Material selective grabbing robot based on 3D vision

Abstract

The utility model discloses a material selective grabbing robot based on 3D vision, and relates to the technical field of material grabbing robots. The device comprises a [-shaped base, a clamping assembly is arranged in the [-shaped base, a lifting assembly is arranged at the driving end of the clamping assembly, a supporting assembly is arranged at the bottom of the clamping assembly, linkage assemblies are arranged on the inner walls of the supporting assembly and the [-shaped base, and a 3D visual sensing device is arranged on the front face of the lifting assembly. By arranging the supporting assembly, when the clamping assembly completes material grabbing and drives the materials to be separated from the ground under the driving of the lifting assembly, the linkage assembly drives the supporting assembly under the driving of the clamping assembly, so that the supporting assembly rotates to the bottom of the grabbed materials and supports the grabbed materials; and therefore, the grabbed materials are not prone to falling off when the grabbing robot carries out turnover on the materials, and the stability of the grabbing robot is improved when the grabbing robot carries out turnover on the materials.

Description

Technical Field

[0001] The utility model belongs to the technical field of material grabbing robots. Specifically, it particularly relates to a material selective grabbing robot based on 3D vision. Background Art

[0002] A material grabbing robot is an intelligent mobile robot that can perform material handling tasks. This robot can autonomously walk within a specified site, receive tasks, independently search for and identify the materials specified by the tasks, transport them to the specified storage locations in the order required by the tasks, and can place them in the required positions and directions. The material handling robot has functions such as site target position recognition, autonomous path planning, autonomous movement, two-dimensional code reading, material color recognition or shape recognition, object grabbing and handling.

[0003] When the existing material grabbing robots grab materials, they mainly clamp both sides of the materials through a clamping device. Since most materials are in contact with the ground, the clamping device cannot support the bottom of the materials. This phenomenon makes it easy for the materials clamped by the clamping device to fall when the material grabbing robot moves the grabbed materials, resulting in low stability during material handling.

[0004] For the problems in the related art, no effective solution has been proposed yet. Summary of the Utility Model

[0005] For the problems in the related art, the utility model proposes a material selective grabbing robot based on 3D vision to overcome the above-mentioned technical problems existing in the existing related technologies.

[0006] To solve the above technical problems, the utility model is realized through the following technical solutions:

[0007] The utility model is a material selective grabbing robot based on 3D vision, including a U-shaped base. A clamping component is arranged inside the U-shaped base. A lifting component is arranged at the driving end of the clamping component. A supporting component is arranged at the bottom of the clamping component. A linkage component is arranged between the supporting component and the inner wall of the U-shaped base. The clamping component is used for clamping materials. While the lifting component drives the materials to move longitudinally through the clamping component, it drives the linkage component to operate, so that the linkage component drives the supporting component to convert its position to the bottom of the materials. A 3D vision sensing device is arranged on the front of the lifting component, and the 3D vision sensing device is used for identifying materials.

[0008] Further, the clamping assembly includes a mounting frame, inside which a bidirectional screw is rotatably connected. A clamping plate is threadedly connected to the outer surface of the bidirectional screw. A motor is fixedly installed on one side of the mounting frame, and the output end of the motor is fixedly connected to the bidirectional screw. A clamping guide rod is fixedly connected inside the mounting frame, and the clamping guide rod is movably connected to the clamping plate.

[0009] Further, the lifting assembly includes an L-shaped support plate fixedly connected to the U-shaped base. A hydraulic cylinder is fixedly installed on the top of the L-shaped support plate. The output end of the hydraulic cylinder penetrates through the L-shaped support plate and is fixedly connected to the mounting frame. A lifting guide rod is fixedly connected to the bottom of the L-shaped support plate, and the mounting frame is movably connected to the lifting guide rod.

[0010] Further, the support assembly includes a rotating shaft. The clamping plate is provided with a rotating groove corresponding to the rotating shaft, and the rotating shaft penetrates through the rotating groove. An L-shaped support frame is fixedly connected to the outer surface of the rotating shaft.

[0011] Further, the linkage assembly includes a gear fixedly connected to the rotating shaft. A toothed plate is arranged on the inner wall of the U-shaped base, and the toothed plate meshes with the gear.

[0012] Further, the linkage assembly further includes a horizontal limiting rod fixedly connected inside the U-shaped base. The toothed plate is movably connected to the horizontal limiting rod. A vertical limiting rod is fixedly connected to the top of the toothed plate, and the vertical limiting rod is movably connected to the clamping plate.

[0013] Further, an installation groove is formed at the bottom of the U-shaped base, and a crawler belt is arranged inside the installation groove.

[0014] The utility model has the following beneficial effects:

[0015] 1. By setting the support assembly, when the clamping assembly completes the grasping of the material and drives the grasped material to be separated from the ground under the drive of the lifting assembly, the linkage assembly can drive the support assembly under the drive of the clamping assembly, so that the support assembly can rotate to the bottom of the grasped material and support it, thereby making it not easy for the grasped material to fall when the grasping robot turns the material, and improving the stability of the grasping robot when turning the material.

[0016] 2. In the present utility model, the longitudinal limiting rod enables the toothed plate to move synchronously with the clamping plate when the clamping plate clamps the material. Under the limitation of the transverse limiting rod, when the clamping plate moves up and down, the clamping plate will not move up and down with it. The above settings enable the toothed plate to always mesh with the gear no matter how the clamping plate moves. At the same time, when the clamping plate moves up and down, the toothed plate can normally drive the gear.

[0017] Of course, it is not necessary for any product implementing the present utility model to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the following will briefly introduce the drawings required for describing the embodiments. Obviously, the drawings in the following description are only some embodiments of the utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 is a schematic diagram of the external contour structure of the present utility model;

[0020] Figure 2 of the present utility model Figure 1 is a schematic diagram of the upward view structure;

[0021] Figure 3 is a schematic diagram of the clamping assembly structure of the present utility model;

[0022] Figure 4 is a schematic diagram of the linkage assembly structure of the present utility model;

[0023] Figure 5 is a schematic diagram of the clamping plate structure of the present utility model;

[0024] Figure 6 is a schematic diagram of the support assembly structure of the present utility model.

[0025] In the drawings, the list of components represented by each reference numeral is as follows:

[0026] 1. C-shaped base; 2. Clamping assembly; 201. Mounting frame; 202. Bidirectional screw; 203. Clamping plate; 204. Motor; 205. Clamping guide rod; 3. Lifting assembly; 301. L-shaped support plate; 302. Hydraulic cylinder; 303. Lifting guide rod; 4. Support assembly; 401. Rotating shaft; 402. Rotating groove; 403. L-shaped support frame; 5. Linkage assembly; 501. Gear; 502. Toothed plate; 503. Transverse limiting rod; 504. Longitudinal limiting rod; 6. 3D vision sensing device; 7. Mounting groove; 8. Crawler belt. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the utility model in conjunction with the accompanying drawings in the embodiments of the utility model. Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the utility model.

[0028] In the description of the present utility model, it should be understood that the terms "opening", "upper", "lower", "top", "middle", "inner", etc. indicating the orientation or position relationship are only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the utility model.

[0029] Please refer to Figures 1-6 As shown, the present utility model is a material selective grasping robot based on 3D vision, including a U-shaped base 1. A clamping assembly 2 is arranged inside the U-shaped base 1. A lifting assembly 3 is arranged at the driving end of the clamping assembly 2. A support assembly 4 is arranged at the bottom of the clamping assembly 2. A linkage assembly 5 is arranged between the support assembly 4 and the inner wall of the U-shaped base 1. The clamping assembly 2 is used for clamping materials. While the lifting assembly 3 drives the material to move longitudinally through the clamping assembly 2, it drives the linkage assembly 5 to operate, so that the linkage assembly 5 drives the support assembly 4 to convert its position to the bottom of the material. A 3D vision sensing device 6 is arranged on the front of the lifting assembly 3, and the 3D vision sensing device 6 is used for identifying materials.

[0030] Among them, the selective grasping of materials is mainly completed by the 3D vision sensing device 6. This method is realized based on a method for intelligent robot grasping based on 3D vision disclosed in the Chinese Patent Network CN111243017B. Its specific method is as follows:

[0031] Step 1, complete the hand-eye calibration of the intelligent grasping system;

[0032] Step 2, complete the training of the grasping planning model based on the convolutional neural network;

[0033] Step 3, complete the grasping of the intelligent robot in the real environment.

[0034] When the clamping assembly 2 completes the grasping of the material, the lifting assembly 3 can drive the grasped material to move upward through the clamping assembly 2. At this time, while the clamping assembly 2 moves upward, it can drive the linkage assembly 5, so that the support assembly 4 rotates under the drive of the linkage assembly 5 and directly rotates to the bottom of the clamped material, and then the U-shaped base 1 drives the grasped material for transportation.

[0035] By setting the supporting component 4, when the clamping component 2 completes the grasping of the material and drives the grasped material to separate from the ground under the drive of the lifting component 3, the upward moving clamping component 2 can drive the supporting component 4 to rotate through the linkage component 5 and make the supporting component 4 directly rotate to the bottom of the material and support the material. This setting makes it difficult for the material grasped by the clamping component 2 to fall when the grasping robot turns the grasped material, thereby improving the stability of the grasping robot when turning the material.

[0036] In one embodiment, for the clamping component 2, the clamping component 2 includes a mounting frame 201. A bidirectional screw 202 is rotatably connected inside the mounting frame 201. Clamping plates 203 are threadedly connected to the outer surface of the bidirectional screw 202. A motor 204 is fixedly installed on one side of the mounting frame 201. The output end of the motor 204 is fixedly connected to the bidirectional screw 202. A clamping guide rod 205 is fixedly connected inside the mounting frame 201. The clamping guide rod 205 is movably connected to the clamping plates 203.

[0037] When the U-shaped base 1 moves to a suitable position, the motor 204 can drive the bidirectional screw 202. The rotating bidirectional screw 202 can drive the two clamping plates 203 to move and make the two clamping plates 203 clamp the material. When the clamping plates 203 move, the clamping guide rod 205 can guide the two clamping plates 203, so as to ensure the stability of the two clamping plates 203 when moving.

[0038] In one embodiment, for the above-mentioned lifting component 3, the lifting component 3 includes an L-shaped support plate 301. The L-shaped support plate 301 is fixedly connected to the U-shaped base 1. A hydraulic cylinder 302 is fixedly installed on the top of the L-shaped support plate 301. The output end of the hydraulic cylinder 302 penetrates the L-shaped support plate 301 and is fixedly connected to the mounting frame 201. A lifting guide rod 303 is fixedly connected to the bottom of the L-shaped support plate 301. The mounting frame 201 is movably connected to the lifting guide rod 303.

[0039] After the material is clamped and grasped, the hydraulic cylinder 302 can drive the mounting frame 201 to move upward, so that the mounting frame 201 drives the material to move upward through the bidirectional screw 202, the clamping guide rod 205 and the two clamping plates 203 and makes the material separate from the ground. This setting makes it impossible for the bottom of the material to rub against the ground when the material is turned, and at the same time, the setting of the lifting guide rod 303 improves the stability of the mounting frame 201 when lifting.

[0040] In one embodiment, for the above-mentioned support assembly 4, the support assembly 4 includes a rotating shaft 401. The clamping plate 203 is provided with a rotating groove 402 corresponding to the rotating shaft 401. The rotating shaft 401 penetrates through the rotating groove 402, and an L-shaped support frame 403 is fixedly connected to the outer surface of the rotating shaft 401.

[0041] When the clamping of the material is completed and the material moves upward, the rotating shaft 401 can drive the L-shaped support frame 403 to rotate at the bottom of the clamping plate 203 and make the L-shaped support frame 403 rotate to the bottom of the clamped material, so that the L-shaped support frame 403 can support the material. This setting makes it not easy for the material between the two clamping plates 203 to fall off during the turnover of the material.

[0042] In one embodiment, for the above-mentioned linkage assembly 5, the linkage assembly 5 includes a gear 501. The gear 501 is fixedly connected to the rotating shaft 401. A toothed plate 502 is arranged on the inner wall of the U-shaped base 1, and the toothed plate 502 meshes with the gear 501.

[0043] When the clamping plate 203 drives the clamped material to move up and down, the rotating shaft 401 and the gear 501 also start to move up and down. At this time, the gear 501 can rotate while moving up and down with the assistance of the toothed plate 502, so that the gear 501 drives the L-shaped support frame 403 to rotate at the bottom of the clamping plate 203 through the rotating shaft 401. Thus, while the clamping plate 203 moves up and down, the L-shaped support frame 403 can automatically complete the support of the material or stop blocking the bottom of the clamping plate 203. This setting makes the linkage of the grasping robot relatively high when grasping the material.

[0044] In one embodiment, for the above-mentioned linkage assembly 5, the linkage assembly 5 further includes a horizontal limiting rod 503. The horizontal limiting rod 503 is fixedly connected inside the U-shaped base 1. The toothed plate 502 is movably connected to the horizontal limiting rod 503. A vertical limiting rod 504 is fixedly connected to the top of the toothed plate 502, and the vertical limiting rod 504 is movably connected to the clamping plate 203.

[0045] When the clamping plate 203 moves and clamps the material, the clamping plate 203 can drive the tooth plate 502 to move through the longitudinal limit rod 504, so that the tooth plate 502 moves synchronously with the clamping plate 203 under the guidance of the transverse limit rod 503. When the clamping plate 203 is lifted or lowered, the longitudinal limit rod 504 on the tooth plate 502 can slide on the clamping plate 203, and the clamping plate 203 will not be lifted or lowered with the tooth plate 502 under the restriction of the transverse limit rod 503. This setting ensures that no matter how the clamping plate 203 moves, the tooth plate 502 can always mesh with the gear 501 and drive the gear 501 normally.

[0046] In one embodiment, for the above-mentioned 匚-shaped base 1, a mounting groove 7 is opened at the bottom of the 匚-shaped base 1, and a track 8 is arranged inside the mounting groove 7.

[0047] The crawler tracks 8 can enable the 匚-shaped base 1 to drive the clamped materials to move. The setting of the crawler tracks 8 ensures the stability of the 匚-shaped base 1 during movement.

[0048] According to the above technical scheme, 1. by setting the support assembly 4, when the clamping assembly 2 completes the grabbing of the material and drives the grabbed material to be separated from the ground under the drive of the lifting assembly 3, the linkage assembly 5 can drive the support assembly 4 under the drive of the clamping assembly 2, so that the support assembly 4 can rotate to the bottom of the grabbed material and support it, so that the grabbed material is not easy to fall when the grabbing robot turns over the material, thereby improving the stability of the grabbing robot when the material is turned over; 2. by the longitudinal limit rod 504, the tooth plate 502 can move synchronously with the clamping plate 203 when the clamping plate 203 clamps the material, and the clamping plate 203 will not be lifted and lowered together with it when the clamping plate 203 is lifted and lowered under the restriction of the transverse limit rod 503. The above setting makes it possible for the tooth plate 502 to always mesh with the gear 501 no matter how the clamping plate 203 moves, and the tooth plate 502 can normally drive the gear 501 when the clamping plate 203 is lifted and lowered.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0050] The preferred embodiments of the utility model disclosed above are only used to help illustrate the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principle and practical application of the utility model, so that those skilled in the art can well understand and utilize the utility model. The utility model is only limited by the claims and their full scope and equivalents.

Claims

1. A material selective grasping robot based on 3D vision, including a U-shaped base (1), characterized in that, Inside the U-shaped base (1), a clamping assembly (2) is provided. At the driving end of the clamping assembly (2), a lifting assembly (3) is provided. At the bottom of the clamping assembly (2), a supporting assembly (4) is provided. A linkage assembly (5) is provided between the supporting assembly (4) and the inner wall of the U-shaped base (1). The clamping assembly (2) is used to clamp the material. While the lifting assembly (3) drives the material to move longitudinally through the clamping assembly (2), it drives the linkage assembly (5) to operate, so that the linkage assembly (5) drives the supporting assembly (4) to switch positions to the bottom of the material. On the front of the lifting assembly (3), a 3D vision sensing device (6) is provided, and the 3D vision sensing device (6) is used to identify the material.

2. A material selective grasping robot based on 3D vision according to claim 1, characterized in that: The clamping assembly (2) includes a mounting frame (201). Inside the mounting frame (201), a bidirectional screw (202) is rotatably connected. On the outer surface of the bidirectional screw (202), a clamping plate (203) is threadedly connected. On one side of the mounting frame (201), a motor (204) is fixedly installed. The output end of the motor (204) is fixedly connected to the bidirectional screw (202). Inside the mounting frame (201), a clamping guide rod (205) is fixedly connected. The clamping guide rod (205) is movably connected to the clamping plate (203).

3. The material selective grasping robot based on 3D vision according to claim 2 is characterized in that: The lifting assembly (3) includes an L-shaped support plate (301). The L-shaped support plate (301) is fixedly connected to the U-shaped base (1). At the top of the L-shaped support plate (301), a hydraulic cylinder (302) is fixedly installed. The output end of the hydraulic cylinder (302) penetrates the L-shaped support plate (301) and is fixedly connected to the mounting frame (201). At the bottom of the L-shaped support plate (301), a lifting guide rod (303) is fixedly connected. The mounting frame (201) is movably connected to the lifting guide rod (303).

4. The material selective grasping robot based on 3D vision according to claim 2 is characterized in that: The supporting assembly (4) includes a rotating shaft (401). The clamping plate (203) is provided with a rotating groove (402) corresponding to the rotating shaft (401). The rotating shaft (401) penetrates the rotating groove (402). On the outer surface of the rotating shaft (401), an L-shaped support frame (403) is fixedly connected.

5. The material selective grasping robot based on 3D vision according to claim 4 is characterized in that: The linkage assembly (5) includes a gear (501). The gear (501) is fixedly connected to the rotating shaft (401). On the inner wall of the U-shaped base (1), a toothed plate (502) is provided. The toothed plate (502) meshes with the gear (501).

6. The material selective grasping robot based on 3D vision according to claim 5, characterized in that: The linkage assembly (5) further includes a horizontal limiting rod (503). The horizontal limiting rod (503) is fixedly connected inside the U-shaped base (1). The toothed plate (502) is movably connected to the horizontal limiting rod (503). At the top of the toothed plate (502), a vertical limiting rod (504) is fixedly connected. The vertical limiting rod (504) is movably connected to the clamping plate (203).

7. The material selective grasping robot based on 3D vision according to claim 1, characterized in that: An installation groove (7) is opened at the bottom of the U-shaped base (1). Inside the installation groove (7), a track (8) is provided.

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