Visual mechanical arm grabbing experiment platform based on 2D vision

Abstract

The utility model relates to the field of mechanical arms, and discloses a visual mechanical arm grabbing experiment platform based on 2D vision, which comprises a main body component comprising an experiment table, a support and a mechanical arm, the support is positioned on the experiment table, a camera is mounted on the support, and a connecting plate for replacing a clamping jaw is mounted at the tail end of the mechanical arm; the improved structure comprises a transverse sliding groove formed in the bottom end of the connecting plate, two symmetrical vertical plates are connected to the sliding groove in a clamped and sliding mode, transverse rods distributed in the width direction of the connecting plate are fixed to the vertical plates, elastic strips are connected to the two transverse rods, the two elastic strips are different in thickness, a containing groove is formed in the thick elastic strip in a penetrating mode, and the containing groove is communicated with the sliding groove. A thin elastic strip penetrates through the containing groove. The two elastic strips with different thicknesses form an elastic clamping structure, the clamping structure stretches out and draws back along with the vertical plate under the action of the driving mechanism, and due to the fact that the elastic strips are elastic, even irregular parts can make contact with the surfaces of the irregular parts, and the irregular parts can be clamped.

Description

Technical Field

[0001] The utility model belongs to the field of robotic arms, and specifically relates to a vision robotic arm grasping experimental platform based on 2D vision. Background Technique

[0002] In recent years, industrial robots have been widely used in operations such as palletizing, welding, handling, assembly, painting, etc. For robots, grasping is an essential skill for robots to enter the real world. For example, in the logistics industry, objects are sorted, and parts are assembled on industrial production lines.

[0003] A gripper is usually installed on a robotic arm of a grasping robot to grasp parts. The gripper can open and close and stretch. By opening and closing the gripper, parts can be clamped and fixed within a certain range.

[0004] In a Chinese patent with the publication number CN217648411U, a comprehensive grasping robot is disclosed, which grasps through a gripper. However, since the grippers of this structure are mostly rigid structures, it is very difficult to grasp irregular parts because the contact area between the surface of the irregular parts and the rigid grippers is small. Content of the Utility Model

[0005] Technical problem to be solved: How to grasp irregular parts.

[0006] Technical solution: The utility model provides a vision robotic arm grasping experimental platform based on 2D vision, including a main body component and an improved component: The main body component includes an experimental table, a bracket located on the experimental table, and a robotic arm. A camera is installed on the bracket, and a connecting plate replacing the gripper is installed at the end of the robotic arm; The improved structure includes a horizontally opened chute at the bottom end of the connecting plate, and two symmetrical vertical plates are snap-fitted and slidably connected on the chute. Cross bars distributed along the width direction of the connecting plate are fixed on the vertical plates. Elastic strips are connected to both cross bars. The thicknesses of these two elastic strips are different. A receiving groove is penetrated through the thicker one, and the thinner elastic strip passes through the receiving groove; In addition, a driving mechanism is provided on the connecting plate for driving the two vertical plates to slide in opposite directions along the chute simultaneously.

[0007] Further, the driving mechanism includes a bearing seat installed in the middle of the chute. A bidirectional lead screw located in the chute is penetrated and connected on the bearing seat. One end of the bidirectional lead screw is connected to the inner wall of the corresponding chute through a bearing. A rotating mechanism for driving the bidirectional lead screw to rotate is provided on the other inner wall of the chute; In addition, the top end of the vertical plate is also connected with a slider located in the chute and threadedly penetrated by the bidirectional lead screw.

[0008] Further, the rotating mechanism includes a motor installed in the corresponding groove wall of the chute. The output shaft of the motor is connected to the end of the bidirectional lead screw away from the bearing.

[0009] Further, the bearing seat mainly consists of a housing and a mounting bearing located inside the housing. The outer wall of the housing is fixedly connected to the inner wall of the chute, and its inner wall is fixedly connected to the outer ring of the mounting bearing. The inner ring of the mounting bearing is in interference fit with the bidirectional lead screw and penetrates through it.

[0010] Further, the vertical plate is formed by splicing a plurality of identical component blocks through a splicing mechanism. At the same time, under the action of the splicing mechanism, the vertical plate formed by splicing the component blocks is connected to the slider.

[0011] Further, the splicing mechanism includes screw holes opened at the bottom end of each component block and the bottom end of the slider; at the same time, a short screw stud adapted to the screw hole is connected to the top end of each component block.

[0012] Technical effects:

[0013] 1. In the present utility model, two elastic strips with different thicknesses are configured to form an elastic clamping structure. This clamping structure expands and contracts with the vertical plate under the action of the driving mechanism. Because the elastic strips are elastic, even irregular parts can be contacted with their surfaces, so that the irregular parts can be clamped.

[0014] 2. In the present utility model, under the action of the splicing mechanism, not only can the vertical plate be formed by splicing a plurality of component blocks, but also the spliced vertical plate can be connected to the slider. In this way, the height of the vertical plate can be adjusted as needed. Adjusting the height of the vertical plate means changing the height distance between the elastic strip clamping structure and the connecting plate, so that parts of different heights can be adapted. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings are used to provide a further understanding of the present utility model, and constitute a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model, and do not constitute a limitation to the present utility model. In the drawings:

[0016] Figure 1 is the overall structural schematic diagram of the present utility model;

[0017] Figure 2 is the front view structural schematic diagram of the robotic arm of the present utility model;

[0018] Figure 3 is the bottom view structural schematic diagram of the robotic arm of the present utility model;

[0019] Figure 4 is the structural schematic diagram of the driving mechanism of the present utility model;

[0020] In the figure: 1. experimental bench; 2. support; 3. camera; 4. robotic arm; 5. connecting plate; 6. sliding groove; 7. vertical plate; 8. cross bar; 9. elastic strip; 10. receiving groove; 11. driving mechanism; 1101. bearing seat; 1102. bidirectional lead screw; 1103. slider; 12. component block; 13. screw hole; 14. short stud. Specific implementation manner

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application; obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0022] The visual robotic arm grasping experimental platform based on 2D vision provided by this specific implementation manner is as Figure 1 , Figure 2 , Figure 3 and Figure 4 shown, including a main component and an improved component, where:

[0023] The main component includes an experimental bench 1, a support 2 located on the experimental bench 1, and a robotic arm 4. A 2D camera 3 is installed on the support 2, and a connecting plate 5 replacing a jaw is installed at the end of the robotic arm 4, specifically as Figure 2 shown.

[0024] The improved structure includes a horizontally arranged sliding groove 6 opened at the bottom end of the connecting plate 5. Two symmetric vertical plates 7 are engaged and slidably connected on the sliding groove 6. Cross bars 8 distributed along the width direction of the connecting plate 5 are fixed on the vertical plates 7. Elastic strips 9 are connected to both cross bars 8. The thicknesses of the two elastic strips 9 are different. A receiving groove 10 is penetrated through the thicker one, and the thinner elastic strip 9 passes through the receiving groove 10; in addition, a driving mechanism 11 for driving the two vertical plates 7 to slide in opposite directions along the sliding groove 6 is further provided on the connecting plate 5, as Figure 4As shown, the driving mechanism 11 includes a bearing seat 1101 installed in the middle inside the chute 6. A bidirectional lead screw 1102 located in the chute 6 is connected through the bearing seat 1101. Specifically, the bearing seat 1101 mainly consists of a housing and a mounting bearing inside the housing. The outer wall of the housing is fixedly connected to the inner wall of the chute 6, and its inner wall is fixedly connected to the outer ring of the mounting bearing. The inner ring of the mounting bearing is press-fitted with the bidirectional lead screw 1102 and then penetrates through it. One end of the bidirectional lead screw 1102 is connected to the inner wall of the corresponding chute 6 through a bearing. A rotating mechanism for driving the bidirectional lead screw 1102 to rotate is provided on the other inner wall of the chute 6. The rotating mechanism includes a motor installed in the corresponding groove wall of the chute 6, and the output shaft of the motor is connected to the end of the bidirectional lead screw 1102 away from the bearing. In addition, the top end of the vertical plate 7 is also connected to a slider 1103 located in the chute 6 and threaded through the bidirectional lead screw 1102. In this way, when the motor drives the bidirectional lead screw 1102 to rotate, since the slider 1103 is restricted from rotating, the two sliders 1103 can drive the two vertical plates 7 to approach or move away from each other, so that the clamping mechanism formed by the two elastic strips 9 can clamp irregular parts.

[0025] In addition, to make the clamping height adaptable to parts of different heights, such as Figure 4 As shown, the vertical plate 7 is formed by splicing a plurality of identical component blocks 12 through a splicing mechanism. At the same time, under the action of the splicing mechanism, the vertical plate 7 formed by splicing the component blocks 12 is connected to the slider 1103. The splicing mechanism includes screw holes 13 opened at the bottom ends of each component block 12 and the slider 1103; at the same time, a short stud 14 adapted to the screw hole 13 is connected to the top end of each component block 12.

[0026] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprises", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0027] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited accordingly. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A vision-based robotic arm grasping experimental platform based on 2D vision, comprising a main component and an improved component: The main body member includes an experimental bench (1), a bracket (2) located on the experimental bench (1), and a robotic arm (4). A camera (3) is installed on the bracket (2). It is characterized in that, A connecting plate (5) replacing the claw is installed at the end of the robotic arm (4); The improved structure includes a horizontal chute (6) opened at the bottom end of the connecting plate (5). Two symmetrical vertical plates (7) are snap-fitted and slidably connected to the chute (6). Cross bars (8) distributed along the width direction of the connecting plate (5) are fixed on the vertical plates (7). Elastic strips (9) are connected to both cross bars (8). The thicknesses of the two elastic strips (9) are different. A receiving groove (10) is penetrated through the thicker one, and the thinner elastic strip (9) passes through the receiving groove (10). In addition, a driving mechanism (11) for driving the two vertical plates (7) to slide simultaneously in opposite directions along the chute (6) is provided on the connecting plate (5).

2. The vision-based robotic arm grasping experimental platform based on 2D vision according to claim 1, characterized in that, The driving mechanism (11) includes a bearing seat (1101) installed in the middle inside the chute (6). A bidirectional lead screw (1102) located in the chute (6) is penetrated and connected to the bearing seat (1101). One end of the bidirectional lead screw (1102) is connected to the inner wall of the corresponding chute (6) through a bearing. A rotating mechanism for driving the bidirectional lead screw (1102) to rotate is provided on the other inner wall of the chute (6). In addition, a slider (1103) located in the chute (6) and threadedly penetrated by the bidirectional lead screw (1102) is connected to the top end of the vertical plate (7).

3. The vision-based robotic arm grasping experimental platform based on 2D vision according to claim 2, characterized in that The rotating mechanism includes a motor installed in the corresponding groove wall of the chute (6). The output shaft of the motor is connected to the end of the bidirectional lead screw (1102) away from the bearing.

4. The vision-based robotic arm grasping experimental platform based on 2D vision according to claim 2, wherein, The bearing seat (1101) mainly consists of a housing and a mounting bearing located inside the housing. The outer wall of the housing is fixedly connected to the inner wall of the chute (6), its inner wall is fixedly connected to the outer ring of the mounting bearing, and the inner ring of the mounting bearing is press-fitted with the bidirectional lead screw (1102) and then penetrated.

5. The vision robotic arm grasping experimental platform based on 2D vision according to claim 2, characterized in that, The vertical plate (7) is formed by splicing a plurality of identical component blocks (12) through a splicing mechanism. At the same time, under the action of the splicing mechanism, the vertical plate (7) formed by splicing the component blocks (12) is connected to the slider (1103).

6. The vision-based robotic arm grasping experimental platform based on 2D vision according to claim 5, characterized in that, The splicing mechanism includes screw holes (13) opened at the bottom end of each component block (12) and the bottom end of the slider (1103). At the same time, a short stud (14) adapted to the screw hole (13) is connected to the top end of each component block (12).

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