the third scanner are both used to scan and obtain the car contour information and the existing material position information and send them to the processor.

[0012] Furthermore, it also includes a sensor assembly mounted on the manipulator body, the sensor assembly is used to detect an approach signal of the manipulator body approaching a carriage and send the approach signal to the processor;

[0013] The processor is connected to the sensor assembly, and is used to receive the proximity signal and control the robot body to grab the material.

[0014] Furthermore, the manipulator body includes a three-dimensional driving device and a grasping device, the grasping device is connected to the frame through the three-dimensional driving device, the three-dimensional driving device is used to drive the grasping device to move in a three-dimensional space, and the grasping device is used to grasp the material;

[0015] The scanning component is installed on the three-dimensional driving device and / or the grasping device;

[0016] The sensor assembly is mounted on the gripping device.

[0017] Furthermore, the three-dimensional driving device includes a transverse driving mechanism, a longitudinal driving mechanism and a lifting mechanism, the transverse driving mechanism is slidably connected to the frame, the longitudinal driving mechanism is slidably connected to the transverse driving mechanism, the lifting mechanism is fixed to the transverse driving mechanism, and the grasping device is installed on the lifting mechanism.

[0018] Furthermore, the gripping device includes a top seat, a gripping mechanism and a gripping drive mechanism, the top seat is fixedly mounted on the lifting mechanism, the gripping mechanism is rotatably connected to the top seat, the gripping drive mechanism is connected to the gripping mechanism to drive the gripping mechanism to rotate relative to the top seat, and the sensor assembly is installed at the bottom of the gripping mechanism.

[0019] Further, the gripper mechanism comprises a first gripper, a second gripper, a first fixing member, a linkage member and a second fixing member;

[0020] The first gripper is hinged to the top seat and the first fixing member is fixedly connected to the first gripper;

[0021] The second gripper is arranged opposite to the first gripper, the second gripper is hinged to the top seat and the second fixing member is fixedly connected to the second gripper;

[0022] The grabbing drive mechanism is hinged to the first fixing member and / or the second fixing member;

[0023] The two ends of the linkage member are respectively hinged to the first fixing member and the second fixing member, the hinge axis between the linkage member and the first fixing member is higher than the hinge axis between the first gripper and the top seat, and the hinge axis between the linkage member and the second fixing member is lower than the hinge axis between the second gripper and the top seat.

[0024] Furthermore, the sensor assembly includes a first sensor and a second sensor, the first sensor is connected to the bottom end of the first gripper, and the second sensor is connected to the bottom end of the second gripper.

[0025] Furthermore, the lifting mechanism includes a guide rail, a base and a motor, the guide rail is fixedly mounted on the longitudinal driving mechanism, the base is slidably connected to the guide rail, the motor is mounted on the base, and the motor is transmission-connected to the guide rail.

[0026] Furthermore, the guide rail is provided with a rack, and the power output end of the motor is provided with a gear matched with the rack.

[0027] Take the above-mentioned robot grasping system grasping a zinc ingot stack as an example for specific explanation:

[0028] After the mining car enters the area enclosed by the frame of the manipulator grabbing system, the system starts to operate. The manipulator body moves from the initial position of the system, driving the scanning component to scan the carriage and send it to the processor, so as to facilitate the intelligent planning of the placement of the zinc ingot stack on the carriage and the working path of the manipulator body each time.

[0029] Then the robot body returns to the initial position, uses the scanning component to scan the position information of the zinc ingot stack and sends it to the processor, the processor controls the robot body to grab the zinc ingot stack, then the robot body clamps the zinc ingot stack and moves it to the placement position of the zinc ingot stack in the carriage and puts the zinc ingot stack down. In the above process, the scanning component scans the position information of the existing materials in the carriage and sends it to the processor, so as to deal with the problem that the zinc ingot stack may be offset or tipped over after being placed.

[0030] The robot body returns to the initial position and picks up the next zinc ingot stack, thus forming a work cycle. After that, the robot gripping system cycles according to the above workflow, transferring the zinc ingot stack to the truck compartment until the truck compartment is full or the order requirements are met.

[0031] The manipulator grasping system provided by the present invention can scan the material to be grasped, the carriage and the existing material in the carriage through the scanning component to obtain accurate position information, realize intelligent identification of the working environment during unmanned loading and unloading and lifting operations, and ensure that the manipulator body can accurately and automatically load the zinc ingot stack. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A schematic diagram of a three-dimensional structure of a manipulator grasping system provided by an embodiment of the present invention;

[0034] Figure 2 A schematic side view of the structure of a manipulator grasping system provided by an embodiment of the present invention;

[0035] Figure 3 A schematic diagram of a three-dimensional structure of a manipulator body provided by an embodiment of the present invention;

[0036] Figure 4 A schematic diagram of a three-dimensional structure of a lateral drive mechanism provided in an embodiment of the present invention;

[0037] Figure 5 A schematic diagram of a three-dimensional structure of a longitudinal drive mechanism provided by an embodiment of the present invention;

[0038] Figure 6 A schematic diagram of a three-dimensional structure of a lifting mechanism provided in an embodiment of the present invention;

[0039] Figure 7 A schematic diagram of a three-dimensional structure of a gripping device provided in an embodiment of the present invention;

[0040] Figure 8 A schematic diagram of a three-dimensional structure of a gripping device (without a top seat) provided in an embodiment of the present invention;

[0041] Fig. 9 A remote principle block diagram of a manipulator grasping system provided in an embodiment of the present invention.

[0042] Icons: 1-frame; 11-first guide rod; 12-second guide rod; 13-connecting rod; 14-support rod; 2-manipulator body; 21-lateral drive mechanism; 211-left frame; 212-right frame; 213-guide rail; 214-rotating motor; 215-reducer; 216-wheel box; 217-first guide wheel; 218-second guide wheel; 22-longitudinal drive mechanism; 221-front support frame; 222-rear support frame; 223-connecting frame; 23-lifting mechanism; 231-guide rail; 232-base; 233-motor; 234-rack; 235-gear; 24-top seat; 25-grip mechanism; 251-first A gripper; 252-a second gripper; 2521-a first claw body; 2522-a second claw body; 2523-a first connecting shaft; 2524-a second connecting shaft; 2525-a first mounting member; 2526-a second mounting member; 2527-a serrated plate; 253-a first fixing member; 2531-a first connecting portion; 254-a linkage member; 255-a second fixing member; 2551-a second connecting portion; 26-a gripping drive mechanism; 3-a scanning assembly; 31-a first scanner; 32-a second scanner; 33-a third scanner; 4-a processor; 5-a sensor assembly; 51-a first sensor; 52-a second sensor; 6-a transfer platform; 7-a carriage. DETAILED DESCRIPTION

[0043] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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.

[0044] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting 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.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" 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, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0047] This embodiment provides a robot gripping system, such as Figure 1 and Figure 2 As shown, it includes a frame 1, a manipulator body 2, a scanning component 3 and a processor 4; the manipulator body 2 is connected to the frame 1, and the manipulator body 2 is used to grab materials and drive the materials to move in three-dimensional space; the scanning component 3 is installed on the manipulator body 2, and the scanning component 3 is used to scan and obtain the position information of the material to be grabbed, the contour information of the carriage and the position information of the existing materials in the carriage and send them to the processor 4; the processor 4 is connected to the manipulator body 2 and the scanning component 3, and the processor 4 is used to receive the position information of the material to be grabbed, the contour information of the carriage and the position information of the existing materials and control the grabbing position of the manipulator body 2.

[0048] like Figure 1 As shown, the manipulator grasping system provided in the above embodiment can scan the materials to be grasped on the transfer platform 6, the carriage 7 of the mining vehicle, and the existing materials in the carriage 7 through the scanning component 3 to obtain accurate position information, process the above information through the processor 4, and control the grasping position of the manipulator body 2, so as to realize intelligent recognition of the working environment during unmanned loading and unloading and lifting operations, and ensure that the manipulator body 2 can accurately and automatically load the materials.

[0049] The information scanned by the scanning component 3 may not be limited to the above information. The scanning component 3 may scan all objects in the area surrounded by the rack 1. The above materials may be of various types, such as zinc ingot stacks, angle steel stacks, wooden board stacks, etc. The following embodiments are all specifically described by taking the zinc ingot stack as an example.

[0050] The scanning component 3 is described in detail below:

[0051] In some embodiments, Figure 2 As shown, the scanning assembly 3 includes a first scanner 31, a second scanner 32 and a third scanner 33. The first scanner 31 is connected to the middle of the robot body 2, and the second scanner 32 and the third scanner 33 are respectively located at the front and rear sides of the first scanner 31.

[0052] It can be understood that the front and rear sides mentioned above refer to the side close to the front of the vehicle as the front side, and the side close to the rear of the vehicle as the rear side.

[0053] The second scanner 32 and the third scanner 33 are used to scan and obtain the carriage contour information and the existing material position information and send them to the processor 4 to achieve obstacle avoidance and rough positioning of the manipulator body 2; the first scanner 31 is used to scan and obtain the position information of the material to be grasped and send it to the processor 4 to accurately sense the positional relationship between the manipulator body 2 and the zinc ingot stack.

[0054] It can be understood that the scanning areas of the first scanner 31, the second scanner 32 and the third scanner 33 are scattered, that is, the farther the object is from the bottom of the scanner, the larger the scanned area. Therefore, the scanning ranges of the three scanners may overlap, but it does not affect the collection of point cloud data of the scanned object by each scanner.

[0055] The first scanner 31 , the second scanner 32 , and the third scanner 33 are preferably laser scanners.

[0056] Another embodiment of the robot gripping system is described in detail below:

[0057] In some embodiments, in order to further improve the positioning accuracy of the manipulator body 2 during grasping and lowering, the manipulator grasping system also includes a sensor assembly 5 installed on the manipulator body 2, and the sensor assembly 5 is used to detect the proximity signal of the manipulator body 2 approaching the floor of the vehicle compartment and send it to the processor 4; the processor 4 is connected to the sensor assembly 5, and the processor 4 is used to receive the proximity signal and control the manipulator body 2 to grasp the material.

[0058] The sensor assembly 5 can accurately sense the height position relationship between the manipulator body 2 and the carriage floor. When the manipulator body 2 approaches the carriage floor, that is, when the distance between the manipulator body 2 and the carriage floor is less than the set value, the sensor assembly 5 sends a proximity signal, and the processor 4 accurately controls the manipulator body 2 to grab the zinc ingot stack at the appropriate position and put it down, thereby improving the success rate and reliability of grabbing and putting down, and preventing the manipulator body 2 from colliding with the carriage floor.

[0059] The sensor assembly 5 may include one or more laser ranging sensors, ultrasonic ranging sensors, etc.

[0060] The following is a specific description of rack 1:

[0061] like Figure 1 As shown, the frame 1 includes a first guide rod 11, a second guide rod 12, a connecting rod 13 and a plurality of support rods 14. The two first guide rods 11 are arranged relatively parallel and connected by the connecting rod 13. The bottom ends of the first guide rod 11 and the second guide rod 12 are connected to a plurality of support rods 14, and the plurality of support rods 14 are used to support the first guide rod 11 and the second guide rod 12.

[0062] The length direction of the first guide rod 11 and the second guide rod 12 is parallel to the length direction of the mining vehicle when it stops and waits for loading.

[0063] The structure of the robot body 2 is described in detail below:

[0064] In some embodiments, the robot body 2 includes a three-dimensional driving device and a grasping device. The grasping device is connected to the frame 1 through the three-dimensional driving device. The three-dimensional driving device is used to drive the grasping device to move in three-dimensional space, and the grasping device is used to grasp materials; the scanning component 3 is installed on the three-dimensional driving device or the grasping device, and the scanning component 3 can also be installed on the three-dimensional driving device and the grasping device; the sensor component 5 is installed on the grasping device.

[0065] In at least one embodiment, Figure 2 As shown, the first scanner 31 is installed in the middle of the gripping device, the second scanner 32 and the third scanner 33 are installed on the three-dimensional driving device, and the distance between the second scanner 32 and the first scanner 31 is equal to the distance between the third scanner 33 and the first scanner 31.

[0066] The three-dimensional driving device can be slidably mounted on the frame 1 to realize the movement of the three-dimensional driving device relative to the frame 1. It should be noted that any structure that can drive the grasping device to move in three-dimensional space can be the three-dimensional driving device mentioned in the above embodiment. For example, the three-dimensional driving device includes a mechanism for horizontal, longitudinal and vertical movement, or the three-dimensional driving device includes a telescopic arm that can rotate in the horizontal direction and the vertical direction.

[0067] In some embodiments, Figure 3 As shown, in order to make the structure of the three-dimensional driving device simpler, the three-dimensional driving device includes a transverse driving mechanism 21, a longitudinal driving mechanism 22 and a lifting mechanism 23. The transverse driving mechanism 21 is slidably connected to the frame 1, the longitudinal driving mechanism 22 is slidably connected to the transverse driving mechanism 21, the lifting mechanism 23 is fixed to the transverse driving mechanism 21, and the grasping device is installed on the lifting mechanism 23.

[0068] The transverse driving mechanism 21 can slide relative to the frame 1 in the transverse direction, and the transverse direction is set as the length direction when the mining vehicle stops and waits for loading, that is, the direction from the front of the vehicle to the rear of the vehicle; the longitudinal driving mechanism 22 can slide relative to the transverse driving mechanism 21 in the longitudinal direction, and the longitudinal direction is perpendicular to the width direction when the mining vehicle stops and waits for loading; the lifting mechanism 23 can move relative to the longitudinal driving mechanism 22 in the height direction, and the height direction is the direction of taking and releasing materials. In this way, the movement of the grabbing device in three-dimensional space can be realized through the transverse driving mechanism 21, the longitudinal driving mechanism 22 and the lifting mechanism 23.

[0069] like Figure 4 As shown, the transverse driving mechanism 21 includes a left frame 211, a right frame 212, a guide rail 213 and a first power assembly. The left frame 211 and the right frame 212 are connected via the guide rail 213. Two first power assemblies are provided on the left frame 211, and two first power assemblies are provided on the right frame 212. The two first power assemblies on the left frame 211 provide power for the left frame 211 to move; the two first power assemblies on the right frame 212 provide power for the right frame 212 to move.

[0070] The first power assembly includes a rotary motor 214, a reducer 215 and a wheel, wherein the input end of the reducer 215 is connected to the output end of the rotary motor 214, and the output end of the reducer 215 is connected to the wheel, which is rotatably connected to the wheel box 216 on the left and right frames. The rotary motor 214 provides power for the rolling of the wheel, and the wheel can roll on the frame 1.

[0071] In order to make the transverse driving mechanism 21 move more stably, a guide wheel group is installed on both the left frame 211 and the right frame 212, and the guide wheel group includes a first guide wheel 217 and a second guide wheel 218. The top ends of the first guide rod 11 and the second guide rod 12 are provided with protrusions along their length direction, and the protrusions are sandwiched between the first guide wheel 217 and the second guide wheel 218 to play a guiding role, so as to ensure that the transverse driving mechanism 21 can stably move along the length direction of the first guide rod 11 and the second guide rod 12.

[0072] like Figure 5 As shown, the longitudinal drive mechanism 22 includes a front support frame 221, a rear support frame 222, a connecting frame 223, a first power assembly and a driven assembly. The front support frame 221 and the rear support frame 222 are connected by the connecting frame 223. A second power assembly and a driven assembly are provided on the front support frame 221, and a second power assembly and a driven assembly are provided on the right frame 212. The second power assembly on the front support frame 221 provides the front support frame 221 with power for walking, and the driven assembly is driven; the second power assembly on the rear support frame 222 provides the rear support frame 222 with power for walking, and the driven assembly is driven.

[0073] The connecting frame 223 may be in an inverted U shape, with the angle between its two side edges and the bottom edge being an obtuse angle, and the connecting frame 223 may be fixedly connected to the lifting mechanism 23 to realize the function of supporting the lifting mechanism 23. The connecting frame 223 is a sinking structure that can reduce the longitudinal height of the manipulator grasping system, and at the same time enable the grasping device to be closer to the transporting mining vehicle below.

[0074] The structure of the second power assembly is similar to that of the first power assembly. A guide wheel group may also be provided on the transverse driving mechanism 21. The driven assembly includes a driven wheel group and a driven guide wheel group. To save space, detailed examples are not given here.

[0075] It should be noted that there may be various structures that can realize the lifting of the lifting mechanism 23 , for example, the lifting mechanism 23 includes a hydraulic cylinder, a pneumatic cylinder or a linear motor.

[0076] In some embodiments, Figure 6 As shown, the lifting mechanism 23 includes a guide rail 231, a base 232 and a motor 233. The guide rail 231 is fixedly mounted on the longitudinal driving mechanism 22, the base 232 is slidably connected to the guide rail 231, the motor 233 is installed on the base 232, and the motor 233 is transmission-connected to the guide rail 231.

[0077] When in use, the motor 233 is activated, and under the effect of the transmission connection between the motor 233 and the guide rail 231 , the base 232 slides relative to the guide rail 231 , so that the base 232 moves up and down.

[0078] In the sliding connection between the base 232 and the guide rail 231, a sliding groove may be provided on the base 232, and a sliding rail matching the sliding groove may be provided on the guide rail 231, or a sliding rail may be provided on the base 232, and a sliding groove matching the sliding rail may be provided on the guide rail 231.

[0079] In at least one embodiment, a slider is provided on the base 232 , and a slide groove is formed on the slider. A slide rail matching the slide groove is provided on the outer side of the guide rail 231 .

[0080] The above transmission connection structure can be of various types, for example Figure 6 As shown, the guide rail 231 has a rack 234, and the power output end of the motor 233 has a gear 235 that cooperates with the rack 234. The above structure is simple, the rack 234 and the gear 235 are easy to install, and the transmission accuracy is high, which can realize the precise grasping of the grasping device.

[0081] In some other embodiments, a nut may be provided on the guide rail 231, and the power output end of the motor 233 has a screw that cooperates with the nut thread. The screw extends vertically, and the motor 233 drives the screw to rotate, thereby realizing the up and down movement of the screw relative to the nut.

[0082] In at least one embodiment, in order to make the above-mentioned grasping device more stable when moving up and down, the lifting mechanism 23 includes two relatively parallel guide rails 231, and the above-mentioned motor 233 is dual power output, that is, it has two power output ends, which are respectively matched with two different guide rails 231 for transmission.

[0083] like Figure 7 As shown, the grabbing device includes a top seat 24, a grabbing mechanism 25 and a grabbing drive mechanism 26. The top seat 24 is fixedly mounted on a base 232 in the lifting mechanism 23. The grabbing mechanism 25 is rotatably connected to the top seat 24. The grabbing drive mechanism 26 is connected to the grabbing mechanism 25 to drive the grabbing mechanism 25 to rotate relative to the top seat 24 to achieve the grabbing and releasing of the zinc ingot stack. The sensor assembly 5 is installed at the bottom of the grabbing mechanism 25 to obtain the proximity signal of the grabbing mechanism 25.

[0084] When in use, the grabbing drive mechanism 26 is activated to enable the gripping mechanism 25 to grab the zinc ingot stack. After the three-dimensional drive device moves into place, the grabbing drive mechanism 26 is reversely activated to enable the gripping mechanism 25 to release the zinc ingot stack.

[0085] The above-mentioned grasping drive mechanism 26 can be a rotating motor that directly drives the grasping mechanism 25 to rotate relative to the top seat 24, or it can be a linear motion mechanism such as a pneumatic cylinder, a hydraulic cylinder, a linear motor, etc., which realizes the rotation of the grasping mechanism 25 relative to the top seat 24 by being hinged with the grasping mechanism 25.

[0086] In at least one embodiment, the grabbing drive mechanism 26 is a pneumatic cylinder or an electric cylinder.

[0087] In some embodiments, Figure 8 As shown, the gripping mechanism 25 includes a first gripping handle 251, a second gripping handle 252, a first fixing member 253, a linkage member 254 and a second fixing member 255, wherein:

[0088] The first gripper 251 is hinged to the top seat 24 and a first fixing member 253 is fixed to the first gripper 251;

[0089] The second gripper 252 is disposed opposite to the first gripper 251 , the second gripper 252 is hinged to the top seat 24 and a second fixing member 255 is fixedly connected to the second gripper 252 ;

[0090] The grabbing driving mechanism 26 is hinged to the first fixing member 253 or the second fixing member 255. The grabbing driving mechanism 26 can also be hinged to the first fixing member 253 and the second fixing member 255.

[0091] The two ends of the linkage member 254 are hinged to the first fixing member 253 and the second fixing member 255 respectively, and the hinge axis of the linkage member 254 and the first fixing member 253 is higher than the hinge axis of the first gripper 251 and the top seat 24, and the hinge axis of the linkage member 254 and the second fixing member 255 is lower than the hinge axis of the second gripper 252 and the top seat 24, so that when the first gripper 251 grabs the stack of zinc ingots, the second gripper 252 will cooperate with the first gripper 251 to grab the stack of zinc ingots, and when the first gripper 251 releases the stack of zinc ingots, the second gripper 252 will cooperate with the first gripper 251 to release the stack of zinc ingots.

[0092] When the grabbing driving mechanism 26 is hinged to the first fixing member 253 and the second fixing member 255, as shown in FIG. Figure 8 As shown, the top of the first fixing member 253 extends outwardly with a first connection portion 2531, and the end of the first connection portion 2531 is hinged to the telescopic end of the grabbing drive mechanism 26. The top of the second fixing member 255 extends outwardly with a second connection portion 2551, and the end of the second connection portion 2551 is hinged to the fixed end of the grabbing drive mechanism 26. When the grabbing drive mechanism 26 is shortened, it can simultaneously drive the first gripper 251 and the second gripper 252 to open, and when the grabbing drive mechanism 26 is extended, it can simultaneously drive the first gripper 251 and the second gripper 252 to close together. In the above process, the linkage member 254 plays a role in linking the first gripper 251 with the second gripper 252, ensuring the consistency of the movements of the first gripper 251 and the second gripper 252.

[0093] When the grabbing drive mechanism 26 is hinged to the first fixing member 253 or the second fixing member 255, the fixed end of the grabbing drive mechanism 26 can be fixedly mounted on the top seat 24, and the telescopic end can rotate and slide with the first connecting part 2531 or rotate and slide with the second connecting part 2551. When the grabbing drive mechanism 26 is telescoped, it drives the first fixing member 253 or the second fixing member 255 matched therewith to rotate, thereby realizing the swing of the first gripper 251 or the second gripper 252. Under the action of the linkage member 254, if the first gripper 251 is unfolded, the linkage member 254 pushes the second gripper 252 to unfold; if the first gripper 251 is brought together, the linkage member 254 pulls the second gripper 252 together, thereby realizing the linkage between the first gripper 251 and the second gripper 252.

[0094] When the grabbing drive mechanism 26 is hinged to the first fixing member 253 or the second fixing member 255, the fixed end of the grabbing drive mechanism 26 can also be hinged to the top seat 24, and the telescopic end can be hinged to the first fixing member 253 or the second fixing member 255. The subsequent operation process is the same as above and will not be described in detail here to save space.

[0095] The gripping mechanism 25 can realize the synchronous opening and closing of the first gripping arm 251 and the second gripping arm 252 only through a gripping driving mechanism 26, and its structure is simple, which ensures the consistency of the movements of the first gripping arm 251 and the second gripping arm 252 and has a more stable gripping effect.

[0096] Specifically, Figure 8 As shown, the second gripper 252 includes a first claw body 2521, a second claw body 2522, a first connecting shaft 2523 and a second connecting shaft 2524. The two ends of the first connecting shaft 2523 are respectively fixedly connected to the first claw body 2521 and the second claw body 2522, and the two ends of the second connecting shaft 2524 are respectively fixedly connected to the first claw body 2521 and the second claw body 2522. The second fixing member 255 is sleeved on the outside of the first connecting shaft 2523 and the second connecting shaft 2524 to achieve fixed connection with the second gripper 252. Of course, the second fixing member 255, the first connecting shaft 2523 and the second connecting shaft 2524 can also be integrally formed.

[0097] In addition, in order to ensure that the first claw body 2521 and the second claw body 2522 can stably grasp the stack of zinc ingots, the surface of the first claw body 2521 and the second claw body 2522 used to grasp the stack of zinc ingots is a serrated structure, and the serrated structure can clamp on each zinc ingot in the stack of zinc ingots, effectively preventing the stack of zinc ingots from slipping, and distributing the gravity of the stack of zinc ingots at various locations of the serrated structure, avoiding that only the bottom ends of the first claw body 2521 and the second claw body 2522 are subjected to force, and is more stable during transportation.

[0098] In order to enable the second gripper 252 to grasp the stack of zinc ingots more stably, the second gripper 252 also includes a first mounting member 2525, a second mounting member 2526 and a serrated plate 2527. The two ends of the first mounting member 2525 are respectively connected to the first claw body 2521 and the second claw body 2522, the two ends of the second mounting member 2526 are respectively connected to the first claw body 2521 and the second claw body 2522, the two ends of the serrated plate 2527 are respectively connected to the first mounting member 2525 and the second mounting member 2526, and the serrated plate 2527 has a serrated structure for grasping the stack of zinc ingots, thereby further ensuring stability during transportation.

[0099] Of course, when the second gripper 252 further includes the first mounting member 2525 , the second mounting member 2526 and the serrated plate 2527 , the first claw body 2521 and the second claw body 2522 may not be provided with a serrated structure.

[0100] The structure of the first gripper 251 is the same as that of the second gripper 252 and is symmetrically arranged with the second gripper 252 . The structure of the first gripper 251 will not be described in detail herein.

[0101] The above-mentioned grasping device may include one grasping mechanism 25, or may include two, three or more grasping mechanisms 25. When the grasping device includes a plurality of grasping mechanisms 25, the plurality of grasping mechanisms 25 are arranged side by side.

[0102] In at least one embodiment, Figure 8 As shown, the above-mentioned grasping device includes two grasping mechanisms 25, and correspondingly, the above-mentioned grasping device includes two grasping driving mechanisms 26. Each grasping mechanism 25 is driven by a grasping driving mechanism 26 to grasp and release the zinc ingot stack.

[0103] In some embodiments, Figure 8 As shown, the sensor assembly 5 includes a first sensor 51 and a second sensor 52. The first sensor 51 is connected to the bottom end of the first gripper 251, specifically, it can be connected to the second mounting member of the first gripper 251. The second sensor 52 is connected to the bottom end of the second gripper 252, specifically, it can be connected to the second mounting member 2526 of the second gripper 252.

[0104] The sensor assembly 5 can monitor the distance between any gripper and the carriage floor, so as to more accurately control the gripping device to grip the zinc ingot stack at the appropriate position and lower the zinc ingot stack into place.

[0105] like Fig. 9As shown, it is a principle block diagram of the manipulator grasping system provided by the above embodiment, wherein the processor 4 can not only receive the position information of the material to be grasped, the contour information of the carriage, and the position information of the existing materials, realize the intelligent recognition of the working environment during unmanned loading and unloading and lifting operations, but also process the above information data, and perform feature abstraction and feature extraction on the target objects such as the edge of the truck and materials. After completing the recognition and analysis of the target objects such as the carriage contour and materials, the recognition results can be used to calibrate the truck carriage, and the placement of the zinc ingot stack can be intelligently planned according to the size of the zinc ingot stack. According to the planned placement position of the zinc ingot stack, set the working path of each subsequent operation of the transfer unit.

[0106] It should be noted that the processor 4 can be purchased from outside, and its information processing, identification, analysis and other principles are conventional principles in the field, and will not be described in detail here to save space.

[0107] The specific usage process can be as follows:

[0108] After the mining car enters the area surrounded by the rack 1, the system starts to run. The three-dimensional drive device on the manipulator body 2 moves from the initial position of the system, driving the scanning component 3 to scan the area surrounded by the rack 1 and collect point cloud data. After the processor processes the point cloud data, it will perform feature abstraction and feature extraction on target objects such as the car plate and the edge of the carriage, realizing intelligent recognition of the working environment during unmanned loading and unloading and lifting operations.

[0109] After completing the identification and analysis of the target objects such as the carriage edge and the car plate, the carriage carrying the mine car is calibrated using the identification results, and the placement of the zinc ingot stack is intelligently planned according to the size of the zinc ingot stack. According to the planned placement of the zinc ingot stack, the working path of each subsequent operation of the three-dimensional drive device is set.

[0110] Then the three-dimensional drive device returns to the initial position, that is, the location of the transfer platform 6. The scanning component 3 is used to scan and determine the size and position of the zinc ingot stack placed by the transfer forklift on the transfer platform 6, and the relevant information is sent to the processor 4. The three-dimensional drive device adjusts the plane position through the coordinated movement of the longitudinal drive mechanism 22 and the transverse drive mechanism 21, and adjusts the vertical position through the lifting mechanism 23 to approach the zinc ingot stack. When the gripping device under the three-dimensional drive device approaches the floor of the carriage, the sensor component 5 installed at the bottom of the gripping device sends an approach signal to accurately sense the distance between the gripping device and the floor of the carriage, thereby determining the appropriate position for the gripping device to clamp the zinc ingot stack. After the gripping device clamps the zinc ingot stack, the three-dimensional drive device controls the longitudinal drive mechanism 22, the transverse drive mechanism 21 and the lifting mechanism 23 according to the previously planned path to move to the placement position of the zinc ingot stack in the carriage.

[0111] When the three-dimensional driving device transfers the zinc ingot stack to the target placement point, the lifting mechanism 23 performs a lowering action. Similarly, when approaching the carriage floor, the sensor assembly 5 installed at the bottom of the gripping device is used to judge the distance from the carriage floor to achieve the purpose of precise control. After the zinc ingot stack is placed at the target position, the gripping device is released, and the three-dimensional driving device returns to the initial position along the planned path, and selects the next zinc ingot stack at the transfer platform 6, thereby forming a work cycle. After that, the manipulator gripping system cycles according to the above workflow, transferring and loading the zinc ingot stack into the truck compartment until the truck compartment is full or the order requirements are met.

[0112] During the operation of the system, the grabbing device under the three-dimensional driving device is used to clamp and place the zinc ingot stack. The precise control of the grabbing device is the key to achieving loading work. Based on the modeling and mechanical analysis of the grabbing device, combined with the sensor component 5 installed on the grabbing device, the control algorithm of the grabbing device is designed. Intelligent perception in the grabbing process such as clamping judgment of the grabbing device, approach judgment of the grabbing device, and abnormal judgment of the grabbing device can be realized.

[0113] At the same time, there are abnormal situations in the actual working process of the equipment, which leads to various complex problems. For example, different trucks have problems with uneven floor plates and edges, and zinc ingot stacks may shift or tip over after being placed. The intelligent perception and scanning component 3 scanning results of the gripping device can be used to analyze the source of the problem, and control algorithms for complex problems can be designed to achieve self-processing when abnormal conditions occur during the working process.

[0114] The robot gripping system provided in the above embodiment has the following advantages:

[0115] 1. The above system has high space utilization in the factory, small equipment footprint, saves infrastructure costs, and can achieve stable grasping and releasing of materials, which is easy to promote and use.

[0116] 2. Scanning by scanning component 3 to identify the loading area can realize the inspection of the vehicle shape and position and the compilation of the hoisting coordinates during the loading process. By performing noise reduction and feature extraction on the zinc ingot stack point cloud data in the later stage, its central physical position and size information can be calculated. On this basis, the environmental space such as the edge position of the carriage of the transport mine car and the position of the zinc ingot stack is constructed to ensure the accurate automatic loading of the zinc ingot stack by the loading robot.

[0117] 3. The intelligent sensing and scanning component 3 of the gripping device is used to scan the results to analyze the source of abnormal and complex problems. A control algorithm for complex problems can be designed based on the above data, so as to achieve self-processing when abnormal conditions occur during the working process.

[0118] 4. The above-mentioned manipulator grasping system can solve the backward situation that the loading of zinc ingot stacks by enterprises and domestic zinc smelting enterprises relies on a large amount of manual operation, provide a theoretical basis for the mechanization and automation of zinc ingot stack loading, improve the efficiency of zinc ingot stack loading, improve the working conditions of personnel, avoid the danger of manual loading, and improve the market competitiveness of my country's zinc smelting enterprises.

[0119] 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A manipulator grasping system, It is characterized in that It comprises a frame (1), a robot body (2), a scanning component (3) and a processor (4); The manipulator body (2) is connected to the frame (1), and the manipulator body (2) is used to grab materials and drive the materials to move in a three-dimensional space; The scanning component (3) is mounted on the manipulator body (2), and is used to scan and obtain position information of the material to be grasped, carriage contour information, and position information of the existing material in the carriage (7), and send the information to the processor (4); The processor (4) is connected to the manipulator body (2) and the scanning component (3), and the processor (4) is used to receive the position information of the material to be grasped, the carriage contour information and the position information of the existing material and control the grasping position of the manipulator body (2); The robot body (2) comprises a three-dimensional driving device and a grasping device; The three-dimensional driving device comprises a transverse driving mechanism (21), a longitudinal driving mechanism (22) and a lifting mechanism (23); The longitudinal drive mechanism (22) comprises a front support frame (221), a rear support frame (222) and a connecting frame (223); the front support frame (221) and the rear support frame (222) are connected via the connecting frame (223); the connecting frame (223) is a sinking structure, and the angle between the two side edges and the bottom edge is an obtuse angle; the connecting frame (223) is fixedly connected to the lifting mechanism (23); The gripping device comprises a top seat (24), a plurality of gripping mechanisms (25) and a plurality of gripping drive mechanisms (26), wherein the plurality of gripping mechanisms (25) are arranged side by side, the top seat (24) is fixedly mounted on the lifting mechanism (23), the gripping mechanisms (25) are rotatably connected to the top seat (24), and the gripping drive mechanisms (26) are connected to the gripping mechanisms (25) in a one-to-one correspondence to drive the gripping mechanisms (25) to rotate relative to the top seat (24); The gripping mechanism (25) comprises a first gripping handle (251), a second gripping handle (252), a first fixing member (253), a linkage member (254), and a second fixing member (255); The first gripper (251) is hinged to the top seat (24), and the first fixing member (253) is fixedly connected to the first gripper (251); The second gripper (252) is arranged opposite to the first gripper (251), the second gripper (252) is hinged to the top seat (24), and the second fixing member (255) is fixedly connected to the second gripper (252); The grabbing drive mechanism (26) is hinged to the first fixing member (253) and the second fixing member (255), and during a grabbing action, the grabbing drive mechanism (26) drives the first fixing member (253) and the second fixing member (255) simultaneously; Two ends of the linkage member (254) are respectively hinged to the first fixing member (253) and the second fixing member (255); The structure of the first gripper (251) is the same as that of the second gripper (252), and the first gripper (251) is symmetrically arranged with the second gripper (252); The second gripper (252) comprises a first claw body (2521), a second claw body (2522), a first connecting shaft (2523) and a second connecting shaft (2524); two ends of the first connecting shaft (2523) are respectively fixedly connected to the first claw body (2521) and the second claw body (2522); two ends of the second connecting shaft (2524) are respectively fixedly connected to the first claw body (2521) and the second claw body (2522); and the surfaces of the first claw body (2521) and the second claw body (2522) for grasping the zinc ingot stack are in a serrated structure.

2. The robot gripping system according to claim 1, It is characterized in that The scanning component (3) comprises a first scanner (31), a second scanner (32) and a third scanner (33); the first scanner (31) is connected to the middle of the manipulator body (2); the first scanner (31) is used to scan and obtain the position information of the material to be grasped and send it to the processor (4); the second scanner (32) and the third scanner (33) are respectively located at the front and rear sides of the first scanner (31); the second scanner (32) and the third scanner (33) are both used to scan and obtain the carriage contour information and the existing material position information and send them to the processor (4).

3. The manipulator grasping system according to claim 1, It is characterized in that It also includes a sensor assembly (5) mounted on the manipulator body (2), the sensor assembly (5) being used to detect an approach signal of the manipulator body (2) approaching the vehicle floor and send the approach signal to the processor (4); The processor (4) is connected to the sensor assembly (5), and the processor (4) is used to receive the approach signal and control the robot body (2) to grab the material.

4. The robot gripping system according to claim 3, It is characterized in that The sensor assembly (5) is mounted on the grasping device.

5. The robot gripping system according to claim 3, It is characterized in that The sensor assembly (5) comprises a first sensor (51) and a second sensor (52), wherein the first sensor (51) is connected to the bottom end of the first gripper (251), and the second sensor (52) is connected to the bottom end of the second gripper (252).

6. The robot gripping system according to claim 1, It is characterized in that The lifting mechanism (23) comprises a guide rail (231), a base (232) and a motor (233); the guide rail (231) is fixedly mounted on the longitudinal drive mechanism (22); the base (232) is slidably connected to the guide rail (231); the motor (233) is mounted on the base (232); and the motor (233) is drivingly connected to the guide rail (231).

7. The robot gripping system according to claim 6, It is characterized in that The guide rail (231) is provided with a rack (234), and the power output end of the motor (233) is provided with a gear (235) that matches the rack (234).

8. The manipulator grasping system according to claim 1, It is characterized in that The grabbing device is connected to the frame (1) via the three-dimensional driving device, the three-dimensional driving device is used to drive the grabbing device to move in a three-dimensional space, and the grabbing device is used to grab the material; The scanning component (3) is mounted on the three-dimensional driving device and / or the grasping device.

9. The robot gripping system according to claim 1, It is characterized in that The transverse driving mechanism (21) is slidably connected to the frame (1), the longitudinal driving mechanism (22) is slidably connected to the transverse driving mechanism (21), the lifting mechanism (23) is fixed to the longitudinal driving mechanism (22), and the grasping device is installed on the lifting mechanism (23).

10. The robot gripping system according to claim 1, It is characterized in that The hinge axis between the linkage member (254) and the first fixing member (253) is higher than the hinge axis between the first gripper (251) and the top seat (24), and the hinge axis between the linkage member (254) and the second fixing member (255) is lower than the hinge axis between the second gripper (252) and the top seat (24).

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