Mechanical automatic grabbing device and using method thereof

Abstract

The invention discloses a mechanical automatic grabbing device and a using method thereof, and relates to the technical field of mechanical automatic grabbing devices.The mechanical automatic grabbing device.The mechanical automatic grabbing device.The mechanical automatic grabbing device comprises a fixing base, a supporting rod is arranged above the fixing base, a lifting rod is arranged in the supporting rod, and a first rotating frame is arranged above the lifting rod; first connecting discs are installed above the lifting rod and at the bottom of the first rotating frame, second telescopic rods are arranged on one sides of the first connecting discs, rotating shafts are arranged below the second telescopic rods, and second connecting discs are arranged at the bottoms of the second telescopic rods and above the rotating shafts; according to the scheme, the problems that in the prior art, when a mechanical automatic grabbing device is operated, the grabbing device is single, the taking mode is single, and the use flexibility of the mechanical automatic grabbing device is affected are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical automated grasping devices, and in particular to a mechanical automated grasping device and a method for using the same. Background Art

[0002] Automation refers to the process in which a machine or device automatically operates or controls according to a predetermined program or instruction without human intervention, and mechanical automation is the process in which a machine or device realizes automatic control through mechanical means. The realization of mechanical automation has led mechanical production to a new field. Through the automatic control system, it has truly achieved large-scale industrial production, reduced labor intensity, and improved labor efficiency.

[0003] For example, the Chinese authorized patent with announcement number CN208841432U (a mechanical automated grasping device): comprises a vertical rod, a sleeve is fixedly connected to the top of the vertical rod, a thread is provided on the inner wall of the sleeve, a first curved rod is fixedly connected to the left side of the bottom of the first disc, a second bracket is fixedly connected to the right side of the bottom of the vertical rod, the bottom of the second bracket is rotatably connected to the second disc via a second pin shaft, a second rack is provided on the upper part of the outer wall of the second disc, the mechanical automated grasping device greatly reduces the difficulty of disassembly and installation of the mechanical automated grasping device, simplifies the structure, avoids the production troubles caused by a large number of complex structures, and greatly reduces the failure rate, making it more convenient to maintain and use, so the mechanical automated grasping device can fully meet the current needs of people for a mechanical automated grasping device with high matching degree, convenient movement, small usage limitations, simple structure and not easy to damage.

[0004] However, the mechanical automatic grasping device in the above-mentioned prior art has a single grasping device during operation, so the grasping method is single, which affects its flexibility of use; therefore, it does not meet the existing needs. In this regard, we propose a mechanical automatic grasping device and a method of using the same. Summary of the invention

[0005] The object of the present invention is to provide a mechanical automated grasping device and a method of using the same, so as to solve the problem that the mechanical automated grasping device in the prior art proposed in the above background technology has a single grasping device during operation, resulting in a single grasping method, which affects its flexibility of use.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a mechanical automated grasping device, comprising a fixed seat, a support rod is arranged above the fixed seat, a lifting rod is arranged inside the support rod, a first rotating frame is arranged above the lifting rod, a first connecting plate is installed above the lifting rod and at the bottom of the first rotating frame, a second telescopic rod is arranged on one side of the first connecting plate, a rotating shaft is arranged below the second telescopic rod, a second connecting plate is arranged at the bottom of the second telescopic rod and above the rotating shaft, a first grasping plate is arranged on the front end surface of the rotating shaft, and a second grasping plate is arranged below the rotating shaft.

[0007] Preferably, a control box is installed on the front end surface of the support rod, a support plate is installed on one side end surface of the lifting rod, a first cylinder is installed on the upper surface of the support plate, and a first telescopic rod is arranged on the first cylinder.

[0008] Preferably, a first rotating rod is installed inside the first rotating frame, the first rotating rod is rotatably connected to the inside of the first rotating frame, and a connecting rod is installed on one end surface of the first rotating rod.

[0009] Preferably, a second rotating frame is installed on one side of the connecting rod, a second rotating rod is installed on the other end face of the second rotating frame, the second rotating rod and the connecting rod are rotatably connected on both sides of the second rotating frame respectively, and a second cylinder is installed on the upper surface of the second rotating rod.

[0010] Preferably, telescopic plates are provided on both sides of the first grabbing plate, and the telescopic plates are telescopically connected to the inside of the two sides of the first grabbing plate.

[0011] Preferably, a claw frame is provided on one side of the telescopic plate, a grab bar is installed on one end surface of the claw frame, and a plurality of grab bars are provided.

[0012] Preferably, a suction rod is installed on the lower surface of the second grabbing plate, and a plurality of the suction rods are provided. Fixed plates are installed on both sides of the rear end surface of the first grabbing plate, and extension rods are provided on the fixed plates. Holding rods are provided on both sides of the bottom of the extension rods.

[0013] Preferably, a control module is provided inside the control box, and the control module is electrically connected to the power supply module. A display module, an alarm module, a drive module, a sensor module and a visual processing module are provided inside the control module. A robotic arm motion module is provided inside the drive module, an infrared sensor and a weight sensor are provided inside the sensor module, and a camera is provided inside the visual processing module.

[0014] Preferably, the method for using the mechanical automated grasping device comprises the following steps:

[0015] Step 1: First, the visual processing module uses machine vision technology to identify and locate the grasping target. The system collects image information of the target object through cameras and sensors, and then analyzes the image through image processing algorithms to extract the target's feature information, shape, size, and color, thereby determining the grasping point and grasping method;

[0016] Step 2: After that, the drive module, sensor module and control system, the drive device provides power, the transmission mechanism transmits the power to the gripper to realize the opening and closing action of the gripper, the precision sensor and control system inside the gripper ensure the accuracy and stability of grasping, the sensor monitors the state of the gripper and the position of the object in real time, and the control system adjusts the action of the gripper according to these data to ensure the accuracy of the grasping process;

[0017] Step 3: When grasping, the control module includes two parts: offline calculation and online perception. Offline calculation is to provide the data of the object model to the robot system in advance through physical scanning when the object to be grasped is known in advance, so as to reduce the amount of real-time calculation. Online perception is to calculate the 3D pose of each object through RGB or point cloud map and select the best grasping point.

[0018] Step 4: Finally, when receiving the signal from the control module, the driving module will respond quickly and transmit power to the first grabbing plate and the second grabbing plate through the transmission mechanism. The gripping claws will open and close under the drive of the power, thereby completing the grabbing and releasing of the object.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention arranges a first grabbing plate and a second grabbing plate on the front end face and the bottom of the rotating shaft respectively. The visual processing module identifies and locates the grabbing target through machine vision technology. The system collects image information of the target object through a camera and a sensor, and then analyzes the image through an image processing algorithm to extract the characteristic information, shape, size, and color of the target, thereby determining the grabbing point and the grabbing method. After that, the grabbing rod on the first grabbing plate or the suction rod at the bottom of the second grabbing plate is driven to grab. At the same time, an extension rod and a gripping rod are also arranged on the rear end face of the first grabbing plate, which can be manually picked up. The extension rod is fixedly connected to the first grabbing plate by screws on the fixing plate, which is convenient for disassembly and assembly during use. This solves the problem that the mechanical automatic grabbing device in the prior art has a single grabbing device when operating, thereby having a single picking method and affecting its flexibility of use.

[0021] 2. By setting the first connecting plate and the second connecting plate, the first rotating frame, the rotating shaft and the lifting rod can be disassembled and assembled, which is convenient for maintenance. At the same time, the setting of the first rotating frame and the second rotating frame allows the first rotating rod and the second rotating rod to rotate up and down or left and right, ensuring flexibility during grasping.

[0022] 3. By arranging a plurality of grab bars on the first grab plate, the grab bars are used to clamp the sides of the object when the telescopic plate is extended and retracted, and a plurality of suction bars are arranged at the bottom of the second grab plate, so that the connection strength between the object and the grab plate can be ensured during suction. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the mechanical automated grasping device of the present invention;

[0024] Figure 2 It is an enlarged schematic diagram of the driving assembly structure of the present invention;

[0025] Figure 3 It is an enlarged schematic diagram of the structure of the taking component of the present invention;

[0026] Figure 4 It is an enlarged schematic diagram of the back structure of the taking component of the present invention;

[0027] Figure 5 It is a schematic diagram of the principle of the mechanical automated grasping device system of the present invention;

[0028] In the figure: 1. fixed seat; 2. support rod; 3. lifting rod; 4. control box; 5. support plate; 6. first connecting plate; 7. second connecting plate; 8. first cylinder; 9. first telescopic rod; 10. first rotating frame; 11. first rotating rod; 12. connecting rod; 13. second rotating frame; 14. second rotating rod; 15. second cylinder; 16. second telescopic rod; 17. first grabbing plate; 18. telescopic plate; 19. claw frame; 20. grabbing rod; 21. rotating shaft; 22. fixed plate; 23. extension rod; 24. gripping rod; 25. second grabbing plate; 26. suction rod; 27. control module; 28. display module; 29. ​​alarm module; 30. drive module; 31. sensor module; 32. visual processing module. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0030] See also Figure 1-5An embodiment of the present invention is as follows: a mechanical automatic grasping device comprises a fixed seat 1, a support rod 2 is arranged above the fixed seat 1, a lifting rod 3 is arranged inside the support rod 2, a first rotating frame 10 is arranged above the lifting rod 3, a first connecting plate 6 is installed above the lifting rod 3 and at the bottom of the first rotating frame 10, a second telescopic rod 16 is arranged on one side of the first connecting plate 6, a rotating shaft 21 is arranged below the second telescopic rod 16, a second connecting plate 7 is arranged at the bottom of the second telescopic rod 16 and above the rotating shaft 21, a first grasping plate 17 is arranged on the front end surface of the rotating shaft 21, and a second grasping plate 25 is arranged below the rotating shaft 21, a visual processing module 32 identifies and locates the grasping target through machine vision technology, the system collects image information of the target object through a camera and a sensor, and then analyzes the image through an image processing algorithm to extract the characteristic information, shape, size, and color of the target, thereby determining the grasping point and grasping method, and then drives the grasping rod 20 on the first grasping plate 17 or the suction rod at the bottom of the second grasping plate 25 26 can be used for grabbing, and at the same time, an extension rod 23 and a gripping rod 24 are also provided on the rear end face of the first grabbing plate 17, so that manual picking operation can be performed, and the extension rod 23 is fixedly connected to the first grabbing plate 17 by means of screws on the fixing plate 22, so that it is convenient to disassemble and assemble when in use, which solves the problem that the mechanical automatic grabbing device in the prior art has a single grabbing device when in operation, and thus has a single picking method, which affects its flexibility in use. By providing the first connecting plate 6 and the second connecting plate 7, the first rotating frame 10, the rotating shaft 21, and the lifting rod 3 can be disassembled and assembled, which is convenient for maintenance. At the same time, the first rotating frame 10 and the second rotating frame 13 are provided so that the first rotating rod 11 and the second rotating rod 14 can be rotated up and down or left and right, thereby ensuring flexibility during grabbing. By providing a plurality of grabbing rods 20 on the first grabbing plate 17, the side of the object is clamped by the grabbing rods 20 when the telescopic plate 18 is extended and retracted, and a plurality of suction rods 26 are provided at the bottom of the second grabbing plate 25, so that the connection strength between the object and the grabbing plate 18 can be ensured during suction.

[0031] See also Figure 1-Figure 5A control box 4 is installed on the front end face of the support rod 2, a support plate 5 is installed on one side end face of the lifting rod 3, a first cylinder 8 is installed on the upper surface of the support plate 5, and a first telescopic rod 9 is arranged on the first cylinder 8. The visual processing module 32 identifies and locates the grasping target through machine vision technology. The system collects image information of the target object through a camera and a sensor, and then analyzes the image through an image processing algorithm to extract the characteristic information, shape, size, and color of the target, thereby determining the grasping point and grasping method, and then drives the grasping rod 20 on the first grasping plate 17 or the suction rod 26 at the bottom of the second grasping plate 25 to grasp. At the same time, an extension rod 23 and a gripping rod 24 are also arranged on the rear end face of the first grasping plate 17, which can be manually picked up, and the extension rod 23 is fixedly connected to the first grasping plate 17 by a screw on the fixing plate 22, which is convenient for disassembly and assembly during use, and solves the problem that the mechanical automatic grasping device in the prior art has a single grasping device when operating, thereby having a single grasping method, affecting its flexibility of use.

[0032] See also Figure 1-Figure 5 A first rotating rod 11 is installed inside the first rotating frame 10, and the first rotating rod 11 is rotatably connected to the inside of the first rotating frame 10. A connecting rod 12 is installed on one side end surface of the first rotating rod 11, so that the first rotating frame 10, the rotating shaft 21 and the lifting rod 3 can be disassembled and assembled, which is convenient for maintenance. At the same time, the arrangement of the first rotating frame 10 and the second rotating frame 13 allows the first rotating rod 11 and the second rotating rod 14 to rotate up and down or left and right, ensuring flexibility during grasping.

[0033] See also Figure 1-Figure 5 A second rotating frame 13 is installed on one side of the connecting rod 12, and a second rotating rod 14 is installed on the other end surface of the second rotating frame 13. The second rotating rod 14 and the connecting rod 12 are rotatably connected at both sides of the second rotating frame 13 respectively, and a second cylinder 15 is installed on the upper surface of the second rotating rod 14.

[0034] See also Figure 1-Figure 5 Telescopic plates 18 are provided on both sides of the first grabbing plate 17 , and the telescopic plates 18 are telescopically connected to the interior of both sides of the first grabbing plate 17 .

[0035] See also Figure 1-Figure 5 A claw frame 19 is provided on one side of the telescopic plate 18, and a grab rod 20 is installed on one end face of the claw frame 19. There are several grab rods 20. When the telescopic plate 18 is extended and retracted, the side of the object is clamped by the grab rod 20. A plurality of suction rods 26 are provided at the bottom of the second grabbing plate 25, which can ensure the connection strength between the object and the grabbing plate 25 during suction.

[0036] See also Figure 1-Figure 5A suction rod 26 is installed on the lower surface of the second grabbing plate 25, and a plurality of suction rods 26 are provided. Fixed plates 22 are installed on both sides of the rear end surface of the first grabbing plate 17, and an extension rod 23 is provided on the fixed plate 22. Grip rods 24 are provided on both sides of the bottom of the extension rod 23.

[0037] See also Figure 1-Figure 5 , a control module 27 is arranged inside the control box 4, and the control module 27 is electrically connected to the power module. A display module 28, an alarm module 29, a drive module 30, a sensor module 31 and a visual processing module 32 are arranged inside the control module 27. A mechanical arm motion module is arranged inside the drive module 30, an infrared sensor and a weight sensor are arranged inside the sensor module 31, and a camera is arranged inside the visual processing module 32; firstly, the visual processing module 32 identifies and locates the grasping target through machine vision technology, and the system collects image information of the target object through the camera and the sensor, and then analyzes the image through the image processing algorithm to extract the characteristic information of the target, such as shape, size, and color, so as to determine the grasping point and grasping method; afterwards, the drive module 30 and the sensor module 31 and the control system, the drive device provides power, and the transmission mechanism transmits the power to the clamp to realize the opening and closing action of the clamp, and the precision sensor and control system equipped inside the clamp ensure the accuracy and stability of grasping, the sensor monitors the state of the clamp and the position of the object in real time, and the control system adjusts the action of the clamp according to these data to ensure the accuracy of the grasping process.

[0038] See also Figure 1-Figure 5 , a method for using a mechanical automatic grasping device, comprising the following steps:

[0039] Step 1: First, the visual processing module 32 uses machine vision technology to identify and locate the grasping target. The system collects image information of the target object through cameras and sensors, and then analyzes the image through image processing algorithms to extract the target's feature information, such as shape, size, and color, so as to determine the grasping point and grasping method;

[0040] Step 2: After that, the driving module 30 and the sensor module 31 and the control system, the driving device provides power, the transmission mechanism transmits the power to the gripper to realize the opening and closing action of the gripper, the precision sensor and control system equipped inside the gripper ensure the accuracy and stability of grasping, the sensor monitors the state of the gripper and the position of the object in real time, and the control system adjusts the action of the gripper according to these data to ensure the accuracy of the grasping process;

[0041] Step 3: When grasping, the control module 27 includes two parts: offline calculation and online perception. Offline calculation is to provide the data of the object model to the robot system in advance by scanning the physical object when the object to be grasped is known in advance, so as to reduce the amount of real-time calculation. Online perception is to calculate the three-dimensional posture of each object through RGB or point cloud map and select the best grasping point.

[0042] Step 4: Finally, when receiving the signal from the control module 27, the driving module 30 will respond quickly and transmit the power to the first grabbing plate 17 and the second grabbing plate 25 through the transmission mechanism. The clamping claws realize opening and closing actions under the drive of the power, thereby completing the grabbing and releasing of the object. During grabbing, the first connecting plate 6 and the second connecting plate 7 are arranged so that the first rotating frame 10, the rotating shaft 21 and the lifting rod 3 can be disassembled and assembled, which is convenient for maintenance. At the same time, the arrangement of the first rotating frame 10 and the second rotating frame 13 allows the first rotating rod 11 and the second rotating rod 14 to rotate up and down or left and right, thereby ensuring flexibility during grabbing. By arranging a plurality of grabbing rods 20 on the first grabbing plate 17, the grabbing rods 20 are used to clamp the side of the object when the telescopic plate 18 is extended and retracted. A plurality of suction rods 26 are arranged at the bottom of the second grabbing plate 25, thereby ensuring the connection strength with the object during suction.

[0043] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A mechanical automated grasping device, comprising a fixing seat (1), characterized in that: A support rod (2) is arranged above the fixed seat (1), a lifting rod (3) is arranged inside the support rod (2), a first rotating frame (10) is arranged above the lifting rod (3), a first connecting plate (6) is installed above the lifting rod (3) and at the bottom of the first rotating frame (10), a second telescopic rod (16) is arranged on one side of the first connecting plate (6), a rotating shaft (21) is arranged below the second telescopic rod (16), a second connecting plate (7) is arranged at the bottom of the second telescopic rod (16) and above the rotating shaft (21), a first grabbing plate (17) is arranged on the front end surface of the rotating shaft (21), and a second grabbing plate (25) is arranged below the rotating shaft (21).

2. A mechanical automated grasping device according to claim 1, characterized in that: A control box (4) is installed on the front end surface of the support rod (2), a support plate (5) is installed on one side end surface of the lifting rod (3), a first cylinder (8) is installed on the upper surface of the support plate (5), and a first telescopic rod (9) is arranged on the first cylinder (8).

3. A mechanical automated grasping device according to claim 2, characterized in that: A first rotating rod (11) is installed inside the first rotating frame (10), the first rotating rod (11) is rotatably connected to the inside of the first rotating frame (10), and a connecting rod (12) is installed on one end surface of the first rotating rod (11).

4. A mechanical automated grasping device according to claim 3, characterized in that: A second rotating frame (13) is installed on one side of the connecting rod (12), and a second rotating rod (14) is installed on the other end surface of the second rotating frame (13). The second rotating rod (14) and the connecting rod (12) are rotatably connected at both sides of the second rotating frame (13), and a second cylinder (15) is installed on the upper surface of the second rotating rod (14).

5. A mechanical automated grasping device according to claim 4, characterized in that: Telescopic plates (18) are provided on both sides of the first grabbing plate (17), and the telescopic plates (18) are telescopically connected to the interior of both sides of the first grabbing plate (17).

6. A mechanical automated grasping device according to claim 5, characterized in that: A claw frame (19) is provided on one side of the telescopic plate (18), and a grab bar (20) is installed on one end surface of the claw frame (19), and a plurality of grab bars (20) are provided.

7. A mechanical automated grasping device according to claim 6, characterized in that: A suction rod (26) is installed on the lower surface of the second grabbing plate (25), and a plurality of the suction rods (26) are provided. Fixed plates (22) are installed on both sides of the rear end surface of the first grabbing plate (17), and an extension rod (23) is provided on the fixed plate (22). Grip rods (24) are provided on both sides of the bottom of the extension rod (23).

8. A mechanical automated grasping device according to claim 7, characterized in that: The control box (4) is provided with a control module (27) therein, the control module (27) being electrically connected to a power module, and the control module (27) is provided with a display module (28), an alarm module (29), a drive module (30), a sensor module (31) and a visual processing module (32) therein.

9. A mechanical automated grasping device according to claim 8, characterized in that: The driving module (30) is provided with a mechanical arm motion module inside, the sensor module (31) is provided with an infrared sensor and a weight sensor inside, and the visual processing module (32) is provided with a camera inside.

10. A method for using a mechanical automated grasping device, implemented based on the mechanical automated grasping device of any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: First, the visual processing module (32) uses machine vision technology to identify and locate the grasping target. The system collects image information of the target object through cameras and sensors, and then analyzes the image through image processing algorithms to extract the target's feature information, shape, size, and color, thereby determining the grasping point and grasping method; Step 2: Afterwards, the driving module (30) and the sensor module (31) and the control system, the driving device provides power, the transmission mechanism transmits the power to the clamping jaws, and the clamping jaws are opened and closed. The precision sensors and control systems inside the clamping jaws ensure the accuracy and stability of grasping. The sensors monitor the state of the clamping jaws and the position of the object in real time, and the control system adjusts the action of the clamping jaws according to these data to ensure the accuracy of the grasping process; Step 3: When grasping, the control module (27) includes two parts: offline calculation and online perception. Offline calculation is to provide the data of the object model to the robot system in advance by scanning the physical object when the object to be grasped is known in advance, so as to reduce the amount of real-time calculation. Online perception is to calculate the three-dimensional posture of each object through RGB or point cloud image and select the best grasping point. Step 4: Finally, when receiving the signal from the control module (27), the driving module (30) will respond quickly and transmit power to the first grabbing plate (17) and the second grabbing plate (25) through the transmission mechanism. The clamping claws will open and close under the drive of the power, thereby completing the grabbing and releasing of the object.

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