Mechanical arm grabbing equipment based on vision

Abstract

The utility model discloses mechanical arm grabbing equipment based on vision, which comprises a base, a mechanical arm body and a vision sensor, and the mechanical arm body is arranged on the upper wall of the base. When an object is grabbed, position information is obtained through the visual sensor, the mechanical arm body and the motor are in linkage, the clamping plates are driven to be close to the object, the two sets of electric telescopic rod extending shafts extend out, the two sets of clamping plates are driven to be opened, the two sets of clamping plates are moved to the outer side of the object through the action of the mechanical arm body, and the two sets of electric telescopic rod extending shafts retract; the two sets of clamping plates are driven to be combined, so that the multiple sets of clamping rods abut against the outer surface of an object, then after an electromagnetic coil is powered on, magnetic powder bags are magnetized and solidified, the positions of the clamping rods are fixed, clamping cavities matched with the appearance of the object are formed among the multiple sets of clamping rods, and then stretching shafts of the two sets of electric telescopic rods are further retracted to form clamping force. The clamping range is wide, and the practicability is high.

Description

Technical Field

[0001] The utility model relates to the field of mechanical arm technology, in particular to a mechanical arm grasping device based on vision. Background Art

[0002] A robotic 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 and other fields. A robotic arm is a complex system that is usually assisted in positioning by visual sensors and planning the motion trajectory of the robotic arm joint space, thereby forming a multi-level linkage to form the end displacement action.

[0003] The common grasping parts on the existing robotic arms include three-claws, four-claws, electromagnetic suction cups and vacuum suction cups. When grasping conventional objects, they can be selected according to the appearance and characteristics of the objects. In actual applications, the above grasping parts are not universal or not all universal, resulting in limited applications. In addition, when faced with some special-shaped parts that are not made of magnetic materials and have no adsorbable surfaces, the above grasping parts have difficulty in grasping. Therefore, it is necessary to improve and optimize the structure of the vision-based robotic arm grasping equipment. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes a grasping device based on a vision mechanical arm.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a vision-based mechanical arm grasping device, including a base, a mechanical arm body and a visual sensor, the mechanical arm body is arranged on the upper wall of the base, and a mounting seat is arranged at one end of the mechanical arm body away from the base, and the lower wall of the mounting seat is rotatably connected with a rotating seat through a rotating drive structure, and the visual sensor is fixedly connected to the front wall of the rotating seat and is close to the upper end of the rotating seat, and two groups of clamps are slidably connected on the left and right sides of the rotating seat through a guide structure, and an opening and closing driving structure for driving the two groups of clamps to open and close to form a clamping action is arranged between the two groups of clamps and the rotating seat, and the front ends of the two groups of clamps extend toward the front side of the rotating seat, and the inner walls of the two groups of clamps extending to the end of the rotating seat are fixedly connected with multiple groups of shielding sleeves, and the multiple groups of shielding sleeves respectively penetrate the inner walls of the two groups of clamps and extend toward the opposite sides of the two groups of clamps, and the inner side walls of the shielding sleeves are provided with a clamping structure for conveniently clamping special-shaped parts.

[0006] As a further description of the above technical solution:

[0007] The rotary drive structure is a motor, the motor is fixedly connected to the lower wall of the mounting seat, and the rotating seat is fixedly connected to the end of the motor's extended shaft.

[0008] As a further description of the above technical solution:

[0009] The guide structure comprises four groups of guide rods, which are fixedly connected to the left and right sides of the rotating seat in pairs of two. Two groups of guide rods on the same side of the four groups have their ends away from the rotating seat penetrate through two groups of clamping plates respectively.

[0010] As a further description of the above technical solution:

[0011] The opening and closing driving structure includes two groups of electric telescopic rods, which are respectively fixedly connected to the opposite sides of the two groups of clamps. The extension shafts of the two groups of electric telescopic rods respectively penetrate the two groups of clamps and extend toward the rotating seat. The ends of the extension shafts of the two groups of electric telescopic rods are respectively fixedly connected to the left and right side walls of the rotating seat.

[0012] As a further description of the above technical solution:

[0013] The clamping structure comprises a clamping rod, a limit block, a spring, an electromagnetic coil and a magnetic powder bag, the shielding sleeve is fixedly connected with a first retaining ring at one end facing between the two groups of clamping plates, the second retaining ring is fixedly connected with an inner wall of the shielding sleeve, the clamping rod is slidably connected between the first retaining ring and the second retaining ring, and the left and right ends of the clamping rod extend toward the opposite sides of the first retaining ring and the second retaining ring, the limit block is fixedly connected to an end of the clamping rod extending to the second retaining ring away from the first retaining ring, the spring is arranged on the inner wall of the shielding sleeve and is located on the side of the limit block away from the clamping rod, and the end of the clamping rod away from the second retaining ring extends between the two groups of clamping plates, the outer wall of the clamping rod and the first retaining ring and the second retaining ring are provided with an annular groove, the electromagnetic coil is arranged on the inner wall of the shielding sleeve and is located between the first retaining ring and the second retaining ring, and a magnetic powder bag is jointly arranged between the inner wall of the shielding sleeve and the outer wall of the clamping rod and the inner wall of the annular groove.

[0014] As a further description of the above technical solution:

[0015] The end of the clamping rod facing the opposite sides of the two groups of clamping plates is fixedly connected with a buffer pad for playing a buffering role when clamping objects.

[0016] The utility model has the following beneficial effects:

[0017] Compared with the prior art, the vision-based robotic arm grasping device obtains position information through the vision sensor when grasping an object, and the robotic arm body and the motor are linked to drive the clamping plate close to the object, and the two sets of electric telescopic rods extend their shafts to drive the two sets of clamping plates to open, and then the robotic arm body moves, so that the two sets of clamping plates are moved to the outside of the object, and the two sets of electric telescopic rods extend their shafts and retract, driving the two sets of clamping plates to merge, so that multiple sets of clamping rods are in contact with the outer surface of the object, and then the electromagnetic coil is energized to make the magnetic powder package magnetically solidified, so that the position of the clamping rod is fixed, and a clamping cavity that matches the shape of the object is formed between the multiple sets of clamping rods, and then the two sets of electric telescopic rods extend their shafts and further retract to form a clamping force, which has a wide clamping range and high practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of a vision-based robotic arm grasping device proposed in the utility model;

[0019] Figure 2 This is a partial cross-sectional view of a connection structure of a clamping plate, a shielding sleeve and a clamping rod based on a vision-based robotic arm grasping device proposed in the utility model;

[0020] Figure 3 A vision-based robotic arm grasping device proposed in the utility model Figure 2 A partial enlarged view of the middle A;

[0021] Figure 4 A partial schematic diagram of the connection structure between a clamping rod and a buffer pad of a vision-based robotic arm grasping device proposed in the utility model.

[0022] Legend:

[0023] 1. Base; 2. Robot arm body; 3. Mounting seat; 4. Motor; 5. Rotating seat; 6. Visual sensor; 7. Electric telescopic rod; 8. Guide rod; 9. Clamping plate; 10. Shielding sleeve; 11. Clamping rod; 12. Ring groove; 13. First retaining ring; 14. Second retaining ring; 15. Limit block; 16. Electromagnetic coil; 17. Magnetic powder bag; 18. Spring; 19. Buffer pad. DETAILED DESCRIPTION

[0024] 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.

[0025] Reference Figures 1 to 4The utility model provides a vision-based mechanical arm grasping device: including a base 1, a mechanical arm body 2 and a visual sensor 6, the mechanical arm body 2 is arranged on the upper wall of the base 1, and a mounting seat 3 is arranged at one end of the mechanical arm body 2 away from the base 1, and the lower wall of the mounting seat 3 is rotatably connected with a rotating seat 5 through a rotating drive structure, and the visual sensor 6 is fixedly connected to the front wall of the rotating seat 5 and close to the upper end of the rotating seat 5. The rotating drive structure is a motor 4, and the motor 4 is fixedly connected to the lower wall of the mounting seat 3. The rotating seat 5 is fixedly connected to the end of the shaft extending from the motor 4. The motor 4 can drive the rotating seat 5 to rotate, and then the position of the two sets of clamps 9 can be conveniently adjusted to facilitate the grasping and putting down actions;

[0026] like Figure 1 As shown, in order to keep the clamping plates 9 moving smoothly when opening and closing, two groups of clamping plates 9 are slidably connected to the left and right sides of the rotating seat 5 through a guide structure. The guide structure includes four groups of guide rods 8. The four groups of guide rods 8 are fixedly connected to the left and right sides of the rotating seat 5 in pairs. One end of the two groups of guide rods 8 located on the same side away from the rotating seat 5 passes through the two groups of clamping plates 9 respectively; the two groups of clamping plates 9 are rotatably connected to the rotating seat 5 through the guide rods 8. When the opening and closing driving structure drives the clamping plates 9 to open and close, the clamping plates 9 can be kept moving axially along the guide rods 8 through the guidance of the guide rods 8 without displacement in other directions, thereby improving the movement accuracy of the clamping plates 9.

[0027] like Figure 1 As shown, in order to be able to grab and release objects, an opening and closing driving structure for driving the two groups of clamping plates 9 to open and close to form a clamping action is provided between the two groups of clamping plates 9 and the rotating seat 5. The opening and closing driving structure includes two groups of electric telescopic rods 7, and the two groups of electric telescopic rods 7 are respectively fixedly connected to the opposite sides of the two groups of clamping plates 9. The extension shafts of the two groups of electric telescopic rods 7 respectively penetrate the two groups of clamping plates 9 and extend toward the rotating seat 5. The ends of the extension shafts of the two groups of electric telescopic rods 7 are respectively fixedly connected to the left and right side walls of the rotating seat 5. When the extension shafts of the electric telescopic rods 7 are extended, the clamping plates 9 can be driven to move in the direction away from the rotating seat 5. When the two groups of clamping plates 9 move away from the rotating seat 5 at the same time and form an opening action, it is convenient for the objects to be grabbed to enter between the two groups of clamping plates 9. When the extension shafts of the electric telescopic rods 7 are retracted, the two groups of clamping plates 9 can be driven to move closer to each other, that is, a grabbing action.

[0028] like Figure 1 , Figure 2 as well as Figure 3In order to increase the grasping range, the front ends of the two groups of clamping plates 9 extend toward the front side of the rotating seat 5, and the inner walls of one end of the two groups of clamping plates 9 extending to the front side of the rotating seat 5 are fixedly connected with multiple groups of shielding sleeves 10, which respectively penetrate the inner walls of the two groups of clamping plates 9 and extend toward the opposite sides of the two groups of clamping plates 9. The inner wall of the shielding sleeve 10 is provided with a clamping structure for conveniently clamping special-shaped parts. The clamping structure includes a clamping rod 11, a limit block 15, a spring 18, an electromagnetic coil 16 and a magnetic powder bag 17. The shielding sleeve 10 is fixedly connected with a first retaining ring 13 at one end between the two groups of clamping plates 9. The inner wall of the shielding sleeve 10 is fixedly connected with a first retaining ring 13. A second retaining ring 14 is fixedly connected, a clamping rod 11 is slidably connected between the first retaining ring 13 and the second retaining ring 14, and the left and right ends of the clamping rod 11 extend toward the first retaining ring 13 and the second retaining ring 14 opposite to each other, a limit block 15 is fixedly connected to the clamping rod 11 and extends to the end of the second retaining ring 14 away from the first retaining ring 13, a spring 18 is arranged on the inner side wall of the shielding sleeve 10 and is located on the side of the limit block 15 away from the clamping rod 11, and the end of the clamping rod 11 away from the second retaining ring 14 extends to between the opposite sides of the two groups of clamping plates 9, and an annular groove 12 is arranged on the outer wall of the clamping rod 11 and is located on the first retaining ring 13 and the second retaining ring 14, and the electromagnetic coil 1 6 is arranged on the inner wall of the shielding sleeve 10 and is located between the first retaining ring 13 and the second retaining ring 14. A magnetic powder bag 17 is arranged between the inner wall of the shielding sleeve 10 and the outer wall of the clamping rod 11 and the inner wall of the annular groove 12. The magnetic powder bag 17 is composed of magnetic powder that generates magnetism when powered on and loses magnetism when powered off. The magnetic powder inside the annular groove 12 on the outer wall of the clamping rod 11 and the magnetic powder between the inner wall of the shielding sleeve 10 and the outer wall of the clamping rod 11 are in a sliding state when the electromagnetic coil 16 is powered off, that is, in the initial stage of grasping, when the clamping rod 11 contacts the surface of the object, multiple groups of clamping rods 11 can automatically adapt according to the shape of the surface of the object. When most of the clamping rods 11 abut against the surface of the object, That is, the electromagnetic coil 16 is energized, and the magnetic powder inside the annular groove 12 on the outer wall of the clamping rod 11 and the magnetic powder between the inner wall of the shielding sleeve 10 and the outer wall of the clamping rod 11 are energized to generate magnetism and solidify. At this time, the axial position of the clamping rod 11 is fixed. When the electric telescopic rod 7 drives the two groups of clamping plates 9 to further merge, a clamping force is formed on the object through multiple groups of clamping rods 11. The function of automatically adapting to the shape of the object when the multiple groups of clamping rods 11 contact the surface of the object can meet the grasping of products of various shapes. After the grasping is completed, the clamping plate 9 is opened, the object is put down, and after the electromagnetic coil 16 is powered off, the clamping rod 11 is reset to the initial state through the extrusion of the spring 18.

[0029] like Figure 4 As shown, in order to avoid damaging the surface of the object when grasping, a buffer pad 19 is fixedly connected to the end of the clamping rod 11 facing the opposite side of the two sets of clamping plates 9, and a buffer is provided between the clamping rod 11 and the surface of the object. The buffer pad 19 is a common rubber pad on the market, and also plays an anti-slip role when grasping.

[0030] When the electric telescopic rod 7 extends out of the shaft, it can drive the splint 9 to move in the direction away from the rotating seat 5. When the two groups of splints 9 move away from the rotating seat 5 at the same time and form an opening action, it is convenient for the objects to be grasped to enter between the two groups of splints 9. When the electric telescopic rod 7 extends out of the shaft and retracts, it can drive the two groups of splints 9 to move closer to each other, that is, the grasping action. The magnetic powder bag 17 is composed of magnetic powder that generates magnetism when power is turned on and loses magnetism when power is turned off. The magnetic powder inside the annular groove 12 on the outer wall of the clamping rod 11 and the magnetic powder between the inner wall of the shielding sleeve 10 and the outer wall of the clamping rod 11 are in a sliding state when the electromagnetic coil 16 is powered off, that is, in the initial stage of grasping, the clamping When the holding rod 11 contacts the surface of the object, the multiple groups of clamping rods 11 can automatically adapt according to the shape of the surface of the object. When most of the clamping rods 11 abut against the surface of the object, the electromagnetic coil 16 can be energized, and the magnetic powder inside the annular groove 12 on the outer wall of the clamping rod 11 and the magnetic powder between the inner wall of the shielding sleeve 10 and the outer wall of the clamping rod 11 are all energized to generate magnetism and solidify. At this time, the axial position of the clamping rod 11 is fixed. When the electric telescopic rod 7 drives the two groups of clamping plates 9 to further merge, the multiple groups of clamping rods 11 form a clamping force on the object. The function of automatically adapting to the shape of the object when the multiple groups of clamping rods 11 contact the surface of the object can meet the needs of grabbing products of various shapes. After the grabbing is completed, the clamping plates 9 are opened and the object is put down. After the electromagnetic coil 16 is powered off, the clamping rod 11 is reset to its initial state by the extrusion of the spring 18. The clamping rod 11 and the surface of the object are buffered by the buffer pad 19. The buffer pad 19 is a common rubber pad on the market, and it also plays a role in preventing slipping during grasping.

[0031] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A vision-based robotic arm grasping device, characterized in that: The invention comprises a base (1), a mechanical arm body (2) and a visual sensor (6), wherein the mechanical arm body (2) is arranged on the upper wall of the base (1), a mounting seat (3) is arranged at one end of the mechanical arm body (2) away from the base (1), the lower wall of the mounting seat (3) is rotatably connected to a rotating seat (5) via a rotating drive structure, the visual sensor (6) is fixedly connected to the front wall of the rotating seat (5) and close to the upper end of the rotating seat (5), and two groups of clamping plates (9) are slidably connected to the left and right sides of the rotating seat (5) via a guide structure, and the two groups of clamping plates An opening and closing driving structure is provided between the two groups of clamping plates (9) and the rotating seat (5) for driving the two groups of clamping plates (9) to open and close to form a clamping action. The front ends of the two groups of clamping plates (9) extend toward the front side of the rotating seat (5). The inner walls of one end of the two groups of clamping plates (9) extending to the front side of the rotating seat (5) are fixedly connected with multiple groups of shielding sleeves (10). The multiple groups of shielding sleeves (10) respectively penetrate the inner walls of the two groups of clamping plates (9) and extend toward the opposite sides of the two groups of clamping plates (9). The inner wall of the shielding sleeve (10) is provided with a clamping structure for conveniently clamping special-shaped parts.

2. The vision-based robotic arm grasping device according to claim 1, characterized in that: The rotary drive structure is a motor (4), the motor (4) is fixedly connected to the lower wall of the mounting seat (3), and the rotating seat (5) is fixedly connected to the end of the shaft extending from the motor (4).

3. The vision-based robotic arm grasping device according to claim 1, characterized in that: The guide structure comprises four groups of guide rods (8), wherein the four groups of guide rods (8) are fixedly connected to the left and right sides of the rotating seat (5) in pairs of two, and the ends of two groups of guide rods (8) located on the same side and away from the rotating seat (5) respectively penetrate the two groups of clamping plates (9).

4. The vision-based robotic arm grasping device according to claim 1, characterized in that: The opening and closing driving structure comprises two groups of electric telescopic rods (7), the two groups of electric telescopic rods (7) are respectively fixedly connected to the opposite sides of the two groups of clamping plates (9), the extension shafts of the two groups of electric telescopic rods (7) respectively penetrate the two groups of clamping plates (9) and both extend toward the rotating seat (5), and the ends of the extension shafts of the two groups of electric telescopic rods (7) are respectively fixedly connected to the left and right side walls of the rotating seat (5).

5. The vision-based robotic arm grasping device according to claim 1, characterized in that: The clamping structure comprises a clamping rod (11), a limit block (15), a spring (18), an electromagnetic coil (16) and a magnetic powder bag (17); one end of the shielding sleeve (10) facing the opposite side between the two groups of clamping plates (9) is fixedly connected to a first retaining ring (13); the inner wall of the shielding sleeve (10) is fixedly connected to a second retaining ring (14); the clamping rod (11) is slidably connected between the first retaining ring (13) and the second retaining ring (14), and the left and right ends of the clamping rod (11) extend toward the opposite sides of the first retaining ring (13) and the second retaining ring (14); the limit block (15) is fixedly connected to the clamping rod (11) and extends to the second retaining ring (14) away from the first retaining ring The spring (18) is arranged on the inner wall of the shielding sleeve (10) and is located on the side of the limit block (15) away from the clamping rod (11). The end of the clamping rod (11) away from the second retaining ring (14) extends to between the two opposite sides of the clamping plates (9). The outer wall of the clamping rod (11) and the first retaining ring (13) and the second retaining ring (14) are provided with an annular groove (12). The electromagnetic coil (16) is arranged on the inner wall of the shielding sleeve (10) and is located between the first retaining ring (13) and the second retaining ring (14). A magnetic powder bag (17) is commonly provided between the inner wall of the shielding sleeve (10) and the outer wall of the clamping rod (11) and the inner wall of the annular groove (12).

6. The vision-based robotic arm grasping device according to claim 5, characterized in that: The end of the clamping rod (11) facing the opposite side of the two groups of clamping plates (9) is fixedly connected with a buffer pad (19) for buffering when clamping an object.

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