Manipulator grabbing device

Abstract

The utility model relates to the technical field of mechanical grabbing, in particular to a mechanical arm grabbing device which comprises a grabbing claw and a grabbing mechanism, the grabbing mechanism comprises a main frame, two rotating arm sets, a mounting column, a mounting flange, a negative pressure suction cup and a negative pressure pipeline, one ends of the two rotating arm sets are embedded into the two ends of the corresponding main frame respectively, and the other ends of the two rotating arm sets are embedded into the mounting column. Each grabbing claw is embedded in the corresponding rotating arm set, the mounting column is fixedly connected with the main frame, the mounting flange is fixedly connected with the mounting column, the two negative pressure suction cups are fixedly connected with the main frame and embedded in the lower end of the main frame, and the number of the negative pressure pipelines is two. And one end of each group of negative pressure pipelines respectively penetrates through the main frame and is communicated with the corresponding negative pressure sucking disc. According to the grabbing device, square-structure parts and goods can be effectively grabbed, meanwhile, plate parts can be grabbed, the diversity of the grabbing function is effectively improved, meanwhile, the grabbing device does not need to be replaced, and the application range of the device is widened.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical grasping, in particular to a mechanical hand grasping device. Background Art

[0002] At present, in the process of logistics and machining, due to the heavy weight and large space occupied by the items, it is not convenient for manual handling and picking up. Therefore, a robot is used to grab the goods or parts. Usually, the robot is installed on a robotic arm, and the robotic arm controls the robot to perform reciprocating operations, so as to achieve the purpose of improving the handling and processing efficiency.

[0003] The prior art CN109773818A provides a grabbing device for a logistics handling robot, which controls the rotation of a first servo motor, which drives the first servo motor to rotate, so that the grabbing claw can be displaced forward and backward, and controls the rotation of a second servo motor, which drives the second servo motor to rotate, so that the first sliding frame can be displaced left and right, and the first sliding frame drives the first sliding block, thereby driving the grabbing claw to displace left and right, so that the grabbing claw can grab the object from the bottom, achieving the purpose of not scratching the object, and also achieving the selection of controlling the grabbing range of the grabbing claw according to the size of the object.

[0004] However, in the prior art, the grabbing device has a single function and can only grab parts and goods with a square structure, but cannot grab plate goods and parts, resulting in the need to replace the remaining grabbing devices to grab plate goods or parts. Utility Model Content

[0005] The purpose of the utility model is to provide a manipulator grasping device, aiming to solve the technical problem that the grasping device in the prior art has a single function and can only grasp parts and goods with a square structure, but cannot grasp plate goods and parts, resulting in the need to replace the remaining grasping devices to grasp plate goods or parts.

[0006] To achieve the above-mentioned purpose, the utility model adopts a manipulator grasping device, including a grasping claw and a grasping mechanism, the grasping mechanism including a main frame, a rotating arm group, a mounting column, a mounting flange, a negative pressure suction cup and a negative pressure pipe, the number of the rotating arm groups is two, one end of the two groups of rotating arm groups are respectively embedded in the two ends of the corresponding main frame, the number of the grasping claws is two, each of the grasping claws is respectively embedded in the corresponding interior of the rotating arm group, the mounting column is fixedly connected to the main frame and located at the upper end of the main frame, the mounting flange is fixedly connected to the mounting column and sleeved on the outer wall of the mounting column, the number of the negative pressure suction cups is two, the two negative pressure suction cups are respectively fixedly connected to the main frame and respectively embedded in the lower end of the main frame, the number of the negative pressure pipes is two, one end of each group of the negative pressure pipes respectively passes through the main frame and is connected to the corresponding negative pressure suction cup.

[0007] Among them, each group of the rotating arm group includes a joint motor, a shaft column, a bearing ring, a clamp arm and a finger cylinder, the bearing ring is fixedly connected to the main frame and embedded in the inner side of the main frame, one end of the clamp arm is embedded in one end of the main frame through the shaft column, and one end of the shaft column is embedded in the inside of the bearing ring, the grabbing claw is embedded in the inside of the clamp arm, the joint motor is arranged on one side of the main frame, and the output end of the joint motor is fixedly connected to the shaft column, the finger cylinder is embedded in one end of the clamp arm, and the output end of the finger cylinder is fixedly connected to the grabbing claw.

[0008] Wherein, the gripping mechanism also includes a sealing ring, and the number of the sealing rings is two, each of which is fixedly connected to the negative pressure suction cup and is respectively located at the lower end of the negative pressure suction cup.

[0009] Wherein, the manipulator grasping device also includes an electromagnetic grasping component, and the electromagnetic grasping component is fixedly connected to the main frame and embedded in the lower end of the main frame.

[0010] Among them, the electromagnetic grasping assembly includes an electromagnetic disk, an electromagnetic column and a power-carrying coil. The electromagnetic disk is fixedly connected to the main frame and embedded in the lower end of the main frame. There are multiple electromagnetic columns, each of which is fixedly connected to the electromagnetic disk and is respectively located inside the electromagnetic disk. There are multiple power-carrying coils, each of which is respectively sleeved on the outer wall of the corresponding electromagnetic column.

[0011] The utility model provides a manipulator grasping device, wherein the mounting flange is connected and fixed to the main frame by the mounting column, and is fixed to the mechanical arm through the flange connection of the flange ring, and the negative pressure end of the negative pressure machine is connected to the negative pressure pipeline. When the grasping claw is used for grasping, the two groups of the rotating arm groups are driven to be horizontal with the main frame, and the inner grasping claws are driven by the rotating arm group to clamp and grasp the part material. When grasping the plate part, the rotating arm group is driven to rotate so that the two groups of the rotating arm groups and the main frame are perpendicular to each other, and then the main frame is moved to contact the plate part. Under the action of negative pressure, the negative pressure suction cup tightly adsorbs the plate part, so as to complete the grasping of the plate part. The above structure can effectively grasp the parts and goods of square structure, and can also realize the grasping of plate parts, effectively improving the diversity of the grasping function, and at the same time, there is no need to replace the grasping device, thereby improving the scope of application of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] 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.

[0013] Figure 1 It is a structural schematic diagram of the first embodiment of the utility model.

[0014] Figure 2 It is a top view of the first embodiment of the utility model.

[0015] Figure 3 It is a bottom view of the first embodiment of the utility model.

[0016] Figure 4 The utility model Figure 2 AA line structural cross-section view.

[0017] Figure 5 The utility model Figure 2 BB line structural cross-sectional view.

[0018] Figure 6 It is a front view of the second embodiment of the utility model.

[0019] Figure 7 The utility model Figure 6 CC line structural cross-sectional view.

[0020] Figure 8 The utility model Figure 7 Enlarged view of the local structure at D.

[0021] 101-grabbing claw, 102-main frame, 103-joint motor, 104-axis column, 105-bearing ring, 106-gripping claw arm, 107-finger cylinder, 108-mounting column, 109-mounting flange, 110-negative pressure suction cup, 111-negative pressure pipeline, 112-sealing ring, 201-electromagnetic disk, 202-electromagnetic column, 203-energized coil. DETAILED DESCRIPTION

[0022] The first embodiment of the present application is:

[0023] See also Figures 1 to 5 ,in Figure 1 It is a structural schematic diagram of the first embodiment of the utility model. Figure 2 is a top view of the first embodiment of the utility model, Figure 3 This is a bottom view of the first embodiment of the utility model. Figure 4 The utility model Figure 2 AA line structural section view, Figure 5 The utility model Figure 2 BB line structural cross-sectional view.

[0024] The utility model provides a manipulator grasping device: comprising a grasping claw 101 and a grasping mechanism, wherein the grasping mechanism comprises a main frame 102, a rotating arm group, a mounting column 108, a mounting flange 109, a negative pressure suction cup 110, a negative pressure pipeline 111 and a sealing ring 112, and the rotating arm group comprises a joint motor 103, a shaft column 104, a bearing ring 105, a clamping claw arm 106 and a finger cylinder 107.

[0025] According to this specific embodiment, the main frame 102 is installed and fixed by the mounting column 108 and the mounting flange 109, and is rotated and adjusted by the rotating arm group, while driving the grabbing claw 101 to perform grabbing operations. The negative pressure pipe 111 is connected to the negative pressure machine and links the negative pressure suction cup 110 to negatively pressure grab the plate, and the sealing ring 112 increases the negative pressure strength of the negative pressure suction cup 110.

[0026] Among them, the number of the rotating arm groups is two, and one end of the two groups of rotating arm groups is respectively embedded in the two ends of the corresponding main frame 102, the number of the grabbing claws 101 is two, and each of the grabbing claws 101 is respectively embedded in the inside of the corresponding rotating arm group, the mounting column 108 is fixedly connected to the main frame 102 and is located at the upper end of the main frame 102, the mounting flange 109 is fixedly connected to the mounting column 108 and is sleeved on the outer wall of the mounting column 108, the number of the negative pressure suction cups 110 is two, and the two negative pressure suction cups 110 are respectively fixedly connected to the main frame 102 and embedded in the lower end of the main frame 102, the number of the negative pressure pipes 111 is two, and one end of each group of the negative pressure pipes 111 passes through the main frame 102 and is connected to the corresponding The corresponding negative pressure suction cup 110 is connected, and the mounting flange 109 is connected and fixed to the main frame 102 by the mounting column 108, and is fixed to the robot arm through the flange connection of the flange ring, and the negative pressure end of the negative pressure machine is connected to the negative pressure pipeline 111. When using the grabbing claw 101 for grabbing, the two groups of the rotating arm groups are driven to be horizontal with the main frame 102, and the inner grabbing claw 101 is driven by the rotating arm group to clamp and grab the part material. When grabbing the plate part, the rotating arm group is driven to rotate so that the two groups of the rotating arm groups are perpendicular to the main frame 102, and then the main frame 102 is moved to contact the plate part. Under the action of negative pressure, the negative pressure suction cup 110 tightly adsorbs the plate part to complete the grabbing of the plate part.

[0027] Secondly, the bearing ring 105 is fixedly connected to the main frame 102 and embedded in the inner side of the main frame 102. One end of the clamp arm 106 is embedded in one end of the main frame 102 through the shaft column 104, and one end of the shaft column 104 is embedded in the interior of the bearing ring 105. The grabbing claw 101 is embedded in the interior of the clamp arm 106. The joint motor 103 is arranged on one side of the main frame 102, and the output end of the joint motor 103 is fixedly connected to the shaft column 104. The finger cylinder 107 is embedded in one end of the clamp arm 106, and the output end of the finger cylinder 107 is fixedly connected to the grabbing claw 101. The clamp arm 106 is supported by the bearing ring 105 and the shaft column 104. The joint motor 103 drives the shaft column 104 to rotate, and the bearing ring 105 is The shaft column 104 provides support and lubrication for the rotation of the shaft column 104, so that the rotation of the shaft column 104 is more lubricated and the rotation control accuracy is improved. When the grasping claw 101 is clamped, the joint motor 103 drives the clamp arm 106 to remain parallel to the main frame 102, so that the slide of the main frame 102 is aligned with the slide of the clamp arm 106, which is convenient for the finger cylinder 107 to drive the grasping claw 101. The grasping claw 101 can move between the main frame 102 and the clamp arm 106 to achieve the purpose of grasping. When using negative pressure grasping, the finger cylinder 107 drives the grasping claw 101 to reset, and then the joint motor 103 drives the clamp arm 106 to adjust the angle until the clamp arm 106 and the main frame 102 are perpendicular to each other.

[0028] At the same time, there are two sealing rings 112, each of which is fixedly connected to the negative pressure suction cup 110 and is located at the lower end of the negative pressure suction cup 110. The sealing ring 112 can provide sealing for the negative pressure suction cup 110, thereby improving the negative pressure strength of the negative pressure suction cup 110 during adsorption.

[0029] When using a robot grasping device of the present embodiment, the mounting flange 109 is connected and fixed to the main frame 102 by the mounting column 108, and is fixed to the robot arm through the flange connection of the flange ring, and the negative pressure end of the negative pressure machine is connected to the negative pressure pipeline 111. When the grasping claw 101 is used for grasping, the two groups of the rotating arm groups are driven to be horizontal with the main frame 102, and the inner grasping claw 101 is driven by the rotating arm group to clamp and grasp the part material. When taking a plate part, the rotating arm group is driven to rotate so that the two groups of rotating arm groups are perpendicular to the main frame 102, and then the main frame 102 is moved to contact the plate part. Under the action of negative pressure, the negative pressure suction cup 110 tightly adsorbs the plate part to complete the grasping of the plate part. The bearing ring 105 and the shaft column 104 support the clamping claw arm 106, and the joint motor 103 drives the shaft column 104 to rotate, and the bearing ring 105 The shaft column 104 is provided with support, and lubrication is provided for the rotation of the shaft column 104, so that the rotation of the shaft column 104 is more lubricated, thereby improving the rotation control accuracy. When the grasping claw 101 is clamped, the joint motor 103 drives the gripping claw arm 106 to remain parallel to the main frame 102, so that the slideway of the main frame 102 is aligned with the slideway of the gripping claw arm 106, so that the finger cylinder 107 drives the gripping claw 101. 01 can move between the main frame 102 and the clamp arm 106 to achieve the purpose of grasping. When using negative pressure grasping, the finger cylinder 107 drives the grasping claw 101 to reset, and then the joint motor 103 drives the clamp arm 106 to adjust the angle until the clamp arm 106 and the main frame 102 are perpendicular to each other. The sealing ring 112 can provide sealing for the negative pressure suction cup 110, thereby improving the negative pressure strength of the negative pressure suction cup 110 during adsorption;

[0030] When grasping, for the object to be grasped, the simulation data of the object is obtained through mathematical modeling, and the object information and the robotic arm are input into the pybullet simulation environment. In the simulation environment, all the information of the object can be obtained, and the working area pictures under multiple perspectives are obtained through the simulated camera perspective set on the robotic arm. Nerf is used for three-dimensional reconstruction to obtain the point cloud information of the scene, and the point cloud information is input into the GraspNet network to obtain the grasping posture for the target object. The spatial xyz position coordinates of the object relative to the robotic arm obtained in pybullet are combined into the six elements X, Y, Z, A, B, and C required for the movement of the robotic arm. The inverse solution algorithm is used to plan the motion trajectory of the robotic arm to grasp the object. After successful grasping in the simulation environment, the grasping point, object information, grasping posture, position information during placement, robotic arm placement posture, and environmental information before grasping will be recorded. At the same time, the image information before grasping and the text prompt words for the grasped object will be recorded, and the above information will be stored as the data set required for training Clip.

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

[0032] Based on the first embodiment, please refer to Figures 6 to 8 ,in Figure 6 is a front view of the second embodiment of the utility model, Figure 7 The utility model Figure 6 The CC line structural cross-sectional view, Figure 8 The utility model Figure 7 Enlarged view of the local structure at D.

[0033] The utility model provides a mechanical arm grasping device: it also includes an electromagnetic grasping component, and the electromagnetic grasping component includes an electromagnetic disk 201, an electromagnetic column 202 and an energized coil 203.

[0034] According to this specific embodiment, the electromagnetic grasping assembly can be used to grasp metal objects by electromagnetic force, and can also be used to assist in grasping other grasped objects by electromagnetic adsorption.

[0035] The electromagnetic grabbing assembly is fixedly connected to the main frame 102 and embedded in the lower end of the main frame 102. The electromagnetic grabbing assembly can perform electromagnetic grabbing when grabbing metal objects, and can also perform auxiliary grabbing of other grabbing objects by electromagnetic adsorption.

[0036] Secondly, the electromagnetic disk 201 is fixedly connected to the main frame 102 and embedded in the lower end of the main frame 102. There are multiple electromagnetic columns 202, and each of the electromagnetic columns 202 is fixedly connected to the electromagnetic disk 201 and is located inside the electromagnetic disk 201. There are multiple energized coils 203, and each of the energized coils 203 is respectively sleeved on the outer wall of the corresponding electromagnetic column 202. The electromagnetic disk 201 accommodates multiple electromagnetic columns 202, and multiple energized coils 203 are sleeved on the outer wall of the electromagnetic column 202. When using electromagnetic grasping or electromagnetic assistance, each energized coil 203 is energized, so that each electromagnetic column 202 has electromagnetic force, which is transmitted to the electromagnetic disk 201, and the electromagnetic disk 201 performs electromagnetic grasping or electromagnetic assistance.

[0037] When a manipulator grasping device of the present embodiment is used, the electromagnetic grasping component can perform electromagnetic grasping when grasping metal objects, and can also perform electromagnetic adsorption auxiliary grasping for other grasped objects. The electromagnetic disk 201 houses multiple electromagnetic columns 202, and multiple energized coils 203 are sleeved on the outer wall of the electromagnetic column 202. When using electromagnetic grasping or electromagnetic assistance, each energized coil 203 is energized, so that each electromagnetic column 202 has electromagnetic force, which is transmitted to the electromagnetic disk 201, and the electromagnetic disk 201 performs electromagnetic grasping or electromagnetic assistance.

[0038] 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 manipulator grasping device, comprising a grasping claw, characterized in that: Also included is a gripping mechanism; The grabbing mechanism includes a main frame, a rotating arm group, a mounting column, a mounting flange, a negative pressure suction cup and a negative pressure pipe. There are two rotating arm groups, and one end of the two rotating arm groups is respectively embedded in the two ends of the corresponding main frame. There are two grabbing claws, and each grabbing claw is respectively embedded in the corresponding rotating arm group. The mounting column is fixedly connected to the main frame and is located at the upper end of the main frame. The mounting flange is fixedly connected to the mounting column and is sleeved on the outer wall of the mounting column. There are two negative pressure suction cups, and the two negative pressure suction cups are respectively fixedly connected to the main frame and are respectively embedded in the lower end of the main frame. There are two groups of negative pressure pipes, and one end of each group of negative pressure pipes passes through the main frame and is connected to the corresponding negative pressure suction cup.

2. A robot gripping device as claimed in claim 1, characterized in that: Each group of the rotating arm groups includes a joint motor, a shaft column, a bearing ring, a clamp arm and a finger cylinder. The bearing ring is fixedly connected to the main frame and embedded in the inner side of the main frame. One end of the clamp arm is embedded in one end of the main frame through the shaft column, and one end of the shaft column is embedded in the interior of the bearing ring. The grabbing claw is embedded in the interior of the clamp arm. The joint motor is arranged on one side of the main frame, and the output end of the joint motor is fixedly connected to the shaft column. The finger cylinder is embedded in one end of the clamp arm, and the output end of the finger cylinder is fixedly connected to the grabbing claw.

3. A robot gripping device as claimed in claim 2, characterized in that: The gripping mechanism also includes a sealing ring, and the number of the sealing rings is two. Each sealing ring is fixedly connected to the negative pressure suction cup and is located at the lower end of the negative pressure suction cup.

4. A robot gripping device as claimed in claim 3, characterized in that: The manipulator grasping device also includes an electromagnetic grasping component, which is fixedly connected to the main frame and embedded in the lower end of the main frame.

5. A robot gripping device as claimed in claim 4, characterized in that: The electromagnetic grabbing assembly includes an electromagnetic disk, an electromagnetic column and a power-carrying coil. The electromagnetic disk is fixedly connected to the main frame and embedded in the lower end of the main frame. There are multiple electromagnetic columns, each of which is fixedly connected to the electromagnetic disk and located inside the electromagnetic disk. There are multiple power-carrying coils, each of which is respectively sleeved on the outer wall of the corresponding electromagnetic column.

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