Grabbing mechanical arm based on point cloud recognition

Abstract

The utility model provides a grabbing mechanical arm based on point cloud recognition, and belongs to the technical field of grabbing mechanical arms. The grabbing mechanical arm based on point cloud recognition comprises a mounting plate and a driving supporting plate, clamping frames are fixedly connected to two second sliding blocks, buffering mechanisms are fixedly connected to the bottoms of the two clamping frames, and two point cloud recognition probes are arranged at the bottom of the driving supporting plate. The two side lines of an article can be scanned and positioned through the two point cloud recognition probes, then the article can be accurately positioned conveniently, the article clamping effect of the grabbing mechanical arm can be improved, the article clamping force can be reduced in the article clamping process of the two clamping plates through the two buffering mechanisms, and the article clamping efficiency is improved. And therefore, the possibility that the object is damaged due to the fact that the clamping force of the grabbing mechanical arm to the object is too large can be reduced, and the possibility that the grabbing mechanical arm grabs and damages the object is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of grabbing mechanical arms, and in particular to a grabbing mechanical arm based on point cloud recognition. Background Art

[0002] The grasping robot arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof fields. The robot arm is a complex system with uncertainties such as parameter perturbation, external interference, and unmodeled dynamics. Therefore, the modeling model of the robot arm also has uncertainty. For different tasks, it is necessary to plan the motion trajectory of the robot arm joint space, so as to cascade and form the terminal posture.

[0003] Existing grasping robots generally grasp objects according to set parameters. A slight deviation in the placement of objects may affect the grasping effect of the objects. When grasping fragile objects, the grasping force of the grasping robot is relatively large, which may damage the objects and easily affect the grasping effect of the objects. Utility Model Content

[0004] In order to make up for the above shortcomings, the utility model provides a grasping robot arm based on point cloud recognition to solve the problems raised in the above background technology.

[0005] The utility model provides a grabbing mechanical arm based on point cloud recognition, comprising a mounting plate and a driving support plate.

[0006] The bottom plate of the mounting plate is provided with a sliding mechanism and a driving mechanism, the output end of the driving mechanism is transmission-connected with the sliding mechanism, the bottom of the sliding mechanism is provided with a connecting plate, the bottom of the connecting plate is provided with a steering mechanism, the output end of the steering mechanism is transmission-connected with a mounting frame, the driving support plate is fixedly connected to the bottom of the mounting frame, the driving support plate is provided with two first slide grooves, two second slide grooves and a guide groove, the driving support plate is provided with a telescopic mechanism, the output end of the telescopic mechanism is transmission-connected with a guide block, the two first slide grooves are slidably connected with the first slider, the two second slide grooves are slidably connected with the second slider, the two first sliders are hinged with support rods, the other ends of the two support rods are hinged with the guide blocks, the sides of the two first sliders are fixedly connected with support plates, the other ends of the two support plates are respectively fixedly connected with the two second sliders, the two second sliders are fixedly connected with clamping frames, the bottoms of the two clamping frames are fixedly connected with buffer mechanisms, the sides of the two groups of the buffer mechanisms are provided with clamping plates, and the bottom of the driving support plate is provided with two point cloud recognition probes.

[0007] In the above implementation process, by driving the two point cloud recognition probes set at the bottom of the support plate, the two point cloud recognition probes can be used to scan and locate the side lines of the object on both sides, so as to facilitate the accurate positioning of the object, thereby improving the clamping effect of the grasping robot arm on the object, and through the buffer mechanism set at the bottom of the two clamping frames, the two groups of buffer mechanisms can be used to reduce the clamping force of the two clamping plates during the clamping process of the object, thereby reducing the possibility of the grasping robot arm clamping the object too much, causing damage to the object, and reducing the possibility of the grasping robot arm damaging the object.

[0008] In a specific embodiment, the sliding mechanism includes a slide rail and a slide plate, the slide rail is fixedly connected to the bottom of the mounting plate, the slide block is slidably connected to the bottom of the slide rail, and the slide plate is fixedly connected to the connecting plate.

[0009] In the above implementation process, the sliding plate is slidably connected to the bottom of the sliding rail, so that the connecting plate can be raised and lowered, thereby facilitating the movement of the clamped objects.

[0010] In a specific implementation, the driving mechanism includes a servo motor and a threaded rod, the servo motor is fixedly mounted on the bottom of the mounting plate, the threaded rod is transmission-connected to the output end of the servo motor via a coupling, and the threaded rod is threadedly connected to the slide.

[0011] In the above implementation process, the threaded rod is driven to rotate by the servo motor, and the threaded rod is threadedly connected to the slide plate, so that the slide plate can be slidably connected to the bottom of the slide rail.

[0012] In a specific embodiment, the steering mechanism includes a reducer and a rotating rod, the reducer is fixedly mounted on the bottom of the connecting plate, the rotating rod is transmission-connected to the output end of the reducer via a coupling, and the rotating rod is fixedly connected to the mounting frame.

[0013] In the above implementation process, the speed reducer drives the rotating rod to rotate, thereby enabling the mounting frame to rotate.

[0014] In a specific implementation, the telescopic mechanism includes a servo electric cylinder and a guide rod, the servo electric cylinder is fixedly mounted on the driving support plate, the guide rod is transmission-connected to the output end of the servo electric cylinder via a coupling, and the guide rod is fixedly connected to the guide block.

[0015] In the above implementation process, the guide block can be slidably connected in the guide groove by driving the guide rod to extend and retract through the servo electric cylinder.

[0016] In a specific embodiment, the two groups of buffer mechanisms respectively include a guide plate and a spring, the guide plate is fixedly connected to the bottom of the clamping frame, the spring is fixedly connected to the side of the guide plate, and the clamping plate is fixedly connected to the side of the spring.

[0017] In the above implementation process, the spring can be compressed and expanded by virtue of its elasticity, thereby enabling the two clamping plates to move.

[0018] In a specific implementation manner, a positioning groove is formed on the guide block, a positioning block is fixedly connected to the guide groove, and the positioning block is slidably connected in the positioning groove.

[0019] In the above implementation process, the positioning block is slidably connected in the positioning groove, so that the guide block can have a good guiding effect.

[0020] In a specific embodiment, rubber pads are bonded to the sides of the two clamping plates.

[0021] In the above implementation process, the rubber pad is provided, and the provision of the rubber pad can increase the friction force on the surface of the clamping plate, and can make the clamping plate clamp the object more firmly.

[0022] Compared with the prior art, the utility model has the following beneficial effects:

[0023] 1. The utility model drives two point cloud recognition probes arranged at the bottom of the support plate. The two point cloud recognition probes can scan and locate the two side lines of the object, thereby facilitating accurate positioning of the object, thereby improving the clamping effect of the grabbing robot arm on the object.

[0024] 2. The utility model uses a buffer mechanism disposed at the bottom of the two clamping frames. By relying on the two groups of buffer mechanisms, the clamping force of the two clamping plates on the objects can be reduced during the clamping process of the objects, thereby reducing the possibility of the grasping robot arm clamping the objects too strongly, causing damage to the objects, and reducing the possibility of the grasping robot arm grasping and damaging the objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solution of the implementation mode of the utility model, the drawings required for use in the implementation mode will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is one of the structural schematic diagrams provided by the utility model;

[0027] Figure 2 The second structural diagram provided by the utility model;

[0028] Figure 3 The utility model provides Figure 1 Enlarged schematic diagram at point A in the middle.

[0029] In the figure: 10, mounting plate; 110, sliding mechanism; 111, slide rail; 112, slide plate; 120, driving mechanism; 121, servo motor; 122, threaded rod; 130, connecting plate; 140, steering mechanism; 141, reducer; 142, rotating rod; 150, mounting frame; 20, driving support plate; 210, first slide groove; 211, first slider; 212, support rod; 220, second slide groove; 221, second slider; 230, guide groove; 231, positioning block; 240, telescopic mechanism; 241, servo electric cylinder; 242, guide rod; 250, guide block; 251, positioning groove; 260, support plate; 270, clamping frame; 280, buffer mechanism; 281, guide plate; 282, spring; 290, clamping plate; 291, point cloud recognition probe; 292, rubber pad. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0031] In order to make the purpose, technical solution and advantages of the implementation of the utility model clearer, the technical solution in the implementation of the utility model will be clearly and completely described below in conjunction with the drawings in the implementation of the utility model. Obviously, the described implementation is a part of the implementation of the utility model, not all of the implementations. Based on the implementation of the utility model, all other implementations obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0032] See also Figure 1-Figure 3 The utility model provides a grasping robot arm based on point cloud recognition, including a mounting plate 10 and a driving support plate 20.

[0033] The bottom plate of the mounting plate 10 is provided with a sliding mechanism 110 and a driving mechanism 120. The sliding mechanism 110 includes a slide rail 111 and a slide plate 112. The slide rail 111 is fixedly connected to the bottom of the mounting plate 10. The slider is slidably connected to the bottom of the slide rail 111. The slide plate 112 is fixedly connected to the connecting plate 130. The slide plate 112 is slidably connected to the bottom of the slide rail 111, so that the connecting plate 130 can be lifted and lowered, thereby facilitating the movement of the clamped objects. The driving mechanism 120 includes a servo motor 121 and a threaded rod 122. The servo motor 121 is fixedly installed at the bottom of the mounting plate 10. The threaded rod 122 is transmission-connected to the output end of the servo motor 121 through a coupling. The threaded rod 122 is threadedly connected to the slide plate 112. The servo motor 121 drives the threaded rod 122 to rotate, and the threaded rod 122 is threadedly connected to the slide plate 112, so that the slide plate 112 can be slidably connected to the bottom of the slide rail 111, and the output end of the driving mechanism 120 is transmission-connected to the sliding mechanism 110, and a connecting plate 130 is provided at the bottom of the sliding mechanism 110, and a steering mechanism 140 is provided at the bottom of the connecting plate 130. The steering mechanism 140 includes a reducer 141 and a rotating rod 142, and the reducer 141 is fixedly installed at the bottom of the connecting plate 130. The rotating rod 142 is transmission-connected to the output end of the reducer 141 through a coupling, and the rotating rod 142 is fixedly connected to the mounting frame 150, and the rotating rod 142 is driven to rotate by the reducer 141, so that the mounting frame 150 can be rotated. The output end of the steering mechanism 140 is connected to the mounting frame 150 through transmission. The driving support plate 20 is fixedly connected to the bottom of the mounting frame 150. The driving support plate 20 is provided with two first slide grooves 210, two second slide grooves 220 and a guide groove 230. The driving support plate 20 is provided with a telescopic mechanism 240. The telescopic mechanism 240 includes a servo electric cylinder 241 and a guide rod 242. The servo electric cylinder 241 is fixedly installed on the driving support plate 20. The guide rod 242 is connected to the output end of the servo electric cylinder 241 through a coupling. The guide rod 242 is fixedly connected to the guide block 250. The guide rod 242 is driven to be telescopic by the servo electric cylinder 241, so that the guide block 250 can be slidably connected in the guide groove 230. The output end of the telescopic mechanism 240 is connected to the A guide block 250 is connected, the two first slide grooves 210 are slidably connected with a first slider 211, the two second slide grooves 220 are slidably connected with a second slider 221, the two first sliders 211 are hinged with a support rod 212, the other ends of the two support rods 212 are hinged with the guide block 250, the sides of the two first sliders 211 are fixedly connected with a support plate 260, the other ends of the two support plates 260 are respectively fixedly connected with the two second sliders 221, the two second sliders 221 are fixedly connected with a clamping frame 270, the bottoms of the two clamping frames 270 are fixedly connected with a buffer mechanism 280, the two groups of buffer mechanisms 280 respectively include a guide plate 281 and a spring 282, the guide plate 281 is fixedly connected to the bottom of the clamping frame 270,The spring 282 is fixedly connected to the side of the guide plate 281, and the clamping plate 290 is fixedly connected to the side of the spring 282. The spring 282 can be compressed and expanded by the elasticity of the spring 282, so that the two clamping plates 290 can be moved. The sides of the two groups of buffer mechanisms 280 are provided with clamping plates 290. The bottom of the driving support plate 20 is provided with two point cloud recognition probes 291. The two point cloud recognition probes 291 are provided at the bottom of the driving support plate 20. The two point cloud recognition probes 291 can scan and locate the two side edges of the object, so that the object can be accurately positioned, thereby improving the gripping effect of the grabbing mechanical arm on the object. The buffer mechanisms 280 are provided at the bottom of the two clamping frames 270. The two groups of buffer mechanisms 280 can reduce the gripping force of the two clamping plates 290 during the gripping process of the object, thereby reducing the possibility of the gripping mechanical arm gripping the object too much, which may damage the object, and reduce the possibility of the gripping mechanical arm gripping the object.

[0034] In some specific implementation schemes, a positioning groove 251 is opened on the guide block 250, and a positioning block 231 is fixedly connected to the guide groove 230. The positioning block 231 is slidably connected in the positioning groove 251. By sliding the positioning block 231 in the positioning groove 251, the guide block 250 can have a good guiding effect.

[0035] In some specific embodiments, rubber pads 292 are bonded to the sides of the two clamps 290. The provision of the rubber pads 292 can increase the friction force on the surface of the clamps 290, so that the clamps 290 can clamp the objects more firmly.

[0036] The working principle of the grabbing robot arm based on point cloud recognition is as follows: when in use, the threaded rod 122 is driven to rotate by the servo motor 121, and the threaded rod 122 is threadedly connected to the slide plate 112, so that the slide plate 112 can be slidably connected to the bottom of the slide rail 111, so that the driving support plate 20 can be moved, and the rotating rod 142 is driven to rotate by the reducer 141, so that the driving support plate 20 can be rotated and the direction can be adjusted. By relying on two point cloud recognition probes 291, the two side lines of the object can be scanned and positioned, so that the object can be accurately positioned, so as to improve the gripping effect of the grabbing robot arm on the object, and the guide rod 24 is driven by the servo electric cylinder 241 2 can be extended and retracted, so that the first slider 211 can be slidably connected in the first slide groove 210, and the support rod 212 is hinged on the first slider 211 and the guide block 250, so that the guide block 250 can be slidably connected in the guide groove 230, so that the two clamping plates 290 can be moved, and the two clamping plates 290 can clamp the objects, and the elasticity of the two springs 282 can make the springs 282 compressed and expanded, so that the clamping force of the two clamping plates 290 on the objects can be reduced during the clamping of the objects, so as to reduce the possibility of the grasping mechanical arm grasping the objects too much, which may damage the objects, and reduce the possibility of the grasping mechanical arm grasping and damaging the objects.

[0037] The above description is only an embodiment of the utility model and is not intended to limit the protection scope of the utility model. For those skilled in the art, the utility model may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the utility model should be included in the protection scope of the utility model. It should be noted that similar numbers and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0038] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A grasping robot arm based on point cloud recognition, characterized in that: include A mounting plate (10), wherein a bottom plate of the mounting plate (10) is provided with a sliding mechanism (110) and a driving mechanism (120), an output end of the driving mechanism (120) is drivingly connected to the sliding mechanism (110), a connecting plate (130) is provided at the bottom of the sliding mechanism (110), a steering mechanism (140) is provided at the bottom of the connecting plate (130), and an output end of the steering mechanism (140) is drivingly connected to a mounting frame (150); A driving support plate (20), wherein the driving support plate (20) is fixedly connected to the bottom of the mounting frame (150), and the driving support plate (20) is provided with two first slide grooves (210), two second slide grooves (220) and a guide groove (230). The driving support plate (20) is provided with a telescopic mechanism (240), and the output end of the telescopic mechanism (240) is transmission-connected with a guide block (250). The two first slide grooves (210) are both slidably connected with a first slider (211), the two second slide grooves (220) are both slidably connected with a second slider (221), and the two first sliders (211) are both hinged with a support rod (2 12), the other ends of the two support rods (212) are hinged to the guide block (250), the sides of the two first sliders (211) are fixedly connected with support plates (260), the other ends of the two support plates (260) are respectively fixedly connected to the two second sliders (221), the two second sliders (221) are fixedly connected with clamping frames (270), the bottoms of the two clamping frames (270) are fixedly connected with buffer mechanisms (280), the sides of the two groups of buffer mechanisms (280) are provided with clamping plates (290), and the bottom of the driving support plate (20) is provided with two point cloud recognition probes (291).

2. The grasping robot arm based on point cloud recognition according to claim 1, characterized in that: The sliding mechanism (110) comprises a sliding rail (111) and a sliding plate (112); the sliding rail (111) is fixedly connected to the bottom of the mounting plate (10); the sliding block is slidably connected to the bottom of the sliding rail (111); and the sliding plate (112) is fixedly connected to the connecting plate (130).

3. The grabbing robot arm based on point cloud recognition according to claim 2, characterized in that: The driving mechanism (120) comprises a servo motor (121) and a threaded rod (122); the servo motor (121) is fixedly mounted on the bottom of the mounting plate (10); the threaded rod (122) is transmission-connected to the output end of the servo motor (121) via a coupling; and the threaded rod (122) is threadedly connected to the slide plate (112).

4. The grabbing robot arm based on point cloud recognition according to claim 1, characterized in that: The steering mechanism (140) comprises a reducer (141) and a rotating rod (142); the reducer (141) is fixedly mounted on the bottom of the connecting plate (130); the rotating rod (142) is transmission-connected to the output end of the reducer (141) via a coupling; and the rotating rod (142) is fixedly connected to the mounting frame (150).

5. The grasping robot arm based on point cloud recognition according to claim 1, characterized in that: The telescopic mechanism (240) comprises a servo electric cylinder (241) and a guide rod (242); the servo electric cylinder (241) is fixedly mounted on the driving support plate (20); the guide rod (242) is transmission-connected to the output end of the servo electric cylinder (241) via a coupling; and the guide rod (242) is fixedly connected to the guide block (250).

6. The grasping robot arm based on point cloud recognition according to claim 1, characterized in that: The two groups of buffer mechanisms (280) respectively include a guide plate (281) and a spring (282); the guide plate (281) is fixedly connected to the bottom of the clamping frame (270); the spring (282) is fixedly connected to the side of the guide plate (281); and the clamping plate (290) is fixedly connected to the side of the spring (282).

7. The grasping robot arm based on point cloud recognition according to claim 1, characterized in that: The guide block (250) is provided with a positioning groove (251), the guide groove (230) is fixedly connected with a positioning block (231), and the positioning block (231) is slidably connected in the positioning groove (251).

8. The grasping robot arm based on point cloud recognition according to claim 1, characterized in that: Rubber pads (292) are bonded to the sides of the two clamping plates (290).

Images