Self-adaptive adjusting type clamping jaw based on visual identification and article picking manipulator

Abstract

The utility model discloses a self-adaptive adjusting type clamping jaw based on visual identification and an article picking manipulator, and the self-adaptive adjusting type clamping jaw based on visual identification comprises an OpenMV camera module used for identifying the category and the size of an article; a base is mounted on the connecting seat; the pair of clamping modules is used for clamping the identified articles; the adjusting mechanism is mounted on the base and used for adjusting the distance between the pair of clamping modules so as to adapt to the size of an object; and the microcontroller is used for controlling the adjusting mechanism to execute the adjusting action and also used for controlling the clamping module to execute the clamping action based on the identification result of the OpenMV camera module. The device is reasonable in structure, the types and the sizes of articles can be recognized, the distance between the clamping modules can be adjusted in a self-adaptive mode, and various indoor articles with different sizes can be stably picked up.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic clamping claws, in particular to a self-adaptive adjustment type clamping claw and an article picking manipulator based on visual recognition. Background Art

[0002] Most of the sweeping robots sold on the market have a single mode and can only clean light and small garbage such as dust, hair, and fruit shells. For items such as key chains, mobile phones, data cables, and Bluetooth headsets left on the ground in daily life, existing sweeping robots (such as: the utility model patent with application number 202223427646.7 discloses a sweeping machine and a sweeping system) can neither sweep the aforementioned items as garbage nor pick them up and sort them as useful items, and the household cleaning function is still not perfect.

[0003] Therefore, a clamp can be designed to be installed on a sweeping robot for picking up and sorting the above-mentioned useful items. However, the clamp in the prior art is mainly a swing arm structure. As the clamp swings, the angle of the end of the clamp will also change. It is difficult to adapt to items of various sizes in the room. The clamped items may fall off easily, and the clamping stability is insufficient.

[0004] For example, the utility model patent with the authorization announcement number CN213946496U discloses an adaptive clamping claw that can clamp and push against various objects, and thus can clamp objects of different sizes. Although it is not a swing-arm clamping claw, the above solution obviously cannot stably clamp flat objects (such as mobile phones, tablets, etc.).

[0005] Therefore, how to design a gripper that can identify the type and size of objects, adaptively adjust the spacing between clamping modules, and stably pick up various indoor objects of different sizes has become a technical problem that needs to be solved in this application. Utility Model Content

[0006] The purpose of the utility model is to provide an adaptively adjustable gripper and an object picking manipulator based on visual recognition to solve the problems raised in the above-mentioned background technology.

[0007] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0008] The adaptive adjustment gripper based on visual recognition includes: an OpenMV camera module for identifying the category and size of an object; a connecting seat, on which a base is installed; a pair of clamping modules for clamping the identified object; an adjustment mechanism installed on the base, for adjusting the distance between the pair of clamping modules to adapt to the size of the object; and a microcontroller, which is based on the recognition result of the OpenMV camera module, and is used to control the adjustment mechanism to perform the adjustment action, and is also used to control the clamping module to perform the clamping action.

[0009] As a preferred solution, it also includes an adsorption module, which is installed on the base and is controlled by a microcontroller to adsorb the object. The adsorption module adsorbs the flat object to prevent the flat object from easily escaping from the clamping module, thereby improving the clamping stability.

[0010] As a preferred solution, the adjustment mechanism includes a pair of drive mounting seats mounted on the base, a pair of drive screws are rotatably mounted between the drive mounting seats, both ends of the drive screws have thread segments with opposite thread rotation directions, one end of the drive screw passes through the drive mounting seat and is installed with a drive pulley, a drive belt is sleeved between the drive pulleys, and a drive motor is also installed at the end of the drive mounting seat, and the output end of the drive motor is drivingly connected to the shaft end of any drive screw;

[0011] The base is also provided with a slide groove, in which a pair of driving slide seats are slidably installed. The two driving slide seats are respectively threadedly mounted on the corresponding threaded sections of the driving screw. The ends of the driving slide seats pass through the slide groove and are fixed with a driving clamping seat.

[0012] As a preferred solution, a protective cover is also installed on the drive mounting seat at a position corresponding to the drive belt.

[0013] As a preferred solution, the clamping module includes a clamping arm rotatably mounted on a driving clamping seat via a rotating shaft, a clamping motor is also mounted on the end of the driving clamping seat, and an output end of the clamping motor is drivingly connected to the shaft end of the rotating shaft.

[0014] As a preferred solution, the adsorption module includes an adsorption electric push rod installed on a base, the telescopic end of the adsorption electric push rod passes through the base and is fixed with an adsorption seat, and a plurality of suction cups are distributed and installed on the adsorption seat. The suction cups can adsorb the upper surface of the object (such as a flat mobile phone), which can further improve the clamping effect and prevent the object from easily falling out of the clamping module.

[0015] As a preferred solution, the OpenMV camera module is distributed and installed in the middle position of the lower surface of the adsorption base.

[0016] An object picking manipulator comprises a micro six-axis mechanical arm and a self-adaptive adjustment clamp based on visual recognition, wherein the connecting seat is docked and installed at the driving end of the micro six-axis mechanical arm.

[0017] Compared with the prior art, the beneficial effects of the utility model are as follows: the OpenMV camera module is used to identify the objects in front, and the microcontroller controls the adjustment mechanism to drive the clamping modules on both sides to move closer or farther away from each other based on the identified object category and size, so that the distance between the two clamping modules can adapt to the size of the object, thereby improving the subsequent clamping effect of the object;

[0018] The clamping motor drives the rotating shaft to rotate, thereby driving the clamping arm to rotate, so that the clamping support plate on the clamping arm is inserted under the object, so that the clamping support plate holds the object, and then the adjustment mechanism drives the driving clamping seats on both sides to approach each other, so that the clamping arms on both sides clamp the object, thereby achieving the clamping of the object;

[0019] In order to improve the clamping stability of flat objects, the utility model pushes the adsorption seat close to the object through the adsorption electric push rod. When the suction cup on the adsorption seat is close to the object, the object is sucked by the suction cup, which can further improve the clamping effect. The utility model has a reasonable structure, can identify the category and size of the object, can adaptively adjust the spacing of the clamping modules, can stably pick up various indoor objects of different sizes, can effectively ensure the clamping effect of the object, and can better meet the use needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the adaptive adjustment gripper based on visual recognition;

[0021] Figure 2 It is a schematic diagram of the first-person perspective stereoscopic structure of the adaptive adjustment type clamp based on visual recognition behind the hidden connection seat;

[0022] Figure 3 It is a schematic diagram of the second perspective stereoscopic structure of the adaptive adjustment type clamp based on visual recognition behind the hidden connection seat;

[0023] Figure 4 This is the system control block diagram of the adaptive adjustment gripper based on visual recognition;

[0024] Figure 5 Schematic diagram of the three-dimensional structure of the object picking robot.

[0025] In the figure: 1-micro six-axis robotic arm, 2-connecting seat, 21-base, 3-adjusting mechanism, 31-driving mounting seat, 32-driving motor, 33-driving slide, 34-driving screw, 35-protective cover, 36-driving clamping seat, 37-driving pulley, 38-driving belt, 4-adsorption module, 41-adsorption electric push rod, 42-adsorption seat, 43-suction cup, 5-clamping module, 51-clamping motor, 52-clamping arm, 521-clamping pallet, 522-chamfer; 6-OpenMV camera module. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] Example: See Figures 1 to 4 , an adaptive adjustment gripper based on visual recognition, comprising: an OpenMV camera module 6, for identifying the category and size of an object, the OpenMV camera module 6 can specifically adopt the OpenMV4 H7 Plus in the prior art, which is equipped with a high-performance STM32H7 processor, and can efficiently implement the machine vision algorithm of the prior art, so as to identify the category and size of indoor objects; a connecting seat 2, on which a base 21 is installed; a clamping module 5, which is provided with a pair, for clamping the identified object; an adjustment mechanism 3, which is installed on the base 21, and is used to adjust the distance between a pair of clamping modules 5 to adapt to the size of the object; a microcontroller, which is based on the recognition result of the OpenMV camera module 6, and is used to control the adjustment mechanism 3 to perform an adjustment action, and is also used to control the clamping module 5 to perform a clamping action; specifically, the microcontroller can specifically adopt the STM32F407ZGT6 chip equipped with an ARM Cortex-M4 core in the prior art.

[0028] The present embodiment further includes an adsorption module 4, which is mounted on the base 21 and is controlled by a microcontroller to adsorb the object. Specifically, the adsorption module 4 includes an adsorption electric push rod 41 mounted on the base 21, the control end of the adsorption electric push rod 41 is electrically connected to the microcontroller, the telescopic end of the adsorption electric push rod 41 passes through the base 21 and is fixed with an adsorption seat 42, and a plurality of suction cups 43 are distributed and installed on the adsorption seat 42.

[0029] The working principle of the adsorption module 4 is: when adsorption is required, the adsorption electric push rod 41 extends to push the adsorption seat 43 close to the object. When the suction cup 43 on the adsorption seat 43 is close to the object, the suction cup 4 adsorbs the upper surface of the object (such as a flat mobile phone), which can further improve the clamping effect and prevent the object from easily escaping from the clamping module 5.

[0030] The working principle of the utility model is as follows: first, the object in front is identified through the OpenMV camera module 6, and the identification result is sent to the microcontroller. Based on the identified object category and size, the microcontroller controls the adjustment mechanism 3 to drive the clamping modules 5 on both sides to move closer or farther away from each other, so that the distance between the two clamping modules 5 can adapt to the size of the object. Then, the microcontroller controls the clamping modules 5 on both sides to clamp the two sides of the object; if the clamped object (such as a mobile phone) is flat, the microcontroller can also control the adsorption mechanism 4 to absorb the upper surface of the object, which can effectively improve the clamping effect of the object and better meet the use requirements.

[0031] As a further solution, the adjustment mechanism 3 includes a pair of drive mounting seats 31 mounted on the base 21, a pair of drive screws 34 are rotatably mounted between the drive mounting seats 31, both ends of the drive screws 34 have thread segments with opposite thread rotation directions, one end of the drive screw 34 passes through the drive mounting seat 31 and is installed with a drive pulley 37, a drive belt 38 is sleeved between the drive pulleys 37, and a drive motor 32 is also installed at the end of the drive mounting seat 31, and the output end of the drive motor 32 is drivingly connected to the shaft end of any drive screw 34;

[0032] The base 21 is also provided with a slide groove, in which a pair of driving slides 33 are slidably installed. The two driving slides 33 are respectively threadedly mounted on the corresponding threaded sections of the driving screw 34. The ends of the driving slides 33 pass through the slide groove and are fixed with a driving clamping seat 36. In this embodiment, a protective cover 35 is also installed at a position corresponding to the driving belt 38 on the driving mounting seat 31.

[0033] The working principle of the adjustment mechanism 3 is: the microcontroller starts the drive motor 32, which drives the corresponding drive screw 34 to rotate, and the drive pulley 37 cooperates with the drive belt 38 to achieve synchronous movement of a pair of drive screws 34, so that the drive slides 33 on both sides drive the drive clamping seats 36 to approach each other, so that the distance between the two clamping modules 5 can be adapted to the size of the object, which is convenient for stable clamping.

[0034] As a further solution, the clamping module 5 includes a clamping arm 52 which is rotatably mounted on a driven clamping seat 36 via a rotating shaft. A clamping motor 51 is also mounted on the end of the driven clamping seat 36. The output end of the clamping motor 51 is drivingly connected to the shaft end of the rotating shaft. In this embodiment, in order to facilitate stable clamping of objects, the clamping arm 52 can be specifically arc-shaped. A clamping plate 521 is also extended from the clamping arm 52, and a chamfer 522 is also provided on the clamping plate 521.

[0035] The working principle of the clamping module 5 is: when clamping, the microcontroller starts the clamping motor 51, and the clamping motor 51 drives the rotating shaft to rotate, thereby driving the clamping arm 52 to rotate, so that the clamping pallet 521 on the clamping arm 52 is inserted under the object, so that the clamping pallet 521 will hold the object, and then the adjustment mechanism 3 drives the driving clamping seats 36 on both sides to approach each other, so that the clamping arms 52 on both sides clamp the object, thereby achieving preliminary fixation of the object, and then cooperating with the adsorption module 4, the object can be stably grasped.

[0036] As a further solution, in order to better identify the object to be grasped, the OpenMV camera module 6 can be specifically installed in the middle position of the lower surface of the adsorption base 42.

[0037] See also Figures 1 to 5 , an object picking robot comprises a micro six-axis robot arm 1 and the adaptive adjustment gripper based on visual recognition, the connecting seat 2 is docked and installed on the driving end of the micro six-axis robot arm 1. In specific applications, the object picking robot of the utility model can be installed on a sweeping robot, so that the sweeping robot not only has its own light garbage cleaning function, but also can grab and sort some objects dropped on the ground.

[0038] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and cannot be understood as limitations on the present invention.

Claims

1. Adaptive adjustment gripper based on visual recognition, characterized in that: include: OpenMV camera module (6), used to identify the type and size of the object; A connecting seat (2), on which a base (21) is mounted; A pair of clamping modules (5) are provided for clamping the identified objects; An adjustment mechanism (3) mounted on the base (21) and used for adjusting the distance between a pair of clamping modules (5) to adapt to the size of an object; The microcontroller is used to control the adjustment mechanism (3) to perform an adjustment action based on the recognition result of the OpenMV camera module (6), and is also used to control the clamping module (5) to perform a clamping action.

2. The adaptive adjustment clamp based on visual recognition according to claim 1, characterized in that: It also includes an adsorption module (4) installed on the base (21) and controlled by a microcontroller to adsorb objects.

3. The self-adaptive adjustment clamping jaw based on visual recognition according to claim 1 is characterized in that: The adjusting mechanism (3) comprises a pair of driving mounting seats (31) mounted on a base (21), a pair of driving screws (34) being rotatably mounted between the driving mounting seats (31), the two ends of the driving screws (34) having threaded sections with opposite thread rotation directions, one end of the driving screw (34) passing through the driving mounting seat (31) and being mounted with a driving pulley (37), a driving belt (38) being sleeved between the driving pulleys (37), a driving motor (32) being further mounted at the end of the driving mounting seat (31), the output end of the driving motor (32) being drivingly connected to the shaft end of any driving screw (34); The base (21) is also provided with a slide groove, in which a pair of driving slide seats (33) are slidably installed. The two driving slide seats (33) are respectively threadedly mounted on the corresponding threaded sections of the driving screw (34). The ends of the driving slide seats (33) pass through the slide groove and are fixed with a driving clamping seat (36).

4. The self-adaptive adjustment clamping jaw based on visual recognition according to claim 3 is characterized in that: A protective cover (35) is also installed on the driving mounting seat (31) at a position corresponding to the driving belt (38).

5. The self-adaptive adjustment clamping jaw based on visual recognition according to claim 4 is characterized in that: The clamping module (5) comprises a clamping arm (52) which is rotatably mounted on a driving clamping seat (36) via a rotating shaft. A clamping motor (51) is also mounted on the end of the driving clamping seat (36). The output end of the clamping motor (51) is drivingly connected to the shaft end of the rotating shaft.

6. The self-adaptive adjustment clamping jaw based on visual recognition according to claim 2, characterized in that: The adsorption module (4) comprises an adsorption electric push rod (41) mounted on a base (21); the telescopic end of the adsorption electric push rod (41) passes through the base (21) and is fixed with an adsorption seat (42); and a plurality of suction cups (43) are distributed and mounted on the adsorption seat (42).

7. The self-adaptive adjustment clamping jaw based on visual recognition according to claim 6, characterized in that: The OpenMV camera module (6) is distributed and installed in the middle position of the lower surface of the adsorption seat (42).

8. An object picking robot, characterized in that: It comprises a micro six-axis robotic arm (1) and a self-adaptive adjustment gripper based on visual recognition as described in any one of claims 1 to 7, wherein the connecting seat (2) is docked and mounted at the driving end of the micro six-axis robotic arm (1).

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