Mechanical arm gripper based on multi-dimensional sensor fusion technology

Abstract

The utility model relates to the technical field of clamping, and provides a mechanical arm gripper based on a multi-dimensional sensor fusion technology, which comprises a mounting seat, a clamping mechanism and a clamping mechanism, the clamping assembly is rotationally arranged on the mounting base, and the clamping assembly comprises a clamping piece rotationally arranged on the mounting base and used for clamping materials; and the visual sensor is arranged on the clamping piece, and the visual sensor at least can distinguish the position and the shape of the to-be-clamped material. According to the technical scheme, the problems of complex structure and high production cost in the prior art are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping, and in particular to a mechanical arm gripper based on multi-dimensional sensor fusion technology. Background Art

[0002] With the rapid development of industrial automation and intelligence, robotics technology is increasingly used in manufacturing, logistics, medical treatment, scientific research and even daily life. Among them, the robotic arm, as an important component of the robot, undertakes the core tasks of grasping, placing, transporting and manipulating objects. Most traditional robotic arms rely on a single mechanical structure and simple sensors, and their functions are relatively single, making it difficult to meet the requirements of accurate qualitative identification and precise grasping and placing of objects in complex environments. Especially in the handling of non-standardized, fragile materials, and objects with variable shapes, mistakes are prone to occur, reducing operating efficiency and safety. For example, CN114939881A-a mechanical gripper at the end of a robotic arm. Although the above patent can achieve accurate grasping and stacking of materials, it has a complex structure, high manufacturing cost, and low operating efficiency. Utility Model Content

[0003] The utility model proposes a mechanical arm gripper based on multi-dimensional sensor fusion technology, which solves the problem of complex structure and high production cost in related technologies.

[0004] The technical solution of the utility model is as follows:

[0005] A robotic arm gripper based on multi-dimensional sensor fusion technology, comprising:

[0006] A mounting base, used for being set on a robotic arm;

[0007] A clamping assembly is rotatably disposed on the mounting seat, and the clamping assembly includes:

[0008] A clamping member, rotatably disposed on the mounting seat, and used for clamping materials;

[0009] A visual sensor is arranged on the clamping member, and the visual sensor can at least distinguish the position and shape of the material to be clamped;

[0010] The clamping member comprises:

[0011] A mounting plate, rotatably disposed on the mounting seat;

[0012] There are a plurality of first hinged rods, one end of each of the plurality of first hinged rods is hingedly disposed on the mounting plate, and the plurality of first hinged rods are arranged at intervals;

[0013] There are a plurality of second hinged rods, one end of each of the plurality of second hinged rods is hingedly disposed on the mounting plate, and the plurality of second hinged rods are arranged at intervals, and the plurality of second hinged rods and the plurality of first hinged rods are located at the same hinge point in a one-to-one correspondence;

[0014] A plurality of first clamping jaws each having a first hinged end and a first clamping end, wherein one of the first hinged ends is hingedly disposed on the other end of the second hinged rod;

[0015] There are several second clamping jaws, each having a second hinged end and a second clamping end, one of the second hinged end is hingedly set on the other end of the first hinged rod, the first clamping jaw and the second clamping jaw are arranged crosswise, and the first clamping end and the second clamping end are used to clamp materials when they are close to each other.

[0016] As a further technical solution, it is characterized by further comprising:

[0017] A driving member is arranged on the mounting plate, and is used to drive the first clamping jaw and the second clamping jaw to swing. After the first clamping jaw and the second clamping jaw swing, the first clamping end and the second clamping end move closer to or farther from each other.

[0018] As a further technical solution, it is characterized in that the clamping member further comprises:

[0019] There are a plurality of limit plates, each of which is arranged at the intersection of the first clamping jaw and the second clamping jaw, and is located close to the first clamping end and the second clamping end;

[0020] There are two connecting rods, and the two connecting rods are rotatably arranged between the plurality of limiting plates.

[0021] As a further technical solution, it is characterized in that the driving member comprises:

[0022] A connecting plate, arranged between the two connecting rods and located at the center of the connecting rods;

[0023] A telescopic rod is arranged on the mounting plate, and a telescopic end of the telescopic rod is arranged on the connecting plate. After the telescopic rod is extended and retracted, it is used to drive the first clamping jaw and the second clamping jaw to swing.

[0024] As a further technical solution, it is characterized by further comprising:

[0025] There are several pressure sensors, which are respectively arranged on the first clamping end and the second clamping end, and are used to detect pressure data.

[0026] As a further technical solution, it is characterized in that flexible pads are provided on both the first clamping end and the second clamping end.

[0027] As a further technical solution, it is characterized by further comprising:

[0028] A fill light, arranged on the mounting base;

[0029] The light sensor is arranged on the fill light, and the light sensor is used to detect brightness.

[0030] The working principle and beneficial effects of the utility model are:

[0031] In this utility model, a robot gripper based on multi-dimensional sensor fusion technology is introduced, which integrates components such as a mounting base, a clamping assembly, and a visual sensor, realizes accurate positioning of materials and accurate recognition of shapes, and is suitable for precise grabbing and placing operations on automated production lines. The mounting base is the starting point of the robot arm, and is precisely processed using high-strength alloy materials to ensure a stable connection to the robot arm body, providing a stable installation platform and laying the foundation for subsequent components. The clamping assembly is the core of the present invention, and the design is ingenious. The clamping piece can also be flexibly rotated and installed on the mounting base. This design facilitates adjustment of the angle to adapt to different working surfaces and ensures stable clamping of materials. The holding piece is designed with a special surface treatment to enhance friction with the material and reduce sliding. The visual sensor is integrated in the clamping piece, using a high-resolution camera and advanced image processing algorithms, which not only captures the position of the material, but also uses shape recognition technology to accurately judge even complex contours, colors or textures. This provides a basis for intelligent decision-making for the robot arm, such as precise positioning and posture adjustment of grabbing and placing. The robotic arm gripper device of this embodiment integrates multi-sensor technology, demonstrates high-precision, intelligent grasping capabilities, meets the diverse needs of automated assembly lines, improves efficiency and quality control, and demonstrates the development trend of future intelligent manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present utility model.

[0033] Figure 1 This is a schematic diagram of the structure of the utility model from the first perspective;

[0034] Figure 2 This is a schematic diagram of the structure of the utility model from a second viewing angle;

[0035] Figure 3 for Figure 1 Schematic diagram of the local enlarged structure at A.

[0036] In the figure: 1. mounting base, 2. clamping assembly, 3. clamping member, 4. visual sensor, 5. mounting plate, 6. first hinged rod, 7. second hinged rod, 8. first clamping jaw, 9. first hinged end, 10. first clamping end, 11. second clamping jaw, 12. second hinged end, 13. second clamping end, 14. driving member, 15. limiting plate, 16. connecting rod, 17. connecting plate, 18. telescopic rod, 19. pressure sensor, 20. flexible pad, 21. fill light, 22. light sensor. DETAILED DESCRIPTION

[0037] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the specific implementation methods of the utility model will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, they can also be understood as further technical solutions without paying creative work. In some figures, components with the same structure or function are only schematically illustrated, or only one of them is marked. In this article, "one" not only means "only one", but also means "more than one", and "several" includes "two" and "more than two".

[0038] In this article, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0039] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0040] Reference Figure 1 to Figure 3 , is an embodiment of the utility model, and proposes

[0041] A robotic arm gripper based on multi-dimensional sensor fusion technology, comprising:

[0042] A mounting base 1, used for being arranged on a robotic arm;

[0043] The clamping assembly 2 is rotatably disposed on the mounting seat 1, and the clamping assembly 2 includes:

[0044] A clamping member 3 is rotatably disposed on the mounting seat 1, and the clamping member 3 is used for clamping materials;

[0045] A visual sensor 4 is arranged on the clamping member 3, and the visual sensor 4 can at least distinguish the position and shape of the material to be clamped;

[0046] The clamping member 3 comprises:

[0047] A mounting plate 5, rotatably disposed on the mounting seat 1;

[0048] There are a plurality of first hinged rods 6, one end of each of the plurality of first hinged rods 6 is hingedly disposed on the mounting plate 5, and the plurality of first hinged rods 6 are arranged at intervals;

[0049] There are a plurality of second hinged rods 7, one end of each of the plurality of second hinged rods 7 is hingedly disposed on the mounting plate 5, and the plurality of second hinged rods 7 are arranged at intervals, and the plurality of second hinged rods 7 and the plurality of first hinged rods 6 are located at the same hinge point in a one-to-one correspondence;

[0050] There are a plurality of first clamping jaws 8, each having a first hinged end 9 and a first clamping end 10, wherein one of the first hinged ends 9 is hingedly disposed on the other end of the second hinged rod 7;

[0051] There are several second clamping jaws 11, each having a second hinged end 12 and a second clamping end 13. One of the second hinged ends 12 is hingedly set on the other end of the first hinged rod 6. The first clamping jaw 8 and the second clamping jaw 11 are arranged crosswise. The first clamping end 10 and the second clamping end 13 are used to clamp materials when they are close to each other.

[0052] This embodiment introduces a robot gripper based on multi-dimensional sensor fusion technology, which integrates components such as a mounting base 1, a clamping assembly 2, and a visual sensor 4, realizes accurate positioning of materials and accurate recognition of shapes, and is suitable for precise grabbing and placing operations on automated production lines. The mounting base 1 is the starting point of the robot arm, and is precisely processed using high-strength alloy materials to ensure a stable connection to the robot arm body, providing a stable installation platform and laying the foundation for subsequent components. The clamping assembly 2 is the core of the present invention, and the design is ingenious. The clamping member 3 can also be flexibly rotated and installed on the mounting base 1. This design facilitates adjustment of the angle to adapt to different working surfaces and ensures stable clamping of materials. The holding member is designed with a special surface treatment to enhance friction with the material and reduce sliding. The visual sensor 4 is integrated on the clamping member 3, using a high-resolution camera and advanced image processing algorithms, which not only captures the position of the material, but also uses shape recognition technology to accurately judge even complex contours, colors or textures. This provides a basis for intelligent decision-making for the robot arm, such as precise positioning and posture adjustment of grabbing and placing. The robotic arm gripper device of this embodiment integrates multi-sensor technology, demonstrates high-precision, intelligent grasping capabilities, meets the diverse needs of automated assembly lines, improves efficiency and quality control, and demonstrates the development trend of future intelligent manufacturing.

[0053] Furthermore, it also includes:

[0054] The driving member 14 is arranged on the mounting plate 5, and is used to drive the first clamping jaw 8 and the second clamping jaw 11 to swing. After the first clamping jaw 8 and the second clamping jaw 11 swing, the first clamping end 10 and the second clamping end 13 move closer to or farther away from each other.

[0055] This embodiment deepens the design of the mechanical arm claw of the multi-dimensional sensor fusion technology, and further improves the flexibility and accuracy of the operation through the unique structure and driving mechanism of the clamping member 3, which is suitable for the grabbing and placing operations of complex objects. The specific implementation is as follows: the clamping member 3 not only includes the mounting plate 5, but the mounting plate 5 is designed to be rotatable and flexibly fixed to the mounting seat 1, providing a rotation basis for the subsequent components. The core is the first and second articulated rod 7 system, and the design is cleverly arranged with a number of numbers. One end of these articulated rods is respectively hinged on the mounting plate 5 and arranged at intervals. It is worth noting that the first and second articulated rods 7 are staggered, and each pair of corresponding hinge points is aligned to form a common rotation axis. The first clamping jaw 8 and the second clamping jaw 11 are matched in number, and each clamping jaw is designed as a hinged end and a clamping end at one end. Cleverly, the first articulated end 9 is respectively hinged at the other end of the corresponding second and first articulated rods 6, and the second is hinged at the other end of the first articulated rod 6. This cross layout allows the first clamping jaw 8 and the second clamping jaw 11 to form an intertwined dynamic closed structure, closing or opening and closing movements. The driving member 14 is integrated on the mounting plate 5, and plays the role of the driving heart. Through precise mechanical transmission or motor control, it drives the first clamping jaw 8 and the second clamping jaw 11 to swing in coordination. During the swing, the first clamping end 10 and the second clamping end 13 move closer or farther away, realizing the precise grabbing and placing of the object. The innovation of this embodiment is that through the carefully designed multi-dimensional sensor fusion technology and the clamping component 2 of the robot arm gripper, a highly flexible grabbing and placing action is realized, which is particularly suitable for objects with irregular shapes or various sizes, improves the adaptability and accuracy of automated operations, and demonstrates the advanced application potential of intelligent robot arm technology.

[0056] Furthermore, the clamping member 3 also includes:

[0057] There are a plurality of limit plates 15, each of which is arranged at the intersection of the first clamping jaw 8 and the second clamping jaw 11, and is located close to the first clamping end 10 and the second clamping end 13;

[0058] There are two connecting rods 16 , and the two connecting rods 16 are rotatably disposed between the plurality of limiting plates 15 .

[0059] This embodiment further optimizes the stability and precise control of the robot arm gripper. By integrating the design of the limit plate 15 and the connecting rod 16, it ensures precise control and stability during dynamic grasping and placing, and is particularly suitable for delicate operation scenarios. The specific implementation is as follows: In addition to the original complex hinged rod and clamping jaw structure, the holder also innovatively adds a limit plate 15. These limit plates 15 are cleverly installed near the intersection of the first clamping jaw 8 and the second clamping jaw 11, and are precisely positioned on one side of the first clamping end 10 and the second clamping end 13. The function of the limit plate 15 is to limit the maximum opening and closing range of the claw, avoiding potential damage caused by excessive opening and closing, while ensuring precise control of the material. The design of the connecting rod 16 further enhances the stability and flexibility of the system. ** The two independent connecting rods 16 are designed to be symmetrically arranged between each limit plate 15, allowing them to rotate freely. This design not only ensures the synchronization of the dynamic opening and closing of the clamping jaws and reduces deviation, but also provides the necessary support in complex operations, especially when the weight of the material is unevenly distributed or dynamically changing, so that the entire clamping jaw system is stable and balanced to maintain the optimal clamping force.

[0060] Further, the driving member 14 includes:

[0061] A connecting plate 17 is disposed between the two connecting rods 16 and located at the center of the connecting rods 16;

[0062] The telescopic rod 18 is arranged on the mounting plate 5, and the telescopic end of the telescopic rod 18 is arranged on the connecting plate 17. After the telescopic rod 18 is extended and retracted, it is used to drive the first clamping jaw 8 and the second clamping jaw 11 to swing.

[0063] On the basis of the previous technical solution, this embodiment further strengthens the precise control and synchronization of the drive system. By introducing the ingenious use of the connecting plate 17 and the telescopic rod 18, the synchronous swing of the first clamping jaw 8 and the second clamping jaw 11 is ensured, thereby improving the operating efficiency and accuracy of the robot arm, and is particularly suitable for fast and precise production lines. The innovative core of the driving member 14 is the addition of the connecting plate 17, which is cleverly placed between the two connecting rods 16 and is located exactly in the middle. Such a design ensures the balance of force and the centralization of control. The connecting plate 17 is not only a force transmission medium, but also the key to coordinating the synchronous operation of the two clamping jaws. The telescopic rod 18 is another key component of this embodiment. It is precisely mounted on the mounting plate 5, and its telescopic end is connected to the connecting plate 17, which means that when the telescopic rod 18 performs a telescopic action, its force directly acts on the connecting plate 17, and then is transmitted to the first clamping jaw 8 and the second clamping jaw 11 through the connecting rod 16, so that the two swing synchronously.

[0064] Furthermore, it also includes:

[0065] There are several pressure sensors 19 , which are respectively arranged on the first clamping end 10 and the second clamping end 13 . The pressure sensors 19 are used to detect pressure data.

[0066] In this embodiment, in order to enhance the adaptability of the robot arm gripper to grasping objects and the precision of operation, we not only continue the previous drive and control synchronization mechanism, but also add multiple pressure sensors 19 on the first clamping end 10 and the second clamping end 13. The deployment of these sensors is intended to achieve real-time monitoring and intelligent adjustment of the force during the grasping process. On the key contact surface of the first clamping end 10 and the second clamping end 13, multiple high-sensitivity pressure sensors 19 are evenly arranged. These sensors are carefully selected and calibrated to ensure that they can accurately measure the subtle pressure changes generated during the grasping process of objects of different materials and shapes. Each pressure sensor 19 works independently and collects pressure data in the area in real time. These data include but are not limited to the pressure distribution of the contact surface, the size of the grasping force, etc. The data is collected to the central processing unit (CPU) through the built-in circuit. The unit runs advanced algorithms to analyze and process the collected pressure data at high speed and evaluate the grasping status.

[0067] Furthermore, a flexible pad 20 is disposed on both the first clamping end 10 and the second clamping end 13 .

[0068] This embodiment further focuses on the safety during the operation and the protection of the held object by providing a flexible pad 20 on both the first clamping end 10 and the second clamping end 13. This design not only enhances the flexibility of the robot arm in the grasping and placing operation, but also effectively reduces the potential damage to sensitive materials, which is particularly important in the application of precision operation scenes.

[0069] Furthermore, it also includes:

[0070] A fill light 21 is arranged on the mounting base 1;

[0071] The light sensor 22 is disposed on the fill light 21 and is used to detect brightness.

[0072] This embodiment further enhances the environmental adaptability of the robot gripper, especially for light changes, by integrating the fill light 21 on the mounting base 1 and the light sensor 22 on the fill light 21, so as to achieve real-time detection and compensation of the brightness of the working environment. This design significantly improves the recognition accuracy of the visual sensor 4, ensuring that the robot gripper can operate accurately under different lighting conditions, especially in dark or frequently changing working environments.

[0073] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A robotic arm gripper based on multi-dimensional sensor fusion technology, characterized in that: include: A mounting base (1) for being arranged on a robotic arm; A clamping assembly (2) is rotatably mounted on the mounting seat (1), and the clamping assembly (2) comprises: A clamping member (3) is rotatably disposed on the mounting seat (1), and the clamping member (3) is used to clamp materials; A visual sensor (4) is arranged on the clamping member (3), and the visual sensor (4) can at least distinguish the position and shape of the material to be clamped; The clamping member (3) comprises: A mounting plate (5) rotatably mounted on the mounting seat (1); A plurality of first hinged rods (6), one end of each of the plurality of first hinged rods (6) is hingedly arranged on the mounting plate (5), and the plurality of first hinged rods (6) are arranged at intervals; There are a plurality of second hinged rods (7), one end of each of the plurality of second hinged rods (7) is hingedly arranged on the mounting plate (5), and the plurality of second hinged rods (7) are arranged at intervals, and the plurality of second hinged rods (7) and the plurality of first hinged rods (6) are located at the same hinge point in a one-to-one correspondence; A plurality of first clamping jaws (8), each having a first hinged end (9) and a first clamping end (10), wherein one of the first hinged ends (9) is hingedly arranged on the other end of the second hinged rod (7); There are a plurality of second clamping jaws (11), each having a second hinged end (12) and a second clamping end (13), wherein one of the second hinged ends (12) is hingedly arranged on the other end of the first hinged rod (6), the first clamping jaw (8) and the second clamping jaw (11) are arranged crosswise, and the first clamping end (10) and the second clamping end (13) are used to clamp materials when they are brought close to each other.

2. The robotic gripper based on multi-dimensional sensor fusion technology according to claim 1, characterized in that: Also includes: A driving member (14) is arranged on the mounting plate (5), and is used to drive the first clamping jaw (8) and the second clamping jaw (11) to swing. After the first clamping jaw (8) and the second clamping jaw (11) swing, the first clamping end (10) and the second clamping end (13) move closer to or farther away from each other.

3. The robotic arm gripper based on multi-dimensional sensor fusion technology according to claim 2 is characterized in that: The clamping member (3) further comprises: A plurality of limit plates (15), each of which is arranged at the intersection of the first clamping jaw (8) and the second clamping jaw (11), and is located close to the first clamping end (10) and the second clamping end (13); There are two connecting rods (16), and the two connecting rods (16) are respectively rotatably arranged between the plurality of limiting plates (15).

4. The robotic gripper based on multi-dimensional sensor fusion technology according to claim 3 is characterized in that: The driving member (14) comprises: A connecting plate (17) is arranged between the two connecting rods (16) and is located at the center of the connecting rods (16); A telescopic rod (18) is arranged on the mounting plate (5), and a telescopic end of the telescopic rod (18) is arranged on the connecting plate (17). After the telescopic rod (18) is extended or retracted, it is used to drive the first clamping jaw (8) and the second clamping jaw (11) to swing.

5. The robotic arm gripper based on multi-dimensional sensor fusion technology according to claim 2, characterized in that: Also includes: There are a plurality of pressure sensors (19), wherein the plurality of pressure sensors (19) are respectively arranged on the first clamping end (10) and the second clamping end (13), and the pressure sensors (19) are used to detect pressure data.

6. The robotic gripper based on multi-dimensional sensor fusion technology according to claim 2, characterized in that: A flexible pad (20) is provided on both the first clamping end (10) and the second clamping end (13).

7. The robotic gripper based on multi-dimensional sensor fusion technology according to claim 1, characterized in that: Also includes: A fill light (21) is arranged on the mounting base (1); A light sensor (22) is arranged on the fill light (21), and the light sensor (22) is used to detect brightness.

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