A robotic vision-based grasping device

Abstract

This invention relates to the field of mechanical grasping and discloses a grasping device based on robot vision. The device includes a base and a robotic arm fixedly connected to its top. One end of the robotic arm is fixedly connected to a claw base, and one end of the claw base is fixedly connected to a fixed seat. One end of the fixed seat is equipped with a mechanical claw. A mounting seat is fixedly connected to the middle of the claw base, and one end of the mounting seat is movably connected to a movable seat via a cylinder. The mechanical claw is rotatably connected to both the fixed seat and the movable seat via the movable arm. The mechanical claw has a reinforcement component inside to increase the grasping area. The reinforcement component includes a clamping member movably connected inside the mechanical claw, extending through and to both sides of the mechanical claw. By pushing a pusher, the clamping member extends out of the mechanical claw and performs a secondary clamping of the object from both sides of the mechanical claw, thereby increasing the grasping area and improving the stability of the grasp, preventing the object from falling due to excessive weight or a too-smooth surface during grasping.

Description

Technical Field

[0001] This invention relates to the field of mechanical grasping technology, and more specifically, to a grasping device based on robot vision. Background Technology

[0002] Vision-based grasping devices are automated systems that use visual sensors to identify, locate, and guide robots to grasp objects. Through image processing and deep learning technologies, they achieve precise object grasping and are widely used in industrial automation, logistics sorting, and other fields.

[0003] To enable robotic arms to flexibly handle objects of different shapes, operate in confined or dense working environments, and simplify mechanical structures and reduce control difficulty, the grippers of gripping devices are usually designed to be relatively narrow. However, the narrow gripper design results in a smaller contact area with the object being gripped. When gripping heavy or smooth objects, the small contact area reduces the friction between the gripper and the object, which can easily lead to the risk of the object falling off during the gripping process and reduce the stability of the gripping. Summary of the Invention

[0004] This invention provides a gripping device based on robot vision, which solves the technical problem in related technologies that the narrow mechanical claw makes it difficult to grip heavy or smooth objects and causes them to fall off easily.

[0005] This invention provides a gripping device based on robot vision, including a base and a robotic arm fixedly connected to its top. One end of the robotic arm is fixedly connected to a claw base, and one end of the claw base is fixedly connected to a fixed base. One end of the fixed base is provided with a robotic claw. A mounting base is fixedly connected to the middle of the claw base, and one end of the mounting base is movably connected to a movable base via a cylinder. The robotic claw is rotatably connected to the fixed base and the movable base via a movable arm. The inside of the robotic claw is provided with a reinforcement component for increasing the gripping area.

[0006] The reinforcement component includes a clamping member movably connected inside the mechanical claw, and the clamping member penetrates and extends to both sides of the mechanical claw. A push block is movably connected to the inner side of the mechanical claw, and a rubber layer is fixedly connected to the inner side of the mechanical claw to wrap the push block inside. A groove is provided on the surface of the clamping member, and a slider that matches the groove is provided at the point where the mechanical claw is penetrated by the clamping member.

[0007] As a further optimization of the present invention, the inner side of the mechanical claw is provided with an adsorption component, the adsorption component includes a suction cup embedded in the inner side of the rubber layer, and a top block is fixedly connected to the inner side of the mechanical claw.

[0008] As a further optimization of the present invention, the mechanical claw includes a straight claw portion and a curved claw portion, the curved claw portion is inclined inward and spliced ​​with the straight claw portion at an obtuse angle, and a fastening component is provided between the straight claw portion and the curved claw portion.

[0009] As a further optimization of the present invention, the fastening assembly includes a slide rod fixedly connected to one end of the curved claw portion, and the slide rod extends through the interior of the straight claw portion and is fixedly connected to a limit block, and a second spring is sleeved on the outside of the slide rod in the interior region of the straight claw portion.

[0010] As a further optimization of the present invention, one end of the mounting base is provided with a filling component, the filling component includes a first airbag fixedly connected between the mounting base and the movable base, and a first spring is fixedly connected inside the first airbag. One end of the movable base is fixedly connected with a second airbag, and an air guide hole is opened inside the movable base, the air guide hole connecting the first airbag and the second airbag.

[0011] As a further optimization of the present invention, the first airbag is wrapped around the outside of the cylinder, and the elastic force of the first spring is less than the extension and retraction thrust of the cylinder and greater than the deformation elastic force of the second airbag.

[0012] As a further optimization of the present invention, the clamping member and the push block are both disposed inside the curved claw portion of the mechanical claw, and a third spring is movably connected inside the slide groove, and the elastic force of the third spring is greater than the elastic force of the rubber layer.

[0013] As a further optimization of the present invention, a vision sensor is provided at one end of the claw base, and the vision sensor and the mechanical claw are distributed at equal distances and staggered.

[0014] The beneficial effects of this invention are as follows:

[0015] 1. The present invention discloses a robot vision-based grasping device, which pushes the clamping member to extend outside the mechanical claw and clamps the object a second time from both sides of the mechanical claw, thereby increasing the grasping area of ​​the object and improving the stability of the grasping, so as to avoid the object falling due to excessive weight or excessively smooth surface when grasping the object.

[0016] 2. The robot vision-based grasping device described in this invention uses a suction cup to adhere to the surface of the object being grasped, which further enhances the grasping stability when grasping objects with smooth surfaces.

[0017] 3. The robot vision-based grasping device described in this invention further improves the stability of object grasping by adding the grasping force brought by the object's own gravity to the original grasping force.

[0018] 4. The robot vision-based grasping device described in this invention uses the displacement of the movable seat to compress the first airbag, thereby forcing the gas inside the first airbag into the second airbag through the air guide hole. After the second airbag is filled with gas, it expands and uses the expansion of the second airbag to block and wrap the top of the object, thereby preventing the object from falling through the gap between the upper part of the mechanical claw and increasing the safety of object grasping. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a view of the combination of the claw base and the mechanical gripper of the present invention;

[0021] Figure 3 This is the present invention. Figure 2 Enlarged view of point A in the middle;

[0022] Figure 4 This is a schematic diagram of the reinforcement component structure of the present invention;

[0023] Figure 5 This is a schematic diagram of the working state of the reinforcement component of the present invention;

[0024] Figure 6 This is a schematic diagram of the fastening component structure of the present invention;

[0025] Figure 7 This is a view of the mechanical gripper and slide bar combination of the present invention.

[0026] In the picture:

[0027] 10. Base; 11. Robotic arm; 12. Gripper; 13. Vision sensor; 14. Mounting base; 15. Fixing base; 16. Robotic gripper; 17. Cylinder; 18. Movable base; 19. Movable arm;

[0028] 20. Reinforcing component; 21. Clamping element; 22. Push block; 23. Rubber layer; 24. Slide groove; 25. Third spring;

[0029] 30. Filling assembly; 31. First airbag; 32. First spring; 33. Second airbag; 34. Air vent;

[0030] 40. Adsorption component; 41. Suction cup; 42. Top block;

[0031] 50. Fastening assembly; 51. Slide rod; 52. Limiting block; 53. Second spring. Detailed Implementation

[0032] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0033] like Figures 1 to 5 As shown in the figure, a gripping device based on robot vision according to an embodiment of the present invention includes a base 10 and a robotic arm 11 fixedly connected to its top. One end of the robotic arm 11 is fixedly connected to a claw seat 12, and one end of the claw seat 12 is fixedly connected to a fixed seat 15. One end of the fixed seat 15 is provided with a robotic claw 16. The middle part of the claw seat 12 is fixedly connected to a mounting seat 14, and one end of the mounting seat 14 is movably connected to a movable seat 18 through a cylinder 17. The robotic claw 16 is rotatably connected to the fixed seat 15 and the movable seat 18 through a movable arm 19. The inside of the robotic claw 16 is provided with a reinforcing component 20 for increasing the gripping area.

[0034] The reinforcement component 20 includes a clamping member 21 movably connected inside the mechanical claw 16, and the clamping member 21 penetrates and extends to both sides of the mechanical claw 16. A push block 22 is movably connected to the inner side of the mechanical claw 16, and a rubber layer 23 is fixedly connected to the inner side of the mechanical claw 16 to wrap the push block 22 inside. A groove 24 is provided on the surface of the clamping member 21, and a slider that matches the groove 24 is provided at the point where the mechanical claw 16 is penetrated by the clamping member 21.

[0035] The mechanical claw 16 includes a straight claw portion and a curved claw portion. The curved claw portion is inclined inward and joined to the straight claw portion at an obtuse angle. The clamping member 21 and the push block 22 are both disposed inside the curved claw portion of the mechanical claw 16. A third spring 25 is movably connected inside the sliding groove 24, and the elastic force of the third spring 25 is greater than the elastic force of the rubber layer 23. A vision sensor 13 is provided at one end of the claw seat 12, and the vision sensor 13 is equidistantly staggered from the mechanical claw 16.

[0036] It should be noted that the joints of the robotic arm 11 and the connection between the robotic arm 11 and the gripper 12 are all controlled by motors for steering. This is existing technology and will not be described in detail here. When performing a gripping operation, the shape and placement of the object are identified by the vision sensor 13, and the gripper 12 of the robotic arm 11 moves to above the object. Then, the cylinder 17 works to pull the movable seat 18 up. After the movable seat 18 is displaced, the movable arm 19 pulls the robotic gripper 16, so that the robotic gripper 16 rotates with the fixed seat 15 through the movable arm 19 and moves toward the object. Finally, the object is clamped and gripped by multiple robotic grippers 16.

[0037] When the mechanical gripper 16 comes into contact with an object, an interaction force occurs between them. At this time, the push block 22 on the inner side of the mechanical gripper 16 is squeezed into the interior of the mechanical gripper 16. Simultaneously, the push block 22 pushes the clamping member 21 to extend out of the mechanical gripper 16 and clamp the object a second time from both sides of the mechanical gripper 16. This increases the gripping area and improves the stability of the gripping, preventing the object from falling due to excessive weight or a too smooth surface. In addition, when the clamping member 21 slides out of the mechanical gripper 16, the groove 24 on its surface and the slider provided at the point where the clamping member 21 penetrates the mechanical gripper 16 mutually restrict each other, so that the clamping member 21 has a stable movement trajectory when sliding. During the sliding process, the third spring 25 provided inside the groove 24 is compressed and contracted by the slider. When the mechanical gripper 16 releases the object, the clamping member 21 and the push block 22 can be pushed back to their original positions under the action of the third spring 25.

[0038] like Figures 4 to 5 As shown, the mechanical claw 16 has an adsorption component 40 on its inner side. The adsorption component 40 includes a suction cup 41 embedded in the inner side of the rubber layer 23. A top block 42 is fixedly connected to the inner side of the mechanical claw 16.

[0039] It should be noted that when the pusher 22 is pushed into the mechanical claw 16, the rubber layer 23 on the inner side of the mechanical claw 16 returns to a flat state and adheres to the inner side of the mechanical claw 16. At this time, the suction cup 41 embedded on the surface of the rubber layer 23 covers the surface of the object being grasped, and under the pressure of the top block 42, the suction cup 41 adheres to the surface of the object being grasped. This further adsorption of the suction cup 41 improves the stability of the grasp when grasping objects with smooth surfaces.

[0040] like Figures 6 to 7 As shown, a fastening assembly 50 is provided between the straight claw portion and the curved claw portion. The fastening assembly 50 includes a slide rod 51 fixedly connected to one end of the curved claw portion, and the slide rod 51 extends into the interior of the straight claw portion and is fixedly connected to a limit block 52. A second spring 53 is sleeved on the outside of the slide rod 51 in the area inside the straight claw portion.

[0041] It should be noted that after the mechanical claw 16 grasps the object, the object is suspended in the air as the mechanical claw 16 moves. At this time, under the action of gravity, the object exerts a gravitational force on the curved claw part of the mechanical claw 16 through friction, causing the curved claw part of the mechanical claw 16 to pull the slide bar 51 to extend the straight claw part and compress the second spring 53. After the slide bar 51 extends outside the straight claw part, the curved claw part of the mechanical claw 16 moves downward. Since the curved claw part of the mechanical claw 16 is joined to the straight claw part at an obtuse angle, the curved claw part of the mechanical claw 16 will also move towards the grasped object while moving downward, thereby increasing the grasping force on the object. By adding the grasping force brought by the object's own gravity on the basis of the original grasping force, the stability of the object grasping is further improved.

[0042] like Figures 2 to 3 As shown, one end of the mounting base 14 is provided with a filling component 30. The filling component 30 includes a first airbag 31 fixedly connected between the mounting base 14 and the movable base 18, and a first spring 32 is fixedly connected inside the first airbag 31. One end of the movable base 18 is fixedly connected with a second airbag 33, and an air guide hole 34 is opened inside the movable base 18. The air guide hole 34 connects the first airbag 31 and the second airbag 33. The first airbag 31 is wrapped around the outside of the cylinder 17. The elastic force of the first spring 32 is less than the extension and retraction thrust of the cylinder 17 and greater than the deformation elastic force of the second airbag 33.

[0043] It should be noted that since the mechanical claw 16 adopts a three-claw design and the three claws are in an inclined state, after grasping an object, the mechanical claw 16 usually forms a frustum structure that is wider at the top and narrower at the bottom. That is, the distance between the mechanical claws 16 is larger as they are closer to the top. This causes small objects to easily fall through the gaps at the top of the mechanical claws 16 when grasping them.

[0044] Based on this, when the cylinder 17 pulls the movable seat 18 upward, the displacement of the movable seat 18 will squeeze the first airbag 31, thereby squeezing the gas inside the first airbag 31 into the second airbag 33 through the air guide hole 34. After the second airbag 33 is filled with gas, it expands. The expansion of the second airbag 33 is used to shield and wrap the top of the object, thereby preventing the object from falling through the gap between the upper part of the mechanical claw 16, increasing the safety of object grasping. Until the object is put down, the first airbag 31 is reset under the push of the first spring 32, and the gas inside the second airbag 33 flows back into the first airbag 31 through the air guide hole 34, while the second airbag 33 returns to its flat state.

[0045] The embodiments of the present invention have been described above, but the embodiments are not limited to the specific implementation methods described above. The specific implementation methods described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the embodiments described above, all of which are within the protection scope of the embodiments described above.

Claims

1. A gripping device based on robot vision, comprising a base (10) and a robotic arm (11) fixedly connected to its top, wherein a claw seat (12) is fixedly connected to one end of the robotic arm (11), and a fixed seat (15) is fixedly connected to one end of the claw seat (12), and a robotic claw (16) is provided at one end of the fixed seat (15), a mounting seat (14) is fixedly connected to the middle of the claw seat (12), and a movable seat (18) is movably connected to one end of the mounting seat (14) via a cylinder (17), and the robotic claw (16) is rotatably connected to the fixed seat (15) and the movable seat (18) respectively via a movable arm (19), characterized in that: The mechanical claw (16) is provided with a reinforcement component (20) to increase the gripping area. The reinforcement component (20) includes a clamping member (21) movably connected inside the mechanical claw (16), and the clamping member (21) extends through and to both sides of the mechanical claw (16). The inner side of the mechanical claw (16) is movably connected to a push block (22) that extends through it, and the inner side of the mechanical claw (16) is fixedly connected to a rubber layer (23) that wraps the push block (22) inside it. The surface of the clamping member (21) is provided with a sliding groove (24), and the mechanical claw (16) is provided with a slider that matches the sliding groove (24) at the point through which the clamping member (21) penetrates. The mechanical claw (16) is provided with an adsorption component (40) on its inner side. The adsorption component (40) includes a suction cup (41) embedded in the inner side of the rubber layer (23). A top block (42) is fixedly connected to the inner side of the mechanical claw (16). The mechanical claw (16) includes a straight claw part and a curved claw part. The curved claw part is inclined inward and spliced ​​with the straight claw part at an obtuse angle. A fastening component (50) is provided between the straight claw part and the curved claw part. The fastening assembly (50) includes a slide rod (51) fixedly connected to one end of the curved claw portion, and the slide rod (51) extends through the interior of the straight claw portion and is fixedly connected to a limit block (52). A second spring (53) is sleeved on the outside of the slide rod (51) in the area inside the straight claw portion. One end of the mounting base (14) is provided with a filling component (30). The filling component (30) includes a first airbag (31) fixedly connected between the mounting base (14) and the movable base (18), and a first spring (32) is fixedly connected inside the first airbag (31). One end of the movable base (18) is fixedly connected with a second airbag (33), and an air guide hole (34) is opened inside the movable base (18). The air guide hole (34) connects the first airbag (31) and the second airbag (33). A vision sensor (13) is provided at one end of the claw base (12), and the vision sensor (13) and the mechanical claw (16) are distributed at equal distances and staggered.

2. The grasping device based on robot vision according to claim 1, characterized in that: The first airbag (31) is wrapped around the outside of the cylinder (17), and the elastic force of the first spring (32) is less than the extension thrust of the cylinder (17) and greater than the deformation elastic force of the second airbag (33).

3. The grasping device based on robot vision according to claim 2, characterized in that: The clamping member (21) and the pusher (22) are both located inside the curved claw portion of the mechanical claw (16). The slide groove (24) is movably connected to a third spring (25), and the elastic force of the third spring (25) is greater than that of the rubber layer (23).

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