Movable grabbing manipulator

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a movable type grabbing mechanical arm which comprises a grabbing assembly and a moving mechanism, the grabbing assembly is used for grabbing a target object, and the moving mechanism comprises a base, a motor, a screw rod, a lifting piece, a plate body, two supports, a plurality of moving wheels, a stress plate, two connecting blocks and a spring telescopic rod. The base is provided with a groove and a plurality of through holes, the motor is installed on the base, the output end of the motor is fixedly connected with the screw rod, the lifting piece is in sliding connection with the through holes, the lifting piece is in threaded fit with the screw rod, the plate body is fixedly connected with the lifting piece and located above the lifting piece, the grabbing assembly is arranged on the plate body, and the two supports are both rotationally connected with the base. The multiple moving wheels are arranged on the corresponding supports respectively, the two ends of the spring telescopic rod are fixedly connected with the base and the stress plate respectively, in this way, the position of the base can be adjusted according to needs, and the station can be adjusted.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a mobile grabbing manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms to grab, move objects or operate tools according to a fixed program. It can be programmed to complete various expected operations. Its structure and performance combine the advantages of both human and mechanical machines. The working principle of the manipulator is a mechatronic device based on machines or electronic equipment, usually composed of motors, sensors, control systems and mechanical structures.

[0003] An existing manipulator as disclosed in patent publication number CN214238287U includes a base, an upper arm, a first forearm, a second forearm, a wrist, a clamp and other components. The rotating shoulder joint and the pitching shoulder joint are used for the upper arm to rotate and pitch relative to the base, the pitching elbow joint is used for the second forearm to pitch relative to the upper arm, the rotating elbow joint is used for the second forearm to rotate relative to the first forearm, the pitching wrist joint is used for the wrist to pitch relative to the first forearm, the rotating wrist joint is used for the clamp to rotate relative to the wrist, and a clamp joint is provided in the clamp for grasping the target object.

[0004] However, in the above method, the robot is fixedly installed at a specified position, so that the workstation is fixed and it is not convenient to move the position according to demand. Utility Model Content

[0005] The utility model aims to provide a mobile grabbing manipulator, aiming to solve the technical problem in the prior art that the manipulator is fixedly installed at a specified position, so that the work station is fixed and it is inconvenient to move the position according to demand.

[0006] To achieve the above-mentioned purpose, the utility model adopts a mobile grabbing manipulator, including a grabbing component and a moving mechanism, wherein the grabbing component is used to grab a target object, and the moving mechanism includes a base, a motor, a screw, a lifting member, a plate body, two brackets, a plurality of moving wheels, a force-bearing plate, two connecting blocks and a spring telescopic rod, wherein the base has a groove and a plurality of through holes, the motor is installed on the base, the output end of the motor is fixedly connected to the screw, the lifting member is slidably connected to the plurality of through holes, and the lifting member is threadedly matched with the screw, the plate body is fixedly connected to the lifting member, the plate body is located above the lifting member, the grabbing component is arranged on the plate body, the two brackets are rotatably connected to the base, the plurality of moving wheels are respectively arranged on the corresponding brackets, the two ends of the spring telescopic rod are respectively fixedly connected to the base and the force-bearing plate, one end of the two connecting blocks is fixedly connected to the force-bearing plate, the other ends of the two connecting blocks are respectively hinged to the corresponding brackets, the force-bearing plate is slidably connected to the base, and the force-bearing plate contacts the lifting member.

[0007] Among them, the lifting member includes a lining plate and multiple sliding rods, the multiple sliding rods are respectively slidably connected to the corresponding through holes, the multiple sliding rods are fixedly connected to the plate body, the lining plate is fixedly connected to the multiple sliding rods, and the lining plate is threadedly matched with the screw, and a limit block is set at the end of the screw away from the motor, and a limit block is set at the end of the screw away from the motor.

[0008] Wherein, the grabbing assembly includes a support, a mechanical arm and a clamping claw, the support is installed on the plate body and is located above the plate body, the mechanical arm is installed on the support, and the clamping claw is arranged on the mechanical arm.

[0009] Wherein, the mobile grabbing robot further comprises a convenient installation and removal component, and the convenient installation and removal component is arranged on the plate body.

[0010] Among them, the convenient installation and disassembly component includes a slide plate and two bolts, the plate body has a slide groove, the slide plate is slidably connected to the slide groove, the support is installed on the slide plate, one end of the two bolts are inserted into the slide groove, and are tightened on the slide plate.

[0011] Wherein, the mobile grabbing robot further comprises a protective member, which is fixedly connected to the lining plate and covers the screw rod.

[0012] The utility model discloses a mobile grasping manipulator, by setting the moving mechanism, when it is needed to move the base during specific use, the motor is started, the output end of the motor drives the screw to rotate, the screw drives the lifting member to move downward, the lifting member descends and resists the force-bearing plate, the force-bearing plate drives the spring telescopic rod to extend and drives one end of the two connecting blocks to rotate on the force-bearing plate, drives the other ends of the two connecting blocks to rotate on the corresponding brackets respectively, the connection block rotates and drives the bracket to rotate, so that the moving wheel is placed on the ground for support, which is convenient for moving the base, and after moving to the specified position, the motor drives the screw to reverse, the lifting member moves up and no longer resists the force-bearing plate, at this time the spring telescopic rod is reset and drives the force-bearing plate to move up, thereby indirectly driving the plurality of moving wheels to be stored in the base, and at this time the motor drives the screw to rotate and drives the lifting member to move up to adjust the height of the grasping assembly. In this way, the position of the base can be adjusted according to needs, and the work station can be adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 It is a structural schematic diagram of the first embodiment of the utility model.

[0015] Figure 2 It is a schematic structural diagram of the first embodiment of the utility model without the grabbing component.

[0016] Figure 3 The utility model Figure 2 AA line structural section view.

[0017] Figure 4 It is a structural schematic diagram of the grabbing assembly of the utility model.

[0018] Figure 5 It is a structural schematic diagram of the second embodiment of the utility model.

[0019] 101-base, 102-motor, 103-screw, 104-plate, 105-bracket, 106-moving wheel, 107-force plate, 108-connecting block, 109-spring telescopic rod, 110-lining plate, 111-sliding rod, 112-support, 113-mechanical arm, 114-clamp, 115-limiting block, 116-groove, 117-through hole, 201-protective part, 202-slide plate, 203-bolt, 204-slide groove. DETAILED DESCRIPTION

[0020] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0021] The first embodiment of the present application is:

[0022] See also Figure 1 to Figure 4 ,in Figure 1 It is a structural schematic diagram of the first embodiment of the utility model. Figure 2 This is a schematic diagram of the structure of the first embodiment of the utility model without the grabbing component. Figure 3 The utility model Figure 2 AA line structural section view, Figure 4 It is a structural schematic diagram of the grabbing assembly of the utility model.

[0023] The utility model provides a mobile grasping manipulator, including a grasping assembly and a moving mechanism, wherein the moving mechanism includes a base 101, a motor 102, a screw 103, a lifting member, a plate 104, two brackets 105, a plurality of moving wheels 106, a force plate 107, two connecting blocks 108 and a spring telescopic rod 109, the lifting member includes a lining plate 110 and a plurality of sliding rods 111, and the grasping assembly includes a support 112, a mechanical arm 113 and a clamping claw 114. The above-mentioned scheme solves the technical problem that the manipulator in the prior art is fixedly installed at a specified position, so that the work station is fixed and it is not convenient to move the position according to demand.

[0024] According to this specific embodiment, by setting the grabbing assembly, the grabbing assembly is used to clamp the target object to a specified position.

[0025] The base 101 has a groove 116 and a plurality of through holes 117, the motor 102 is mounted on the base 101, the output end of the motor 102 is fixedly connected to the screw 103, the lifting member is slidably connected to the plurality of through holes 117, and the lifting member is threadedly matched with the screw 103, the plate 104 is fixedly connected to the lifting member, the plate 104 is located above the lifting member, the grabbing assembly is arranged on the plate 104, the two brackets 105 are rotatably connected to the base 101, and the plurality of moving parts are connected to the lifting member. The moving wheels 106 are respectively arranged on the corresponding brackets 105, the two ends of the spring telescopic rod 109 are respectively fixedly connected to the base 101 and the force plate 107, one end of the two connecting blocks 108 are fixedly connected to the force plate 107, and the other ends of the two connecting blocks 108 are respectively hinged to the corresponding brackets 105, the force plate 107 is slidably connected to the base 101, and the force plate 107 is in contact with the lifting member. By setting the moving mechanism, when the base 101 needs to be moved in specific use, the moving mechanism is started. The motor 102, the output end of the motor 102 drives the screw 103 to rotate, the screw 103 drives the lifting member to move downward, the lifting member descends to resist the force plate 107, the force plate 107 drives the spring telescopic rod 109 to extend and drives one end of the two connecting blocks 108 to rotate on the force plate 107, and drives the other ends of the two connecting blocks 108 to rotate on the corresponding brackets 105 respectively, the rotation of the connecting blocks 108 drives the bracket 105 to rotate, so that the moving wheel 106 is placed on the ground for support , it is convenient to move the base 101. After moving to the specified position, the motor 102 drives the screw 103 to reverse, and the lifting member moves up and no longer resists the force-bearing plate 107. At this time, the spring telescopic rod 109 is reset to drive the force-bearing plate 107 to move up, thereby indirectly driving the multiple moving wheels 106 to be stored in the base 101. At this time, the motor 102 drives the screw 103 to rotate and drive the lifting member to move up to adjust the height of the grabbing assembly. In this way, the position of the base 101 can be adjusted according to needs, and the work station can be adjusted.

[0026] Secondly, the plurality of sliding rods 111 are respectively slidably connected to the corresponding through holes 117, the plurality of sliding rods 111 are fixedly connected to the plate body 104, the lining plate 110 is fixedly connected to the plurality of sliding rods 111, and the lining plate 110 is threadedly matched with the screw rod 103, and a limiting block 115 is provided at one end of the screw rod 103 away from the motor 102. When in actual use, the screw rod 103 rotates to drive the lining plate 110 to move, and the lining plate 110 drives the plurality of sliding rods 111 to move.

[0027] At the same time, the support 112 is installed on the plate body 104 and is located above the plate body 104, the robotic arm 113 is installed on the support 112, and the clamp 114 is arranged on the robotic arm 113. The support 112 is used to be installed on the plate body 104 to support the robotic arm 113, and the robotic arm 113 controls the clamp 114 to clamp the target object.

[0028] A mobile grabbing manipulator using the present embodiment is provided with the mobile mechanism. When the base 101 needs to be moved during specific use, the motor 102 is started, and the output end of the motor 102 drives the screw 103 to rotate, and the screw 103 drives the lifting member to move downward, and the lifting member descends to resist the force-bearing plate 107, and the force-bearing plate 107 drives the spring telescopic rod 109 to extend and drives one end of the two connecting blocks 108 to rotate on the force-bearing plate 107, and drives the other ends of the two connecting blocks 108 to rotate on the corresponding brackets 105 respectively, and the rotation of the connecting blocks 108 drives the The bracket 105 rotates so that the moving wheel 106 is placed on the ground for support, which is convenient for moving the base 101. After moving to the specified position, the motor 102 drives the screw rod 103 to reverse, and the lifting member moves up and no longer resists the force-bearing plate 107. At this time, the spring telescopic rod 109 resets and drives the force-bearing plate 107 to move up, thereby indirectly driving the multiple moving wheels 106 to be stored in the base 101. At this time, the motor 102 drives the screw rod 103 to rotate and drives the lifting member to move up to adjust the height of the grabbing assembly. In this way, the position of the base 101 can be adjusted according to needs, and the work station can be adjusted;

[0029] The screw rod 103 rotates to drive the lining plate 110 to move, and the lining plate 110 drives the plurality of sliding rods 111 to move;

[0030] The support 112 is used to be installed on the plate body 104 to support the mechanical arm 113 , and the mechanical arm 113 controls the clamping claw 114 to clamp the target object.

[0031] The second embodiment of the present application is:

[0032] Based on the first embodiment, please refer to Figure 5 , Figure 5 It is a structural schematic diagram of the second embodiment of the utility model.

[0033] The utility model provides a mobile grabbing manipulator, which also includes a convenient installation and removal component. The convenient installation and removal component includes a slide plate 202 and two bolts 203.

[0034] According to this specific embodiment, the convenient installation and removal component is disposed on the plate body 104 . When in use, the convenient installation and removal component facilitates the installation and removal of the support 112 .

[0035] Among them, the plate body 104 has a slide groove 204, the slide plate 202 is slidably connected to the slide groove 204, the support 112 is installed on the slide plate 202, one end of the two bolts 203 are inserted into the slide groove 204, and are tightened on the slide plate 202, the slide plate 202 is aligned with the slide groove 204, and is pushed to the specified position, and then one end of the two bolts 203 are inserted into the slide groove 204, and are tightened on the slide plate 202, and the support 112 can be installed, otherwise it is easy to disassemble.

[0036] Secondly, the protective member 201 is fixedly connected to the lining plate 110 and covers the screw rod 103 . The protective member 201 can protect the screw rod 103 .

[0037] When using a mobile grasping robot of the present embodiment, the slide plate 202 is aligned with the slide groove 204 and pushed to a designated position. Then, one end of the two bolts 203 are inserted into the slide groove 204 and tightened on the slide plate 202. Then, the support 112 can be installed. Otherwise, it is easy to disassemble.

[0038] At the same time, the grasping component of the present application obtains simulation data of the object to be grasped through mathematical modeling, inputs the object information and the robot 113 into the pybullet simulation environment, and obtains all the information of the object in the simulation environment. The working area pictures under multiple perspectives are obtained through the simulated camera perspective set on the robot 113, and the point cloud information of the scene is obtained by three-dimensional reconstruction using Nerf. The point cloud information is input into the GraspNet network to obtain the grasping posture for the target object, and the spatial xyz position coordinates of the object relative to the robot 113 obtained in pybullet are combined into the robot 113 movement. The six elements X, Y, Z, A, B, and C required for movement are used, and the motion trajectory of the robot 113 is planned using an inverse algorithm to grasp the object. After a successful grasp in the simulation environment, the grasping point, object information, grasping posture, position information during placement, placement posture of the robot 113, and environmental information before grasping are recorded. At the same time, the image information before grasping and the text prompt for the grasped object (used as the language prompt input of Clip, such as putting a red square into a green box) are recorded. The above information is stored as the data set required for training Clip. Tokenizer is a class used to vectorize text and convert text into a sequence. When computers process language and text, they cannot understand the meaning of the text. They usually convert a word (a single Chinese character or word) into a positive integer, turning a text into a sequence, and then vectorize the sequence. The vectorized data is sent to the model for processing. After the text information in the data set is converted through Tokenizer processing, it is input into the Clip network together with the image information. The grasping points and postures, and the placement points and postures of the robotic arm 113 that are successfully grasped during the simulation are used as label data for deep learning training. After the training is completed, the model obtained is trained again with a small amount of real data sets to meet the directional grasping capabilities under two-dimensional vision and support prompt input. After it is deployed in the robotic arm 113, the robotic arm 113 can perform actual grasping.

[0039] The above disclosure is only a preferred embodiment of the present invention, and certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the utility model.

Claims

1. A mobile grasping manipulator, comprising a grasping component, wherein the grasping component is used to grasp a target object, characterized in that: Also includes mobile mechanisms; The moving mechanism comprises a base, a motor, a screw, a lifting member, a plate body, two brackets, a plurality of moving wheels, a force-bearing plate, two connecting blocks and a spring telescopic rod, the base has a groove and a plurality of through holes, the motor is installed on the base, the output end of the motor is fixedly connected to the screw, the lifting member is slidably connected to the plurality of through holes, and the lifting member is threadedly matched with the screw, the plate body is fixedly connected to the lifting member, the plate body is located above the lifting member, the grabbing assembly is arranged on the plate body, the two brackets are rotatably connected to the base, the plurality of moving wheels are respectively arranged on the corresponding brackets, the two ends of the spring telescopic rod are respectively fixedly connected to the base and the force-bearing plate, one end of the two connecting blocks is fixedly connected to the force-bearing plate, the other ends of the two connecting blocks are respectively hinged to the corresponding brackets, the force-bearing plate is slidably connected to the base, and the force-bearing plate contacts the lifting member.

2. The mobile grasping manipulator according to claim 1, characterized in that: The lifting member includes a lining plate and multiple sliding rods, the multiple sliding rods are respectively slidably connected to the corresponding through holes, the multiple sliding rods are fixedly connected to the plate body, the lining plates are fixedly connected to the multiple sliding rods, and the lining plates are threadedly matched with the screw rod, and a limit block is set at the end of the screw rod away from the motor.

3. The mobile grasping manipulator according to claim 2, characterized in that: The grabbing assembly comprises a support, a mechanical arm and a clamping claw. The support is mounted on the plate body and is located above the plate body. The mechanical arm is mounted on the support, and the clamping claw is arranged on the mechanical arm.

4. The mobile grasping manipulator according to claim 3, characterized in that: The mobile grabbing robot further comprises a convenient installation and removal component, and the convenient installation and removal component is arranged on the plate body.

5. The mobile grasping manipulator according to claim 4, characterized in that: The convenient installation and disassembly component includes a slide plate and two bolts. The plate body has a slide groove. The slide plate is slidably connected to the slide groove. The support is installed on the slide plate. One end of the two bolts are inserted into the slide groove and are tightened on the slide plate.

6. The mobile grasping manipulator according to claim 5, characterized in that: The mobile grabbing manipulator also includes a protective member, which is fixedly connected to the lining plate and covers the screw rod.

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