Grabbing robot

Abstract

The utility model provides a grabbing robot. The grabbing robot comprises a moving device. The grabbing device has a grabbing state and a releasing state; the grabbing driving device drives the grabbing device to move up and down; the distance sensor is used for measuring the distance between the grabbing device and the target object; the industrial personal computer is used for receiving a visual signal sent by the visual identification device and an obstacle signal sent by the obstacle avoidance sensor; the lower computer is in electric control connection with the movement device, the industrial personal computer sends a control signal to the lower computer according to the visual signal and the obstacle signal, the lower computer controls the movement device to act, and the lower computer is further in electric control connection with the grabbing device, the grabbing driving device and the distance sensor. The lower computer controls the grabbing driving device and the grabbing device to act according to electric signals fed back by the distance sensor. By means of the technical scheme, the problem that in the prior art, a grabbing robot is insufficient in flexibility in complex and changeable scenes can be effectively solved.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a grasping robot. Background Art

[0002] Robots are of great significance in modern society. For some mechanical and repetitive grasping tasks, robots are far more accurate and durable than humans, which improves production efficiency while reducing production costs and error rates. Especially in scenarios of large-scale production and high-frequency operations, the advantages of robots are even more obvious.

[0003] However, for some complex and ever-changing scenarios, traditional grasping robots are not flexible enough and require human intervention to complete grasping tasks. Utility Model Content

[0004] The main purpose of the utility model is to provide a grasping robot to solve the problem of insufficient flexibility of grasping robots in the prior art in complex and changeable scenes.

[0005] In order to achieve the above-mentioned purpose, the utility model provides a grasping robot, comprising: a motion device, comprising a plurality of wheels and a driving motor that independently drives each wheel to move. A grasping device is arranged on the motion device, and the grasping device has a grasping state and a releasing state; a grasping drive device is arranged on the motion device, and the grasping drive device drives the grasping device to move up and down; a distance sensor is arranged on the grasping device, and is used to measure the distance between the grasping device and the target object; a visual recognition device is arranged on the motion device; an obstacle avoidance sensor is arranged on the motion device; an industrial computer is arranged on the motion device, and the industrial computer receives the visual signal sent by the visual recognition device and the obstacle signal sent by the obstacle avoidance sensor; a lower computer is electrically connected to the motion device, and the industrial computer sends a control signal to the lower computer according to the visual signal and the obstacle signal, and the lower computer controls the motion device according to the control signal so that the grasping robot reaches the target object, and the lower computer is also electrically connected to the grasping device, the grasping drive device and the distance sensor, and the lower computer controls the grasping drive device and the grasping device according to the electrical signal fed back by the distance sensor to grasp the target object.

[0006] In one embodiment, the lower computer is electrically connected to the industrial computer to send a grasping feedback signal to the industrial computer, and the industrial computer drives the motion device to move according to the grasping feedback signal so that the grasping robot reaches a predetermined position.

[0007] In one embodiment, the grasping device includes a mechanical claw extending downward, and the lower computer controls the grasping action of the mechanical claw according to the distance sensor.

[0008] In one embodiment, the gripping device further comprises a plurality of flexible sleeves, wherein the flexible sleeves are sleeved on the claws of the mechanical claw.

[0009] In one embodiment, the grasping robot further includes: a bracket, which is arranged on the motion device and extends upward; the grasping drive device is a telescopic rod, one end of the telescopic rod is arranged on the bracket, and the other end of the telescopic rod is connected to the grasping device.

[0010] In one embodiment, the bracket is arranged at the front end of the motion device, and the grasping robot further includes: a power supply, and the power supply and an industrial computer are arranged at the rear end of the motion device.

[0011] In one embodiment, the grasping robot further includes: a power source, which is arranged on the motion device.

[0012] In one embodiment, the grasping device includes a mechanical claw and an air pump that drives the state switching of the mechanical claw, and the grasping robot also includes: an electrical box, which is arranged on the motion device, and the power supply, air pump and lower computer are arranged in the electrical box.

[0013] In one embodiment, the visual recognition device is a camera; and / or the distance sensor is an ultrasonic ranging sensor.

[0014] In one embodiment, the obstacle avoidance sensor is a lidar.

[0015] By applying the technical solution of the utility model, when the grasping robot starts to perform a task, the motion device starts to move in a predetermined area, and the visual recognition device sends a visual signal to the industrial computer in real time. The industrial computer determines whether there is a target object within the camera's field of view through a visual recognition algorithm. When the industrial computer determines that there is a target object within the current field of view, the industrial computer designs a route according to the relative position of the target object and the motion device and the position of the obstacle, and transmits the route to the lower computer. The lower computer controls the motion device to move to the position of the target object. The lower computer controls the grasping drive device to work according to the distance signal fed back by the distance sensor, so that the grasping device reaches a suitable grasping height. After reaching the grasping height, the lower computer switches the grasping device to a grasping state. The grasping robot of the above structure can obtain the best route for grasping the target object through the signals sent to the industrial computer by the visual recognition device and the obstacle avoidance sensor. Even if the grasping robot is in a complex and changeable scene, the grasping robot can successfully complete the grasping task without manual intervention, thereby improving the flexibility of the grasping robot and solving the problem of insufficient flexibility of the grasping robot in the prior art in complex and changeable scenes.

[0016] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0018] In the figure:

[0019] Figure 1 A three-dimensional structural schematic diagram of an embodiment of a grasping robot according to the utility model is shown.

[0020] The above drawings include the following reference numerals:

[0021] 10. Motion device; 11. Wheel; 12. Drive motor; 20. Grasping device; 21. Mechanical claw; 22. Air pump; 30. Grasping drive device; 40. Distance sensor; 50. Visual recognition device; 60. Industrial computer; 70. Obstacle avoidance sensor; 80. Bracket; 90. Power supply; 100. Electrical box. DETAILED DESCRIPTION

[0022] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0026] like Figure 1 As shown, the grasping robot of this embodiment includes: a motion device 10, a grasping device 20, a grasping drive device 30, a distance sensor 40, a visual recognition device 50, an obstacle avoidance sensor 70, an industrial computer 60 and a lower computer. The motion device 10 includes a plurality of wheels 11 and a drive motor 12 that independently drives each wheel 11 to move. The grasping device 20 is arranged on the motion device 10, and the grasping device 20 has a grasping state and a releasing state; the grasping drive device 30 is arranged on the motion device 10, and the grasping drive device 30 drives the grasping device 20 to move up and down; the distance sensor 40 is arranged on the grasping device 20 to measure the distance between the grasping device 20 and the target object; the visual recognition device 50 is arranged on the motion device 10; the obstacle avoidance sensor 70 is arranged on the motion device 10; the industrial computer 60 is arranged on the motion device 10, and the industrial computer 60 receives the visual recognition device 50. 0 and the obstacle signal sent by the obstacle avoidance sensor 70; the lower computer is electrically connected to the motion device 10, and the industrial computer 60 sends a control signal to the lower computer according to the visual signal and the obstacle signal. The lower computer controls the motion device 10 to move according to the control signal so that the grasping robot reaches the target object. The lower computer is also electrically connected to the grasping device 20, the grasping drive device 30 and the distance sensor 40. The lower computer controls the grasping drive device 30 and the grasping device 20 to move according to the electrical signal fed back by the distance sensor 40 to grasp the target object.

[0027] By applying the technical solution of this embodiment, when the grasping robot starts to perform a task, the motion device 10 starts to move in a predetermined area, and the visual recognition device 50 sends a visual signal to the industrial computer 60 in real time. The industrial computer 60 determines whether there is a target object within the camera's field of view through a visual recognition algorithm. When the industrial computer 60 determines that there is a target object within the current field of view, the industrial computer 60 designs a route according to the relative position of the target object and the motion device 10 and the position of the obstacle, and transmits the route to the lower computer. The lower computer controls the motion device 10 to move to the position of the target object. The lower computer controls the grasping drive device 30 to work according to the distance signal fed back by the distance sensor 40, so that the grasping device 20 reaches a suitable grasping height. After reaching the grasping height, the lower computer switches the grasping device 20 to the grasping state. The grasping robot of the above structure can obtain the best route for grasping the target object through the signals sent by the visual recognition device 50 and the obstacle avoidance sensor 70 to the industrial computer 60. Even if the grasping robot is in a complex and changeable scene, the grasping robot can successfully complete the grasping task without manual intervention, thereby improving the flexibility of the grasping robot and solving the problem of insufficient flexibility of the grasping robot in the prior art in complex and changeable scenes.

[0028] Preferably, in this embodiment, the parameters of the industrial computer 60 are as follows: i7-5500U, 8g memory, no GPU, running Ubuntu16.04 system, for running the target detection algorithm.

[0029] In this embodiment, the lower computer is electrically connected to the industrial computer 60 to send a grasping feedback signal to the industrial computer 60, and the industrial computer 60 drives the motion device 10 to move according to the grasping feedback signal so that the grasping robot reaches the predetermined position. Specifically, after the grasping device 20 completes the grasping action, the lower computer controls the grasping drive device 30 to work to lift the target object. When the lifting is in place, the lower computer sends a grasping feedback signal of successful grasping to the industrial computer 60. After receiving the grasping feedback signal, the industrial computer 60 controls the motion device 10 to move so that the grasping robot moves to the designated position. After reaching the designated position, the industrial computer 60 sends a signal to the lower computer, and the lower computer controls the grasping drive device 30 to work to put down the target object. When the target object moves down to the designated position, the lower computer controls the grasping device 20 to switch to the release state to put down the target object. The above structure enables the grasping robot to move the target object to the designated location after grasping the target object to meet user needs.

[0030] It should be noted that, in this embodiment, the grasping robot has a visual recognition device 50 and an obstacle avoidance sensor 70. Therefore, after the industrial computer 60 receives the grasping feedback signal, it can plan a route again according to the signals of the visual recognition device 50 and the obstacle avoidance sensor 70 and send it to the lower computer. Even if the grasping robot is in a complex and changeable scene, the grasping robot can successfully complete the transportation task without manual intervention, thereby improving the flexibility of the grasping robot and solving the problem of insufficient flexibility of the grasping robot in the prior art in complex and changeable scenes.

[0031] like Figure 1 As shown, in this embodiment, the grasping device 20 includes a mechanical claw 21 extending downward, and the distance sensor 40 is arranged at the grasping center of the mechanical claw 21. The above structure can accurately obtain the distance between the mechanical claw 21 and the target object, so that the mechanical claw 21 can finally reach a suitable height to ensure the success rate of grasping.

[0032] like Figure 1 As shown, in this embodiment, the grasping robot also includes: a bracket 80, the bracket 80 is arranged on the motion device 10 and extends upward, the grasping drive device 30 is a telescopic rod, one end of the telescopic rod is arranged on the bracket 80, and the other end of the telescopic rod is connected to the grasping device 20. The above structure adopts a telescopic rod mainly to consider the weight of the grasped object. Although the mechanical arm with high degree of freedom is more flexible, its maximum grasping weight is relatively small. Considering practicality, this application adopts a telescopic rod instead of a mechanical arm when the function can be met. According to actual measurement, the grasping robot of this embodiment can grasp an object of 20kg.

[0033] In this embodiment, the gripping device 20 further includes a plurality of flexible sleeves, which are mounted on the claws of the mechanical claw 21. The above structure can prevent damage to the target object. The flexible sleeve can be a sleeve made of a flexible material such as a rubber sleeve.

[0034] like Figure 1 As shown, in this embodiment, the distance sensor 40 is an ultrasonic distance measuring sensor. The ultrasonic distance measuring sensor has high precision and can measure distance accurately and reliably.

[0035] like Figure 1As shown, in this embodiment, the bracket 80 is arranged at the front end of the motion device 10, and the grasping robot also includes: a power supply 90, and the power supply 90 and the industrial computer 60 are arranged at the rear end of the motion device 10. The power supply 90 is used to power the grasping robot to ensure that it can operate independently without any external power supply. Setting the bracket 80 at the front end of the motion device 10 is more convenient for grasping objects, and setting the power supply 90 at the rear end of the motion device 10 can provide counterweights for the grasping robot and the target object on the front side. The above structure not only has good grasping ability through reasonable layout, but also does not need to set a counterweight separately, which reduces the overall weight of the grasping robot on the one hand and reduces the production cost on the other hand. Preferably, in this embodiment, the power supply 90 is a lithium battery.

[0036] Preferably, in this embodiment, the bracket includes a vertical section disposed on the motion device 10 and extending upward, and a horizontal section disposed on the top of the vertical section and extending outward, and one end of the telescopic rod is disposed at the free end of the horizontal section. Both the vertical section and the horizontal section are channel steels.

[0037] like Figure 1 As shown, in this embodiment, the motion device 10 includes a plurality of wheels 11 and a drive motor 12 that independently drives each wheel 11 to move. The above structure enables each wheel 11 to operate independently, so that the whole can move 360° without changing the direction of the vehicle body, ensuring the passability in narrow and complex spaces. Preferably, in this embodiment, the wheels 11 are Mecanum wheels, a total of 4. The drive motor 12 is a stepper motor, and the stepper motors are 4 corresponding to the wheels 11 to drive 4 Mecanum wheels respectively. The stepper motor has a Hall encoder and uses PID to achieve precise speed control.

[0038] like Figure 1 As shown, in this embodiment, the grasping device 20 includes a mechanical claw 21 and an air pump 22 for driving the state switching of the mechanical claw 21, and the grasping robot also includes: an electrical box 100, the electrical box 100 is arranged on the motion device 10, and the power supply 90, the air pump 22 and the lower computer are arranged in the electrical box 100. The above structure integrates the electrical components and places them in the electrical box 100, which makes the structure more concise on the one hand and ensures the life of the electrical components on the other hand.

[0039] In this embodiment, the visual recognition device 50 is a camera. The visual recognition device 50 is used to provide image information to the industrial computer 60, so as to determine the target position. Preferably, in this embodiment, the visual recognition device 50 is a wide-angle camera.

[0040] In this embodiment, the obstacle avoidance sensor 70 is a laser radar, which is used to detect the surrounding environment and generate a grid map.

[0041] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0042] The utility model provides an intelligent grasping robot based on visual recognition, which also has an obstacle avoidance function and can grasp target objects in complex environments, thereby improving work efficiency and reducing labor cost investment.

[0043] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps described in these embodiments do not limit the scope of the utility model. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0044] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0045] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present utility model; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0046] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A grasping robot, characterized in that: include: A motion device (10) comprising a plurality of wheels (11) and a drive motor (12) for independently driving each wheel (11) to move; A gripping device (20) is arranged on the motion device (10), and the gripping device (20) has a gripping state and a releasing state; A grabbing driving device (30) is arranged on the motion device (10), and the grabbing driving device (30) drives the grabbing device (20) to move up and down; A distance sensor (40) is arranged on the grasping device (20) and is used to measure the distance between the grasping device (20) and a target object; A visual recognition device (50) is arranged on the motion device (10); An obstacle avoidance sensor (70) is arranged on the motion device (10); An industrial computer (60) is arranged on the motion device (10), and the industrial computer (60) receives the visual signal sent by the visual recognition device (50) and the obstacle signal sent by the obstacle avoidance sensor (70); A lower computer is electrically connected to the motion device (10), the industrial computer (60) sends a control signal to the lower computer according to the visual signal and the obstacle signal, and the lower computer controls the motion device (10) to move according to the control signal so that the grasping robot reaches the target object. The lower computer is also electrically connected to the grasping device (20), the grasping drive device (30) and the distance sensor (40), and the lower computer controls the grasping drive device (30) and the grasping device (20) to move according to the electrical signal fed back by the distance sensor (40) to grasp the target object.

2. The grasping robot according to claim 1, characterized in that: The lower computer is electrically connected to the industrial computer (60) to send a grasping feedback signal to the industrial computer (60), and the industrial computer (60) drives the motion device (10) to move according to the grasping feedback signal so that the grasping robot reaches a predetermined position.

3. The grasping robot according to claim 1, characterized in that: The grasping device (20) comprises a mechanical claw (21) extending downward, and the lower computer controls the grasping action of the mechanical claw (21) according to the distance sensor (40).

4. The grasping robot according to claim 3, characterized in that: The grasping device (20) further comprises a plurality of flexible sleeves, wherein the flexible sleeves are sleeved on the claws of the mechanical claw (21).

5. The grasping robot according to claim 1, characterized in that: The grabbing robot also includes: The bracket (80) is arranged on the motion device (10) and extends upwards; the grabbing drive device (30) is a telescopic rod, one end of which is arranged on the bracket (80) and the other end of which is connected to the grabbing device (20).

6. The grasping robot according to claim 5, characterized in that: The support (80) is arranged at the front end of the motion device (10), and the grasping robot further comprises: A power supply (90), the power supply (90) and the industrial computer (60) are arranged at the rear end of the motion device (10).

7. The grasping robot according to claim 1, characterized in that: The grabbing robot also includes: A power source (90) is arranged on the motion device (10).

8. The grasping robot according to claim 7, characterized in that: The grasping device (20) comprises a mechanical claw (21) and an air pump (22) for driving the state switching of the mechanical claw (21), and the grasping robot further comprises: An electrical box (100) is arranged on the motion device (10), and the power source (90), the air pump (22) and the lower computer are arranged in the electrical box (100).

9. The grasping robot according to claim 1, characterized in that: The visual recognition device (50) is a camera; And / or, the distance sensor (40) is an ultrasonic distance measuring sensor.

10. The grasping robot according to claim 1, characterized in that: The obstacle avoidance sensor (70) is a laser radar.

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